Joe Verbout
opencv on mbed
Diff: opencv2/calib3d/calib3d_c.h
- Revision:
- 0:ea44dc9ed014
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv2/calib3d/calib3d_c.h Thu Mar 31 21:16:38 2016 +0000
@@ -0,0 +1,426 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+// By downloading, copying, installing or using the software you agree to this license.
+// If you do not agree to this license, do not download, install,
+// copy or use the software.
+//
+//
+// License Agreement
+// For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+// * Redistribution's of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+//
+// * Redistribution's in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+//
+// * The name of the copyright holders may not be used to endorse or promote products
+// derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_CALIB3D_C_H__
+#define __OPENCV_CALIB3D_C_H__
+
+#include "opencv2/core/core_c.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** @addtogroup calib3d_c
+ @{
+ */
+
+/****************************************************************************************\
+* Camera Calibration, Pose Estimation and Stereo *
+\****************************************************************************************/
+
+typedef struct CvPOSITObject CvPOSITObject;
+
+/* Allocates and initializes CvPOSITObject structure before doing cvPOSIT */
+CVAPI(CvPOSITObject*) cvCreatePOSITObject( CvPoint3D32f* points, int point_count );
+
+
+/* Runs POSIT (POSe from ITeration) algorithm for determining 3d position of
+ an object given its model and projection in a weak-perspective case */
+CVAPI(void) cvPOSIT( CvPOSITObject* posit_object, CvPoint2D32f* image_points,
+ double focal_length, CvTermCriteria criteria,
+ float* rotation_matrix, float* translation_vector);
+
+/* Releases CvPOSITObject structure */
+CVAPI(void) cvReleasePOSITObject( CvPOSITObject** posit_object );
+
+/* updates the number of RANSAC iterations */
+CVAPI(int) cvRANSACUpdateNumIters( double p, double err_prob,
+ int model_points, int max_iters );
+
+CVAPI(void) cvConvertPointsHomogeneous( const CvMat* src, CvMat* dst );
+
+/* Calculates fundamental matrix given a set of corresponding points */
+#define CV_FM_7POINT 1
+#define CV_FM_8POINT 2
+
+#define CV_LMEDS 4
+#define CV_RANSAC 8
+
+#define CV_FM_LMEDS_ONLY CV_LMEDS
+#define CV_FM_RANSAC_ONLY CV_RANSAC
+#define CV_FM_LMEDS CV_LMEDS
+#define CV_FM_RANSAC CV_RANSAC
+
+enum
+{
+ CV_ITERATIVE = 0,
+ CV_EPNP = 1, // F.Moreno-Noguer, V.Lepetit and P.Fua "EPnP: Efficient Perspective-n-Point Camera Pose Estimation"
+ CV_P3P = 2, // X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem"
+ CV_DLS = 3 // Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP"
+};
+
+CVAPI(int) cvFindFundamentalMat( const CvMat* points1, const CvMat* points2,
+ CvMat* fundamental_matrix,
+ int method CV_DEFAULT(CV_FM_RANSAC),
+ double param1 CV_DEFAULT(3.), double param2 CV_DEFAULT(0.99),
+ CvMat* status CV_DEFAULT(NULL) );
+
+/* For each input point on one of images
+ computes parameters of the corresponding
+ epipolar line on the other image */
+CVAPI(void) cvComputeCorrespondEpilines( const CvMat* points,
+ int which_image,
+ const CvMat* fundamental_matrix,
+ CvMat* correspondent_lines );
+
+/* Triangulation functions */
+
+CVAPI(void) cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2,
+ CvMat* projPoints1, CvMat* projPoints2,
+ CvMat* points4D);
+
+CVAPI(void) cvCorrectMatches(CvMat* F, CvMat* points1, CvMat* points2,
+ CvMat* new_points1, CvMat* new_points2);
+
+
+/* Computes the optimal new camera matrix according to the free scaling parameter alpha:
+ alpha=0 - only valid pixels will be retained in the undistorted image
+ alpha=1 - all the source image pixels will be retained in the undistorted image
+*/
+CVAPI(void) cvGetOptimalNewCameraMatrix( const CvMat* camera_matrix,
+ const CvMat* dist_coeffs,
+ CvSize image_size, double alpha,
+ CvMat* new_camera_matrix,
+ CvSize new_imag_size CV_DEFAULT(cvSize(0,0)),
+ CvRect* valid_pixel_ROI CV_DEFAULT(0),
+ int center_principal_point CV_DEFAULT(0));
+
+/* Converts rotation vector to rotation matrix or vice versa */
+CVAPI(int) cvRodrigues2( const CvMat* src, CvMat* dst,
+ CvMat* jacobian CV_DEFAULT(0) );
+
+/* Finds perspective transformation between the object plane and image (view) plane */
+CVAPI(int) cvFindHomography( const CvMat* src_points,
+ const CvMat* dst_points,
+ CvMat* homography,
+ int method CV_DEFAULT(0),
+ double ransacReprojThreshold CV_DEFAULT(3),
+ CvMat* mask CV_DEFAULT(0),
+ int maxIters CV_DEFAULT(2000),
+ double confidence CV_DEFAULT(0.995));
+
+/* Computes RQ decomposition for 3x3 matrices */
+CVAPI(void) cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,
+ CvMat *matrixQx CV_DEFAULT(NULL),
+ CvMat *matrixQy CV_DEFAULT(NULL),
+ CvMat *matrixQz CV_DEFAULT(NULL),
+ CvPoint3D64f *eulerAngles CV_DEFAULT(NULL));
+
+/* Computes projection matrix decomposition */
+CVAPI(void) cvDecomposeProjectionMatrix( const CvMat *projMatr, CvMat *calibMatr,
+ CvMat *rotMatr, CvMat *posVect,
+ CvMat *rotMatrX CV_DEFAULT(NULL),
+ CvMat *rotMatrY CV_DEFAULT(NULL),
+ CvMat *rotMatrZ CV_DEFAULT(NULL),
+ CvPoint3D64f *eulerAngles CV_DEFAULT(NULL));
+
+/* Computes d(AB)/dA and d(AB)/dB */
+CVAPI(void) cvCalcMatMulDeriv( const CvMat* A, const CvMat* B, CvMat* dABdA, CvMat* dABdB );
+
+/* Computes r3 = rodrigues(rodrigues(r2)*rodrigues(r1)),
+ t3 = rodrigues(r2)*t1 + t2 and the respective derivatives */
+CVAPI(void) cvComposeRT( const CvMat* _rvec1, const CvMat* _tvec1,
+ const CvMat* _rvec2, const CvMat* _tvec2,
+ CvMat* _rvec3, CvMat* _tvec3,
+ CvMat* dr3dr1 CV_DEFAULT(0), CvMat* dr3dt1 CV_DEFAULT(0),
+ CvMat* dr3dr2 CV_DEFAULT(0), CvMat* dr3dt2 CV_DEFAULT(0),
+ CvMat* dt3dr1 CV_DEFAULT(0), CvMat* dt3dt1 CV_DEFAULT(0),
+ CvMat* dt3dr2 CV_DEFAULT(0), CvMat* dt3dt2 CV_DEFAULT(0) );
+
+/* Projects object points to the view plane using
+ the specified extrinsic and intrinsic camera parameters */
+CVAPI(void) cvProjectPoints2( const CvMat* object_points, const CvMat* rotation_vector,
+ const CvMat* translation_vector, const CvMat* camera_matrix,
+ const CvMat* distortion_coeffs, CvMat* image_points,
+ CvMat* dpdrot CV_DEFAULT(NULL), CvMat* dpdt CV_DEFAULT(NULL),
+ CvMat* dpdf CV_DEFAULT(NULL), CvMat* dpdc CV_DEFAULT(NULL),
+ CvMat* dpddist CV_DEFAULT(NULL),
+ double aspect_ratio CV_DEFAULT(0));
+
+/* Finds extrinsic camera parameters from
+ a few known corresponding point pairs and intrinsic parameters */
+CVAPI(void) cvFindExtrinsicCameraParams2( const CvMat* object_points,
+ const CvMat* image_points,
+ const CvMat* camera_matrix,
+ const CvMat* distortion_coeffs,
+ CvMat* rotation_vector,
+ CvMat* translation_vector,
+ int use_extrinsic_guess CV_DEFAULT(0) );
+
+/* Computes initial estimate of the intrinsic camera parameters
+ in case of planar calibration target (e.g. chessboard) */
+CVAPI(void) cvInitIntrinsicParams2D( const CvMat* object_points,
+ const CvMat* image_points,
+ const CvMat* npoints, CvSize image_size,
+ CvMat* camera_matrix,
+ double aspect_ratio CV_DEFAULT(1.) );
+
+#define CV_CALIB_CB_ADAPTIVE_THRESH 1
+#define CV_CALIB_CB_NORMALIZE_IMAGE 2
+#define CV_CALIB_CB_FILTER_QUADS 4
+#define CV_CALIB_CB_FAST_CHECK 8
+
+// Performs a fast check if a chessboard is in the input image. This is a workaround to
+// a problem of cvFindChessboardCorners being slow on images with no chessboard
+// - src: input image
+// - size: chessboard size
+// Returns 1 if a chessboard can be in this image and findChessboardCorners should be called,
+// 0 if there is no chessboard, -1 in case of error
+CVAPI(int) cvCheckChessboard(IplImage* src, CvSize size);
+
+ /* Detects corners on a chessboard calibration pattern */
+CVAPI(int) cvFindChessboardCorners( const void* image, CvSize pattern_size,
+ CvPoint2D32f* corners,
+ int* corner_count CV_DEFAULT(NULL),
+ int flags CV_DEFAULT(CV_CALIB_CB_ADAPTIVE_THRESH+CV_CALIB_CB_NORMALIZE_IMAGE) );
+
+/* Draws individual chessboard corners or the whole chessboard detected */
+CVAPI(void) cvDrawChessboardCorners( CvArr* image, CvSize pattern_size,
+ CvPoint2D32f* corners,
+ int count, int pattern_was_found );
+
+#define CV_CALIB_USE_INTRINSIC_GUESS 1
+#define CV_CALIB_FIX_ASPECT_RATIO 2
+#define CV_CALIB_FIX_PRINCIPAL_POINT 4
+#define CV_CALIB_ZERO_TANGENT_DIST 8
+#define CV_CALIB_FIX_FOCAL_LENGTH 16
+#define CV_CALIB_FIX_K1 32
+#define CV_CALIB_FIX_K2 64
+#define CV_CALIB_FIX_K3 128
+#define CV_CALIB_FIX_K4 2048
+#define CV_CALIB_FIX_K5 4096
+#define CV_CALIB_FIX_K6 8192
+#define CV_CALIB_RATIONAL_MODEL 16384
+#define CV_CALIB_THIN_PRISM_MODEL 32768
+#define CV_CALIB_FIX_S1_S2_S3_S4 65536
+#define CV_CALIB_TILTED_MODEL 262144
+#define CV_CALIB_FIX_TAUX_TAUY 524288
+
+
+/* Finds intrinsic and extrinsic camera parameters
+ from a few views of known calibration pattern */
+CVAPI(double) cvCalibrateCamera2( const CvMat* object_points,
+ const CvMat* image_points,
+ const CvMat* point_counts,
+ CvSize image_size,
+ CvMat* camera_matrix,
+ CvMat* distortion_coeffs,
+ CvMat* rotation_vectors CV_DEFAULT(NULL),
+ CvMat* translation_vectors CV_DEFAULT(NULL),
+ int flags CV_DEFAULT(0),
+ CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
+ CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,DBL_EPSILON)) );
+
+/* Computes various useful characteristics of the camera from the data computed by
+ cvCalibrateCamera2 */
+CVAPI(void) cvCalibrationMatrixValues( const CvMat *camera_matrix,
+ CvSize image_size,
+ double aperture_width CV_DEFAULT(0),
+ double aperture_height CV_DEFAULT(0),
+ double *fovx CV_DEFAULT(NULL),
+ double *fovy CV_DEFAULT(NULL),
+ double *focal_length CV_DEFAULT(NULL),
+ CvPoint2D64f *principal_point CV_DEFAULT(NULL),
+ double *pixel_aspect_ratio CV_DEFAULT(NULL));
+
+#define CV_CALIB_FIX_INTRINSIC 256
+#define CV_CALIB_SAME_FOCAL_LENGTH 512
+
+/* Computes the transformation from one camera coordinate system to another one
+ from a few correspondent views of the same calibration target. Optionally, calibrates
+ both cameras */
+CVAPI(double) cvStereoCalibrate( const CvMat* object_points, const CvMat* image_points1,
+ const CvMat* image_points2, const CvMat* npoints,
+ CvMat* camera_matrix1, CvMat* dist_coeffs1,
+ CvMat* camera_matrix2, CvMat* dist_coeffs2,
+ CvSize image_size, CvMat* R, CvMat* T,
+ CvMat* E CV_DEFAULT(0), CvMat* F CV_DEFAULT(0),
+ int flags CV_DEFAULT(CV_CALIB_FIX_INTRINSIC),
+ CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
+ CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,1e-6)) );
+
+#define CV_CALIB_ZERO_DISPARITY 1024
+
+/* Computes 3D rotations (+ optional shift) for each camera coordinate system to make both
+ views parallel (=> to make all the epipolar lines horizontal or vertical) */
+CVAPI(void) cvStereoRectify( const CvMat* camera_matrix1, const CvMat* camera_matrix2,
+ const CvMat* dist_coeffs1, const CvMat* dist_coeffs2,
+ CvSize image_size, const CvMat* R, const CvMat* T,
+ CvMat* R1, CvMat* R2, CvMat* P1, CvMat* P2,
+ CvMat* Q CV_DEFAULT(0),
+ int flags CV_DEFAULT(CV_CALIB_ZERO_DISPARITY),
+ double alpha CV_DEFAULT(-1),
+ CvSize new_image_size CV_DEFAULT(cvSize(0,0)),
+ CvRect* valid_pix_ROI1 CV_DEFAULT(0),
+ CvRect* valid_pix_ROI2 CV_DEFAULT(0));
+
+/* Computes rectification transformations for uncalibrated pair of images using a set
+ of point correspondences */
+CVAPI(int) cvStereoRectifyUncalibrated( const CvMat* points1, const CvMat* points2,
+ const CvMat* F, CvSize img_size,
+ CvMat* H1, CvMat* H2,
+ double threshold CV_DEFAULT(5));
+
+
+
+/* stereo correspondence parameters and functions */
+
+#define CV_STEREO_BM_NORMALIZED_RESPONSE 0
+#define CV_STEREO_BM_XSOBEL 1
+
+/* Block matching algorithm structure */
+typedef struct CvStereoBMState
+{
+ // pre-filtering (normalization of input images)
+ int preFilterType; // =CV_STEREO_BM_NORMALIZED_RESPONSE now
+ int preFilterSize; // averaging window size: ~5x5..21x21
+ int preFilterCap; // the output of pre-filtering is clipped by [-preFilterCap,preFilterCap]
+
+ // correspondence using Sum of Absolute Difference (SAD)
+ int SADWindowSize; // ~5x5..21x21
+ int minDisparity; // minimum disparity (can be negative)
+ int numberOfDisparities; // maximum disparity - minimum disparity (> 0)
+
+ // post-filtering
+ int textureThreshold; // the disparity is only computed for pixels
+ // with textured enough neighborhood
+ int uniquenessRatio; // accept the computed disparity d* only if
+ // SAD(d) >= SAD(d*)*(1 + uniquenessRatio/100.)
+ // for any d != d*+/-1 within the search range.
+ int speckleWindowSize; // disparity variation window
+ int speckleRange; // acceptable range of variation in window
+
+ int trySmallerWindows; // if 1, the results may be more accurate,
+ // at the expense of slower processing
+ CvRect roi1, roi2;
+ int disp12MaxDiff;
+
+ // temporary buffers
+ CvMat* preFilteredImg0;
+ CvMat* preFilteredImg1;
+ CvMat* slidingSumBuf;
+ CvMat* cost;
+ CvMat* disp;
+} CvStereoBMState;
+
+#define CV_STEREO_BM_BASIC 0
+#define CV_STEREO_BM_FISH_EYE 1
+#define CV_STEREO_BM_NARROW 2
+
+CVAPI(CvStereoBMState*) cvCreateStereoBMState(int preset CV_DEFAULT(CV_STEREO_BM_BASIC),
+ int numberOfDisparities CV_DEFAULT(0));
+
+CVAPI(void) cvReleaseStereoBMState( CvStereoBMState** state );
+
+CVAPI(void) cvFindStereoCorrespondenceBM( const CvArr* left, const CvArr* right,
+ CvArr* disparity, CvStereoBMState* state );
+
+CVAPI(CvRect) cvGetValidDisparityROI( CvRect roi1, CvRect roi2, int minDisparity,
+ int numberOfDisparities, int SADWindowSize );
+
+CVAPI(void) cvValidateDisparity( CvArr* disparity, const CvArr* cost,
+ int minDisparity, int numberOfDisparities,
+ int disp12MaxDiff CV_DEFAULT(1) );
+
+/* Reprojects the computed disparity image to the 3D space using the specified 4x4 matrix */
+CVAPI(void) cvReprojectImageTo3D( const CvArr* disparityImage,
+ CvArr* _3dImage, const CvMat* Q,
+ int handleMissingValues CV_DEFAULT(0) );
+
+/** @} calib3d_c */
+
+#ifdef __cplusplus
+} // extern "C"
+
+//////////////////////////////////////////////////////////////////////////////////////////
+class CV_EXPORTS CvLevMarq
+{
+public:
+ CvLevMarq();
+ CvLevMarq( int nparams, int nerrs, CvTermCriteria criteria=
+ cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON),
+ bool completeSymmFlag=false );
+ ~CvLevMarq();
+ void init( int nparams, int nerrs, CvTermCriteria criteria=
+ cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON),
+ bool completeSymmFlag=false );
+ bool update( const CvMat*& param, CvMat*& J, CvMat*& err );
+ bool updateAlt( const CvMat*& param, CvMat*& JtJ, CvMat*& JtErr, double*& errNorm );
+
+ void clear();
+ void step();
+ enum { DONE=0, STARTED=1, CALC_J=2, CHECK_ERR=3 };
+
+ cv::Ptr<CvMat> mask;
+ cv::Ptr<CvMat> prevParam;
+ cv::Ptr<CvMat> param;
+ cv::Ptr<CvMat> J;
+ cv::Ptr<CvMat> err;
+ cv::Ptr<CvMat> JtJ;
+ cv::Ptr<CvMat> JtJN;
+ cv::Ptr<CvMat> JtErr;
+ cv::Ptr<CvMat> JtJV;
+ cv::Ptr<CvMat> JtJW;
+ double prevErrNorm, errNorm;
+ int lambdaLg10;
+ CvTermCriteria criteria;
+ int state;
+ int iters;
+ bool completeSymmFlag;
+ int solveMethod;
+};
+
+#endif
+
+#endif /* __OPENCV_CALIB3D_C_H__ */
+