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74 lines
2.3 KiB
C
74 lines
2.3 KiB
C
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#ifndef epnp_h
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#define epnp_h
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#include "precomp.hpp"
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class epnp {
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public:
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epnp(void);
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~epnp();
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void set_internal_parameters(const double uc, const double vc,
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const double fu, const double fv);
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void set_maximum_number_of_correspondences(const int n);
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void reset_correspondences(void);
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void add_correspondence(const double X, const double Y, const double Z,
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const double u, const double v);
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double compute_pose(double R[3][3], double T[3]);
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void relative_error(double & rot_err, double & transl_err,
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const double Rtrue[3][3], const double ttrue[3],
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const double Rest[3][3], const double test[3]);
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void print_pose(const double R[3][3], const double t[3]);
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double reprojection_error(const double R[3][3], const double t[3]);
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private:
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void choose_control_points(void);
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void compute_barycentric_coordinates(void);
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void fill_M(CvMat * M, const int row, const double * alphas, const double u, const double v);
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void compute_ccs(const double * betas, const double * ut);
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void compute_pcs(void);
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void solve_for_sign(void);
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void find_betas_approx_1(const CvMat * L_6x10, const CvMat * Rho, double * betas);
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void find_betas_approx_2(const CvMat * L_6x10, const CvMat * Rho, double * betas);
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void find_betas_approx_3(const CvMat * L_6x10, const CvMat * Rho, double * betas);
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void qr_solve(CvMat * A, CvMat * b, CvMat * X);
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double dot(const double * v1, const double * v2);
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double dist2(const double * p1, const double * p2);
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void compute_rho(double * rho);
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void compute_L_6x10(const double * ut, double * l_6x10);
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void gauss_newton(const CvMat * L_6x10, const CvMat * Rho, double current_betas[4]);
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void compute_A_and_b_gauss_newton(const double * l_6x10, const double * rho,
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double cb[4], CvMat * A, CvMat * b);
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double compute_R_and_t(const double * ut, const double * betas,
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double R[3][3], double t[3]);
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void estimate_R_and_t(double R[3][3], double t[3]);
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void copy_R_and_t(const double R_dst[3][3], const double t_dst[3],
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double R_src[3][3], double t_src[3]);
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void mat_to_quat(const double R[3][3], double q[4]);
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double uc, vc, fu, fv;
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double * pws, * us, * alphas, * pcs;
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int maximum_number_of_correspondences;
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int number_of_correspondences;
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double cws[4][3], ccs[4][3];
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double cws_determinant;
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};
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#endif
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