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Remove unused internal C functions
This commit is contained in:
Vincent Rabaud
parent
6873bdee70
commit
3d89824423
@ -55,45 +55,8 @@ extern "C" {
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* Camera Calibration, Pose Estimation and Stereo *
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* Camera Calibration, Pose Estimation and Stereo *
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\****************************************************************************************/
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\****************************************************************************************/
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typedef struct CvPOSITObject CvPOSITObject;
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/* Allocates and initializes CvPOSITObject structure before doing cvPOSIT */
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CvPOSITObject* cvCreatePOSITObject( CvPoint3D32f* points, int point_count );
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/* Runs POSIT (POSe from ITeration) algorithm for determining 3d position of
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an object given its model and projection in a weak-perspective case */
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void cvPOSIT( CvPOSITObject* posit_object, CvPoint2D32f* image_points,
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double focal_length, CvTermCriteria criteria,
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float* rotation_matrix, float* translation_vector);
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/* Releases CvPOSITObject structure */
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void cvReleasePOSITObject( CvPOSITObject** posit_object );
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/* updates the number of RANSAC iterations */
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int cvRANSACUpdateNumIters( double p, double err_prob,
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int model_points, int max_iters );
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void cvConvertPointsHomogeneous( const CvMat* src, CvMat* dst );
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void cvConvertPointsHomogeneous( const CvMat* src, CvMat* dst );
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/* Calculates fundamental matrix given a set of corresponding points */
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/*#define CV_FM_7POINT 1
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#define CV_FM_8POINT 2
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#define CV_LMEDS 4
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#define CV_RANSAC 8
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#define CV_FM_LMEDS_ONLY CV_LMEDS
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#define CV_FM_RANSAC_ONLY CV_RANSAC
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#define CV_FM_LMEDS CV_LMEDS
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#define CV_FM_RANSAC CV_RANSAC*/
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int cvFindFundamentalMat( const CvMat* points1, const CvMat* points2,
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CvMat* fundamental_matrix,
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int method CV_DEFAULT(CV_FM_RANSAC),
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double param1 CV_DEFAULT(3.), double param2 CV_DEFAULT(0.99),
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CvMat* status CV_DEFAULT(NULL) );
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/* For each input point on one of images
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/* For each input point on one of images
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computes parameters of the corresponding
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computes parameters of the corresponding
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epipolar line on the other image */
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epipolar line on the other image */
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@ -102,15 +65,6 @@ void cvComputeCorrespondEpilines( const CvMat* points,
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const CvMat* fundamental_matrix,
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const CvMat* fundamental_matrix,
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CvMat* correspondent_lines );
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CvMat* correspondent_lines );
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/* Triangulation functions */
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void cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2,
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CvMat* projPoints1, CvMat* projPoints2,
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CvMat* points4D);
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void cvCorrectMatches(CvMat* F, CvMat* points1, CvMat* points2,
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CvMat* new_points1, CvMat* new_points2);
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/* Finds perspective transformation between the object plane and image (view) plane */
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/* Finds perspective transformation between the object plane and image (view) plane */
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int cvFindHomography( const CvMat* src_points,
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int cvFindHomography( const CvMat* src_points,
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const CvMat* dst_points,
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const CvMat* dst_points,
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@ -129,45 +83,6 @@ void cvInitIntrinsicParams2D( const CvMat* object_points,
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CvMat* camera_matrix,
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CvMat* camera_matrix,
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double aspect_ratio CV_DEFAULT(1.) );
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double aspect_ratio CV_DEFAULT(1.) );
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// Performs a fast check if a chessboard is in the input image. This is a workaround to
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// a problem of cvFindChessboardCorners being slow on images with no chessboard
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// - src: input image
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// - size: chessboard size
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// Returns 1 if a chessboard can be in this image and findChessboardCorners should be called,
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// 0 if there is no chessboard, -1 in case of error
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int cvCheckChessboard(IplImage* src, CvSize size);
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/* Detects corners on a chessboard calibration pattern */
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/*int cvFindChessboardCorners( const void* image, CvSize pattern_size,
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CvPoint2D32f* corners,
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int* corner_count CV_DEFAULT(NULL),
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int flags CV_DEFAULT(CV_CALIB_CB_ADAPTIVE_THRESH+CV_CALIB_CB_NORMALIZE_IMAGE) );*/
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/* Draws individual chessboard corners or the whole chessboard detected */
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/*void cvDrawChessboardCorners( CvArr* image, CvSize pattern_size,
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CvPoint2D32f* corners,
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int count, int pattern_was_found );*/
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/*#define CV_CALIB_USE_INTRINSIC_GUESS 1
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#define CV_CALIB_FIX_ASPECT_RATIO 2
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#define CV_CALIB_FIX_PRINCIPAL_POINT 4
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#define CV_CALIB_ZERO_TANGENT_DIST 8
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#define CV_CALIB_FIX_FOCAL_LENGTH 16
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#define CV_CALIB_FIX_K1 32
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#define CV_CALIB_FIX_K2 64
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#define CV_CALIB_FIX_K3 128
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#define CV_CALIB_FIX_K4 2048
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#define CV_CALIB_FIX_K5 4096
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#define CV_CALIB_FIX_K6 8192
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#define CV_CALIB_RATIONAL_MODEL 16384
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#define CV_CALIB_THIN_PRISM_MODEL 32768
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#define CV_CALIB_FIX_S1_S2_S3_S4 65536
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#define CV_CALIB_TILTED_MODEL 262144
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#define CV_CALIB_FIX_TAUX_TAUY 524288
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#define CV_CALIB_FIX_TANGENT_DIST 2097152
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#define CV_CALIB_NINTRINSIC 18*/
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/* Finds intrinsic and extrinsic camera parameters
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/* Finds intrinsic and extrinsic camera parameters
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from a few views of known calibration pattern */
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from a few views of known calibration pattern */
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double cvCalibrateCamera2( const CvMat* object_points,
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double cvCalibrateCamera2( const CvMat* object_points,
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@ -182,37 +97,6 @@ double cvCalibrateCamera2( const CvMat* object_points,
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CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
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CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
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CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,DBL_EPSILON)) );
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CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,DBL_EPSILON)) );
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/* Finds intrinsic and extrinsic camera parameters
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from a few views of known calibration pattern */
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double cvCalibrateCamera4( const CvMat* object_points,
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const CvMat* image_points,
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const CvMat* point_counts,
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CvSize image_size,
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int iFixedPoint,
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CvMat* camera_matrix,
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CvMat* distortion_coeffs,
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CvMat* rotation_vectors CV_DEFAULT(NULL),
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CvMat* translation_vectors CV_DEFAULT(NULL),
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CvMat* newObjPoints CV_DEFAULT(NULL),
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int flags CV_DEFAULT(0),
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CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
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CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,DBL_EPSILON)) );
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/* Computes various useful characteristics of the camera from the data computed by
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cvCalibrateCamera2 */
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void cvCalibrationMatrixValues( const CvMat *camera_matrix,
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CvSize image_size,
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double aperture_width CV_DEFAULT(0),
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double aperture_height CV_DEFAULT(0),
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double *fovx CV_DEFAULT(NULL),
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double *fovy CV_DEFAULT(NULL),
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double *focal_length CV_DEFAULT(NULL),
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CvPoint2D64f *principal_point CV_DEFAULT(NULL),
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double *pixel_aspect_ratio CV_DEFAULT(NULL));
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/*#define CV_CALIB_FIX_INTRINSIC 256
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#define CV_CALIB_SAME_FOCAL_LENGTH 512*/
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/* Computes the transformation from one camera coordinate system to another one
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/* Computes the transformation from one camera coordinate system to another one
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from a few correspondent views of the same calibration target. Optionally, calibrates
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from a few correspondent views of the same calibration target. Optionally, calibrates
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both cameras */
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both cameras */
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@ -248,95 +132,6 @@ int cvStereoRectifyUncalibrated( const CvMat* points1, const CvMat* points2,
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CvMat* H1, CvMat* H2,
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CvMat* H1, CvMat* H2,
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double threshold CV_DEFAULT(5));
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double threshold CV_DEFAULT(5));
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/* stereo correspondence parameters and functions */
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#define CV_STEREO_BM_NORMALIZED_RESPONSE 0
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#define CV_STEREO_BM_XSOBEL 1
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/* Block matching algorithm structure */
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typedef struct CvStereoBMState
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{
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// pre-filtering (normalization of input images)
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int preFilterType; // =CV_STEREO_BM_NORMALIZED_RESPONSE now
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int preFilterSize; // averaging window size: ~5x5..21x21
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int preFilterCap; // the output of pre-filtering is clipped by [-preFilterCap,preFilterCap]
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// correspondence using Sum of Absolute Difference (SAD)
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int SADWindowSize; // ~5x5..21x21
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int minDisparity; // minimum disparity (can be negative)
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int numberOfDisparities; // maximum disparity - minimum disparity (> 0)
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// post-filtering
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int textureThreshold; // the disparity is only computed for pixels
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// with textured enough neighborhood
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int uniquenessRatio; // accept the computed disparity d* only if
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// SAD(d) >= SAD(d*)*(1 + uniquenessRatio/100.)
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// for any d != d*+/-1 within the search range.
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int speckleWindowSize; // disparity variation window
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int speckleRange; // acceptable range of variation in window
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int trySmallerWindows; // if 1, the results may be more accurate,
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// at the expense of slower processing
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CvRect roi1, roi2;
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int disp12MaxDiff;
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// temporary buffers
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CvMat* preFilteredImg0;
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CvMat* preFilteredImg1;
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CvMat* slidingSumBuf;
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CvMat* cost;
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CvMat* disp;
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} CvStereoBMState;
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#define CV_STEREO_BM_BASIC 0
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#define CV_STEREO_BM_FISH_EYE 1
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#define CV_STEREO_BM_NARROW 2
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CvStereoBMState* cvCreateStereoBMState(int preset CV_DEFAULT(CV_STEREO_BM_BASIC),
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int numberOfDisparities CV_DEFAULT(0));
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void cvReleaseStereoBMState( CvStereoBMState** state );
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void cvFindStereoCorrespondenceBM( const CvArr* left, const CvArr* right,
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CvArr* disparity, CvStereoBMState* state );
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CvRect cvGetValidDisparityROI( CvRect roi1, CvRect roi2, int minDisparity,
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int numberOfDisparities, int SADWindowSize );
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void cvValidateDisparity( CvArr* disparity, const CvArr* cost,
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int minDisparity, int numberOfDisparities,
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int disp12MaxDiff CV_DEFAULT(1) );
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/* Reprojects the computed disparity image to the 3D space using the specified 4x4 matrix */
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void cvReprojectImageTo3D( const CvArr* disparityImage,
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CvArr* _3dImage, const CvMat* Q,
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int handleMissingValues CV_DEFAULT(0) );
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/** @brief Transforms the input image to compensate lens distortion
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@see cv::undistort
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*/
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void cvUndistort2( const CvArr* src, CvArr* dst,
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const CvMat* camera_matrix,
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const CvMat* distortion_coeffs,
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const CvMat* new_camera_matrix CV_DEFAULT(0) );
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/** @brief Computes transformation map from intrinsic camera parameters
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that can used by cvRemap
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*/
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void cvInitUndistortMap( const CvMat* camera_matrix,
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const CvMat* distortion_coeffs,
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CvArr* mapx, CvArr* mapy );
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/** @brief Computes undistortion+rectification map for a head of stereo camera
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@see cv::initUndistortRectifyMap
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*/
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void cvInitUndistortRectifyMap( const CvMat* camera_matrix,
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const CvMat* dist_coeffs,
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const CvMat *R, const CvMat* new_camera_matrix,
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CvArr* mapx, CvArr* mapy );
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/** @brief Computes the original (undistorted) feature coordinates
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/** @brief Computes the original (undistorted) feature coordinates
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from the observed (distorted) coordinates
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from the observed (distorted) coordinates
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@see cv::undistortPoints
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@see cv::undistortPoints
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@ -679,82 +679,6 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
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distCoeffs, rvecs, tvecs, NULL, NULL, NULL, flags, termCrit);
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distCoeffs, rvecs, tvecs, NULL, NULL, NULL, flags, termCrit);
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}
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}
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CV_IMPL double cvCalibrateCamera4( const CvMat* objectPoints,
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const CvMat* imagePoints, const CvMat* npoints,
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CvSize imageSize, int iFixedPoint, CvMat* cameraMatrix, CvMat* distCoeffs,
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CvMat* rvecs, CvMat* tvecs, CvMat* newObjPoints, int flags, CvTermCriteria termCrit )
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{
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if( !CV_IS_MAT(npoints) )
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CV_Error( cv::Error::StsBadArg, "npoints is not a valid matrix" );
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if( CV_MAT_TYPE(npoints->type) != CV_32SC1 ||
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(npoints->rows != 1 && npoints->cols != 1) )
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CV_Error( cv::Error::StsUnsupportedFormat,
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"the array of point counters must be 1-dimensional integer vector" );
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bool releaseObject = iFixedPoint > 0 && iFixedPoint < npoints->data.i[0] - 1;
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int nimages = npoints->rows * npoints->cols;
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int npstep = npoints->rows == 1 ? 1 : npoints->step / CV_ELEM_SIZE(npoints->type);
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int i, ni;
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// check object points. If not qualified, report errors.
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if( releaseObject )
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{
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if( !CV_IS_MAT(objectPoints) )
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CV_Error( cv::Error::StsBadArg, "objectPoints is not a valid matrix" );
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Mat matM;
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if(CV_MAT_CN(objectPoints->type) == 3) {
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matM = cvarrToMat(objectPoints);
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} else {
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convertPointsHomogeneous(cvarrToMat(objectPoints), matM);
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}
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matM = matM.reshape(3, 1);
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ni = npoints->data.i[0];
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for( i = 1; i < nimages; i++ )
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{
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if( npoints->data.i[i * npstep] != ni )
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{
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CV_Error( cv::Error::StsBadArg, "All objectPoints[i].size() should be equal when "
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"object-releasing method is requested." );
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}
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Mat ocmp = matM.colRange(ni * i, ni * i + ni) != matM.colRange(0, ni);
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ocmp = ocmp.reshape(1);
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if( countNonZero(ocmp) )
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{
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CV_Error( cv::Error::StsBadArg, "All objectPoints[i] should be identical when object-releasing"
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" method is requested." );
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}
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}
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}
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return cvCalibrateCamera2Internal(objectPoints, imagePoints, npoints, imageSize, iFixedPoint,
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cameraMatrix, distCoeffs, rvecs, tvecs, newObjPoints, NULL,
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NULL, flags, termCrit);
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}
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void cvCalibrationMatrixValues( const CvMat *calibMatr, CvSize imgSize,
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double apertureWidth, double apertureHeight, double *fovx, double *fovy,
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double *focalLength, CvPoint2D64f *principalPoint, double *pasp )
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{
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/* Validate parameters. */
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if(calibMatr == 0)
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CV_Error(cv::Error::StsNullPtr, "Some of parameters is a NULL pointer!");
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if(!CV_IS_MAT(calibMatr))
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CV_Error(cv::Error::StsUnsupportedFormat, "Input parameters must be matrices!");
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double dummy = .0;
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Point2d pp;
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cv::calibrationMatrixValues(cvarrToMat(calibMatr), imgSize, apertureWidth, apertureHeight,
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fovx ? *fovx : dummy,
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fovy ? *fovy : dummy,
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focalLength ? *focalLength : dummy,
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pp,
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pasp ? *pasp : dummy);
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if(principalPoint)
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*principalPoint = cvPoint2D64f(pp.x, pp.y);
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}
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||||||
//////////////////////////////// Stereo Calibration ///////////////////////////////////
|
//////////////////////////////// Stereo Calibration ///////////////////////////////////
|
||||||
|
|
||||||
@ -1870,21 +1794,6 @@ void cv::reprojectImageTo3D( InputArray _disparity,
|
|||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
void cvReprojectImageTo3D( const CvArr* disparityImage,
|
|
||||||
CvArr* _3dImage, const CvMat* matQ,
|
|
||||||
int handleMissingValues )
|
|
||||||
{
|
|
||||||
cv::Mat disp = cv::cvarrToMat(disparityImage);
|
|
||||||
cv::Mat _3dimg = cv::cvarrToMat(_3dImage);
|
|
||||||
cv::Mat mq = cv::cvarrToMat(matQ);
|
|
||||||
CV_Assert( disp.size() == _3dimg.size() );
|
|
||||||
int dtype = _3dimg.type();
|
|
||||||
CV_Assert( dtype == CV_16SC3 || dtype == CV_32SC3 || dtype == CV_32FC3 );
|
|
||||||
|
|
||||||
cv::reprojectImageTo3D(disp, _3dimg, mq, handleMissingValues != 0, dtype );
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
namespace cv
|
namespace cv
|
||||||
{
|
{
|
||||||
|
|||||||
@ -40,7 +40,6 @@
|
|||||||
//M*/
|
//M*/
|
||||||
|
|
||||||
#include "precomp.hpp"
|
#include "precomp.hpp"
|
||||||
#include "calib3d_c_api.h"
|
|
||||||
|
|
||||||
#include <vector>
|
#include <vector>
|
||||||
#include <algorithm>
|
#include <algorithm>
|
||||||
@ -150,18 +149,6 @@ static bool checkQuads(vector<pair<float, int> > & quads, const cv::Size & size)
|
|||||||
return false;
|
return false;
|
||||||
}
|
}
|
||||||
|
|
||||||
// does 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
|
|
||||||
int cvCheckChessboard(IplImage* src, CvSize size)
|
|
||||||
{
|
|
||||||
cv::Mat img = cv::cvarrToMat(src);
|
|
||||||
return (int)cv::checkChessboard(img, size);
|
|
||||||
}
|
|
||||||
|
|
||||||
bool cv::checkChessboard(InputArray _img, Size size)
|
bool cv::checkChessboard(InputArray _img, Size size)
|
||||||
{
|
{
|
||||||
Mat img = _img.getMat();
|
Mat img = _img.getMat();
|
||||||
|
|||||||
@ -322,12 +322,6 @@ void CvLevMarq::step()
|
|||||||
param->data.db[i] = prevParam->data.db[i] - (mask->data.ptr[i] ? nonzero_param(j++) : 0);
|
param->data.db[i] = prevParam->data.db[i] - (mask->data.ptr[i] ? nonzero_param(j++) : 0);
|
||||||
}
|
}
|
||||||
|
|
||||||
CV_IMPL int cvRANSACUpdateNumIters( double p, double ep, int modelPoints, int maxIters )
|
|
||||||
{
|
|
||||||
return cv::RANSACUpdateNumIters(p, ep, modelPoints, maxIters);
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
CV_IMPL int cvFindHomography( const CvMat* _src, const CvMat* _dst, CvMat* __H, int method,
|
CV_IMPL int cvFindHomography( const CvMat* _src, const CvMat* _dst, CvMat* __H, int method,
|
||||||
double ransacReprojThreshold, CvMat* _mask, int maxIters,
|
double ransacReprojThreshold, CvMat* _mask, int maxIters,
|
||||||
double confidence)
|
double confidence)
|
||||||
@ -365,35 +359,6 @@ CV_IMPL int cvFindHomography( const CvMat* _src, const CvMat* _dst, CvMat* __H,
|
|||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
CV_IMPL int cvFindFundamentalMat( const CvMat* points1, const CvMat* points2,
|
|
||||||
CvMat* fmatrix, int method,
|
|
||||||
double param1, double param2, CvMat* _mask )
|
|
||||||
{
|
|
||||||
cv::Mat m1 = cv::cvarrToMat(points1), m2 = cv::cvarrToMat(points2);
|
|
||||||
|
|
||||||
if( m1.channels() == 1 && (m1.rows == 2 || m1.rows == 3) && m1.cols > 3 )
|
|
||||||
cv::transpose(m1, m1);
|
|
||||||
if( m2.channels() == 1 && (m2.rows == 2 || m2.rows == 3) && m2.cols > 3 )
|
|
||||||
cv::transpose(m2, m2);
|
|
||||||
|
|
||||||
const cv::Mat FM = cv::cvarrToMat(fmatrix), mask = cv::cvarrToMat(_mask);
|
|
||||||
cv::Mat FM0 = cv::findFundamentalMat(m1, m2, method, param1, param2,
|
|
||||||
_mask ? cv::_OutputArray(mask) : cv::_OutputArray());
|
|
||||||
|
|
||||||
if( FM0.empty() )
|
|
||||||
{
|
|
||||||
cv::Mat FM0z = cv::cvarrToMat(fmatrix);
|
|
||||||
FM0z.setTo(cv::Scalar::all(0));
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
CV_Assert( FM0.cols == 3 && FM0.rows % 3 == 0 && FM.cols == 3 && FM.rows % 3 == 0 && FM.channels() == 1 );
|
|
||||||
cv::Mat FM1 = FM.rowRange(0, MIN(FM0.rows, FM.rows));
|
|
||||||
FM0.rowRange(0, FM1.rows).convertTo(FM1, FM1.type());
|
|
||||||
return FM1.rows / 3;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
CV_IMPL void cvComputeCorrespondEpilines( const CvMat* points, int pointImageID,
|
CV_IMPL void cvComputeCorrespondEpilines( const CvMat* points, int pointImageID,
|
||||||
const CvMat* fmatrix, CvMat* _lines )
|
const CvMat* fmatrix, CvMat* _lines )
|
||||||
{
|
{
|
||||||
|
|||||||
@ -1,360 +0,0 @@
|
|||||||
/*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.
|
|
||||||
//
|
|
||||||
//
|
|
||||||
// Intel License Agreement
|
|
||||||
// For Open Source Computer Vision Library
|
|
||||||
//
|
|
||||||
// Copyright (C) 2000, Intel Corporation, 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 Intel Corporation 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*/
|
|
||||||
#include "precomp.hpp"
|
|
||||||
#include "calib3d_c_api.h"
|
|
||||||
|
|
||||||
/* POSIT structure */
|
|
||||||
struct CvPOSITObject
|
|
||||||
{
|
|
||||||
int N;
|
|
||||||
float* inv_matr;
|
|
||||||
float* obj_vecs;
|
|
||||||
float* img_vecs;
|
|
||||||
};
|
|
||||||
|
|
||||||
static void icvPseudoInverse3D( float *a, float *b, int n, int method );
|
|
||||||
|
|
||||||
static CvStatus icvCreatePOSITObject( CvPoint3D32f *points,
|
|
||||||
int numPoints,
|
|
||||||
CvPOSITObject **ppObject )
|
|
||||||
{
|
|
||||||
int i;
|
|
||||||
|
|
||||||
/* Compute size of required memory */
|
|
||||||
/* buffer for inverse matrix = N*3*float */
|
|
||||||
/* buffer for storing weakImagePoints = numPoints * 2 * float */
|
|
||||||
/* buffer for storing object vectors = N*3*float */
|
|
||||||
/* buffer for storing image vectors = N*2*float */
|
|
||||||
|
|
||||||
int N = numPoints - 1;
|
|
||||||
int inv_matr_size = N * 3 * sizeof( float );
|
|
||||||
int obj_vec_size = inv_matr_size;
|
|
||||||
int img_vec_size = N * 2 * sizeof( float );
|
|
||||||
CvPOSITObject *pObject;
|
|
||||||
|
|
||||||
/* check bad arguments */
|
|
||||||
if( points == NULL )
|
|
||||||
return CV_NULLPTR_ERR;
|
|
||||||
if( numPoints < 4 )
|
|
||||||
return CV_BADSIZE_ERR;
|
|
||||||
if( ppObject == NULL )
|
|
||||||
return CV_NULLPTR_ERR;
|
|
||||||
|
|
||||||
/* memory allocation */
|
|
||||||
pObject = (CvPOSITObject *) cvAlloc( sizeof( CvPOSITObject ) +
|
|
||||||
inv_matr_size + obj_vec_size + img_vec_size );
|
|
||||||
|
|
||||||
if( !pObject )
|
|
||||||
return CV_OUTOFMEM_ERR;
|
|
||||||
|
|
||||||
/* part the memory between all structures */
|
|
||||||
pObject->N = N;
|
|
||||||
pObject->inv_matr = (float *) ((char *) pObject + sizeof( CvPOSITObject ));
|
|
||||||
pObject->obj_vecs = (float *) ((char *) (pObject->inv_matr) + inv_matr_size);
|
|
||||||
pObject->img_vecs = (float *) ((char *) (pObject->obj_vecs) + obj_vec_size);
|
|
||||||
|
|
||||||
/****************************************************************************************\
|
|
||||||
* Construct object vectors from object points *
|
|
||||||
\****************************************************************************************/
|
|
||||||
for( i = 0; i < numPoints - 1; i++ )
|
|
||||||
{
|
|
||||||
pObject->obj_vecs[i] = points[i + 1].x - points[0].x;
|
|
||||||
pObject->obj_vecs[N + i] = points[i + 1].y - points[0].y;
|
|
||||||
pObject->obj_vecs[2 * N + i] = points[i + 1].z - points[0].z;
|
|
||||||
}
|
|
||||||
/****************************************************************************************\
|
|
||||||
* Compute pseudoinverse matrix *
|
|
||||||
\****************************************************************************************/
|
|
||||||
icvPseudoInverse3D( pObject->obj_vecs, pObject->inv_matr, N, 0 );
|
|
||||||
|
|
||||||
*ppObject = pObject;
|
|
||||||
return CV_NO_ERR;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
static CvStatus icvPOSIT( CvPOSITObject *pObject, CvPoint2D32f *imagePoints,
|
|
||||||
float focalLength, CvTermCriteria criteria,
|
|
||||||
float* rotation, float* translation )
|
|
||||||
{
|
|
||||||
int i, j, k;
|
|
||||||
int count = 0;
|
|
||||||
bool converged = false;
|
|
||||||
float scale = 0, inv_Z = 0;
|
|
||||||
float diff = (float)criteria.epsilon;
|
|
||||||
|
|
||||||
/* Check bad arguments */
|
|
||||||
if( imagePoints == NULL )
|
|
||||||
return CV_NULLPTR_ERR;
|
|
||||||
if( pObject == NULL )
|
|
||||||
return CV_NULLPTR_ERR;
|
|
||||||
if( focalLength <= 0 )
|
|
||||||
return CV_BADFACTOR_ERR;
|
|
||||||
if( !rotation )
|
|
||||||
return CV_NULLPTR_ERR;
|
|
||||||
if( !translation )
|
|
||||||
return CV_NULLPTR_ERR;
|
|
||||||
if( (criteria.type == 0) || (criteria.type > (CV_TERMCRIT_ITER | CV_TERMCRIT_EPS)))
|
|
||||||
return CV_BADFLAG_ERR;
|
|
||||||
if( (criteria.type & CV_TERMCRIT_EPS) && criteria.epsilon < 0 )
|
|
||||||
return CV_BADFACTOR_ERR;
|
|
||||||
if( (criteria.type & CV_TERMCRIT_ITER) && criteria.max_iter <= 0 )
|
|
||||||
return CV_BADFACTOR_ERR;
|
|
||||||
|
|
||||||
/* init variables */
|
|
||||||
float inv_focalLength = 1 / focalLength;
|
|
||||||
int N = pObject->N;
|
|
||||||
float *objectVectors = pObject->obj_vecs;
|
|
||||||
float *invMatrix = pObject->inv_matr;
|
|
||||||
float *imgVectors = pObject->img_vecs;
|
|
||||||
|
|
||||||
while( !converged )
|
|
||||||
{
|
|
||||||
if( count == 0 )
|
|
||||||
{
|
|
||||||
/* subtract out origin to get image vectors */
|
|
||||||
for( i = 0; i < N; i++ )
|
|
||||||
{
|
|
||||||
imgVectors[i] = imagePoints[i + 1].x - imagePoints[0].x;
|
|
||||||
imgVectors[N + i] = imagePoints[i + 1].y - imagePoints[0].y;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
diff = 0;
|
|
||||||
/* Compute new SOP (scaled orthograthic projection) image from pose */
|
|
||||||
for( i = 0; i < N; i++ )
|
|
||||||
{
|
|
||||||
/* objectVector * k */
|
|
||||||
float old;
|
|
||||||
float tmp = objectVectors[i] * rotation[6] /*[2][0]*/ +
|
|
||||||
objectVectors[N + i] * rotation[7] /*[2][1]*/ +
|
|
||||||
objectVectors[2 * N + i] * rotation[8] /*[2][2]*/;
|
|
||||||
|
|
||||||
tmp *= inv_Z;
|
|
||||||
tmp += 1;
|
|
||||||
|
|
||||||
old = imgVectors[i];
|
|
||||||
imgVectors[i] = imagePoints[i + 1].x * tmp - imagePoints[0].x;
|
|
||||||
|
|
||||||
diff = MAX( diff, (float) fabs( imgVectors[i] - old ));
|
|
||||||
|
|
||||||
old = imgVectors[N + i];
|
|
||||||
imgVectors[N + i] = imagePoints[i + 1].y * tmp - imagePoints[0].y;
|
|
||||||
|
|
||||||
diff = MAX( diff, (float) fabs( imgVectors[N + i] - old ));
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
/* calculate I and J vectors */
|
|
||||||
for( i = 0; i < 2; i++ )
|
|
||||||
{
|
|
||||||
for( j = 0; j < 3; j++ )
|
|
||||||
{
|
|
||||||
rotation[3*i+j] /*[i][j]*/ = 0;
|
|
||||||
for( k = 0; k < N; k++ )
|
|
||||||
{
|
|
||||||
rotation[3*i+j] /*[i][j]*/ += invMatrix[j * N + k] * imgVectors[i * N + k];
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
float inorm =
|
|
||||||
rotation[0] /*[0][0]*/ * rotation[0] /*[0][0]*/ +
|
|
||||||
rotation[1] /*[0][1]*/ * rotation[1] /*[0][1]*/ +
|
|
||||||
rotation[2] /*[0][2]*/ * rotation[2] /*[0][2]*/;
|
|
||||||
|
|
||||||
float jnorm =
|
|
||||||
rotation[3] /*[1][0]*/ * rotation[3] /*[1][0]*/ +
|
|
||||||
rotation[4] /*[1][1]*/ * rotation[4] /*[1][1]*/ +
|
|
||||||
rotation[5] /*[1][2]*/ * rotation[5] /*[1][2]*/;
|
|
||||||
|
|
||||||
const float invInorm = cvInvSqrt( inorm );
|
|
||||||
const float invJnorm = cvInvSqrt( jnorm );
|
|
||||||
|
|
||||||
inorm *= invInorm;
|
|
||||||
jnorm *= invJnorm;
|
|
||||||
|
|
||||||
rotation[0] /*[0][0]*/ *= invInorm;
|
|
||||||
rotation[1] /*[0][1]*/ *= invInorm;
|
|
||||||
rotation[2] /*[0][2]*/ *= invInorm;
|
|
||||||
|
|
||||||
rotation[3] /*[1][0]*/ *= invJnorm;
|
|
||||||
rotation[4] /*[1][1]*/ *= invJnorm;
|
|
||||||
rotation[5] /*[1][2]*/ *= invJnorm;
|
|
||||||
|
|
||||||
/* row2 = row0 x row1 (cross product) */
|
|
||||||
rotation[6] /*->m[2][0]*/ = rotation[1] /*->m[0][1]*/ * rotation[5] /*->m[1][2]*/ -
|
|
||||||
rotation[2] /*->m[0][2]*/ * rotation[4] /*->m[1][1]*/;
|
|
||||||
|
|
||||||
rotation[7] /*->m[2][1]*/ = rotation[2] /*->m[0][2]*/ * rotation[3] /*->m[1][0]*/ -
|
|
||||||
rotation[0] /*->m[0][0]*/ * rotation[5] /*->m[1][2]*/;
|
|
||||||
|
|
||||||
rotation[8] /*->m[2][2]*/ = rotation[0] /*->m[0][0]*/ * rotation[4] /*->m[1][1]*/ -
|
|
||||||
rotation[1] /*->m[0][1]*/ * rotation[3] /*->m[1][0]*/;
|
|
||||||
|
|
||||||
scale = (inorm + jnorm) / 2.0f;
|
|
||||||
inv_Z = scale * inv_focalLength;
|
|
||||||
|
|
||||||
count++;
|
|
||||||
converged = ((criteria.type & CV_TERMCRIT_EPS) && (diff < criteria.epsilon))
|
|
||||||
|| ((criteria.type & CV_TERMCRIT_ITER) && (count == criteria.max_iter));
|
|
||||||
}
|
|
||||||
const float invScale = 1 / scale;
|
|
||||||
translation[0] = imagePoints[0].x * invScale;
|
|
||||||
translation[1] = imagePoints[0].y * invScale;
|
|
||||||
translation[2] = 1 / inv_Z;
|
|
||||||
|
|
||||||
return CV_NO_ERR;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
static CvStatus icvReleasePOSITObject( CvPOSITObject ** ppObject )
|
|
||||||
{
|
|
||||||
cvFree( ppObject );
|
|
||||||
return CV_NO_ERR;
|
|
||||||
}
|
|
||||||
|
|
||||||
/*F///////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
// Name: icvPseudoInverse3D
|
|
||||||
// Purpose: Pseudoinverse N x 3 matrix N >= 3
|
|
||||||
// Context:
|
|
||||||
// Parameters:
|
|
||||||
// a - input matrix
|
|
||||||
// b - pseudoinversed a
|
|
||||||
// n - number of rows in a
|
|
||||||
// method - if 0, then b = inv(transpose(a)*a) * transpose(a)
|
|
||||||
// if 1, then SVD used.
|
|
||||||
// Returns:
|
|
||||||
// Notes: Both matrix are stored by n-dimensional vectors.
|
|
||||||
// Now only method == 0 supported.
|
|
||||||
//F*/
|
|
||||||
void
|
|
||||||
icvPseudoInverse3D( float *a, float *b, int n, int method )
|
|
||||||
{
|
|
||||||
if( method == 0 )
|
|
||||||
{
|
|
||||||
float ata00 = 0;
|
|
||||||
float ata11 = 0;
|
|
||||||
float ata22 = 0;
|
|
||||||
float ata01 = 0;
|
|
||||||
float ata02 = 0;
|
|
||||||
float ata12 = 0;
|
|
||||||
|
|
||||||
int k;
|
|
||||||
/* compute matrix ata = transpose(a) * a */
|
|
||||||
for( k = 0; k < n; k++ )
|
|
||||||
{
|
|
||||||
float a0 = a[k];
|
|
||||||
float a1 = a[n + k];
|
|
||||||
float a2 = a[2 * n + k];
|
|
||||||
|
|
||||||
ata00 += a0 * a0;
|
|
||||||
ata11 += a1 * a1;
|
|
||||||
ata22 += a2 * a2;
|
|
||||||
|
|
||||||
ata01 += a0 * a1;
|
|
||||||
ata02 += a0 * a2;
|
|
||||||
ata12 += a1 * a2;
|
|
||||||
}
|
|
||||||
/* inverse matrix ata */
|
|
||||||
{
|
|
||||||
float p00 = ata11 * ata22 - ata12 * ata12;
|
|
||||||
float p01 = -(ata01 * ata22 - ata12 * ata02);
|
|
||||||
float p02 = ata12 * ata01 - ata11 * ata02;
|
|
||||||
|
|
||||||
float p11 = ata00 * ata22 - ata02 * ata02;
|
|
||||||
float p12 = -(ata00 * ata12 - ata01 * ata02);
|
|
||||||
float p22 = ata00 * ata11 - ata01 * ata01;
|
|
||||||
|
|
||||||
float det = 0;
|
|
||||||
det += ata00 * p00;
|
|
||||||
det += ata01 * p01;
|
|
||||||
det += ata02 * p02;
|
|
||||||
|
|
||||||
const float inv_det = 1 / det;
|
|
||||||
|
|
||||||
/* compute resultant matrix */
|
|
||||||
for( k = 0; k < n; k++ )
|
|
||||||
{
|
|
||||||
float a0 = a[k];
|
|
||||||
float a1 = a[n + k];
|
|
||||||
float a2 = a[2 * n + k];
|
|
||||||
|
|
||||||
b[k] = (p00 * a0 + p01 * a1 + p02 * a2) * inv_det;
|
|
||||||
b[n + k] = (p01 * a0 + p11 * a1 + p12 * a2) * inv_det;
|
|
||||||
b[2 * n + k] = (p02 * a0 + p12 * a1 + p22 * a2) * inv_det;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
/*if ( method == 1 )
|
|
||||||
{
|
|
||||||
}
|
|
||||||
*/
|
|
||||||
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
CV_IMPL CvPOSITObject *
|
|
||||||
cvCreatePOSITObject( CvPoint3D32f * points, int numPoints )
|
|
||||||
{
|
|
||||||
CvPOSITObject *pObject = 0;
|
|
||||||
IPPI_CALL( icvCreatePOSITObject( points, numPoints, &pObject ));
|
|
||||||
return pObject;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
CV_IMPL void
|
|
||||||
cvPOSIT( CvPOSITObject * pObject, CvPoint2D32f * imagePoints,
|
|
||||||
double focalLength, CvTermCriteria criteria,
|
|
||||||
float* rotation, float* translation )
|
|
||||||
{
|
|
||||||
IPPI_CALL( icvPOSIT( pObject, imagePoints,(float) focalLength, criteria,
|
|
||||||
rotation, translation ));
|
|
||||||
}
|
|
||||||
|
|
||||||
CV_IMPL void
|
|
||||||
cvReleasePOSITObject( CvPOSITObject ** ppObject )
|
|
||||||
{
|
|
||||||
IPPI_CALL( icvReleasePOSITObject( ppObject ));
|
|
||||||
}
|
|
||||||
|
|
||||||
/* End of file. */
|
|
||||||
@ -334,54 +334,6 @@ void undistort( InputArray _src, OutputArray _dst, InputArray _cameraMatrix,
|
|||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
CV_IMPL void
|
|
||||||
cvUndistort2( const CvArr* srcarr, CvArr* dstarr, const CvMat* Aarr, const CvMat* dist_coeffs, const CvMat* newAarr )
|
|
||||||
{
|
|
||||||
cv::Mat src = cv::cvarrToMat(srcarr), dst = cv::cvarrToMat(dstarr), dst0 = dst;
|
|
||||||
cv::Mat A = cv::cvarrToMat(Aarr), distCoeffs = cv::cvarrToMat(dist_coeffs), newA;
|
|
||||||
if( newAarr )
|
|
||||||
newA = cv::cvarrToMat(newAarr);
|
|
||||||
|
|
||||||
CV_Assert( src.size() == dst.size() && src.type() == dst.type() );
|
|
||||||
cv::undistort( src, dst, A, distCoeffs, newA );
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
CV_IMPL void cvInitUndistortMap( const CvMat* Aarr, const CvMat* dist_coeffs,
|
|
||||||
CvArr* mapxarr, CvArr* mapyarr )
|
|
||||||
{
|
|
||||||
cv::Mat A = cv::cvarrToMat(Aarr), distCoeffs = cv::cvarrToMat(dist_coeffs);
|
|
||||||
cv::Mat mapx = cv::cvarrToMat(mapxarr), mapy, mapx0 = mapx, mapy0;
|
|
||||||
|
|
||||||
if( mapyarr )
|
|
||||||
mapy0 = mapy = cv::cvarrToMat(mapyarr);
|
|
||||||
|
|
||||||
cv::initUndistortRectifyMap( A, distCoeffs, cv::Mat(), A,
|
|
||||||
mapx.size(), mapx.type(), mapx, mapy );
|
|
||||||
CV_Assert( mapx0.data == mapx.data && mapy0.data == mapy.data );
|
|
||||||
}
|
|
||||||
|
|
||||||
void
|
|
||||||
cvInitUndistortRectifyMap( const CvMat* Aarr, const CvMat* dist_coeffs,
|
|
||||||
const CvMat *Rarr, const CvMat* ArArr, CvArr* mapxarr, CvArr* mapyarr )
|
|
||||||
{
|
|
||||||
cv::Mat A = cv::cvarrToMat(Aarr), distCoeffs, R, Ar;
|
|
||||||
cv::Mat mapx = cv::cvarrToMat(mapxarr), mapy, mapx0 = mapx, mapy0;
|
|
||||||
|
|
||||||
if( mapyarr )
|
|
||||||
mapy0 = mapy = cv::cvarrToMat(mapyarr);
|
|
||||||
|
|
||||||
if( dist_coeffs )
|
|
||||||
distCoeffs = cv::cvarrToMat(dist_coeffs);
|
|
||||||
if( Rarr )
|
|
||||||
R = cv::cvarrToMat(Rarr);
|
|
||||||
if( ArArr )
|
|
||||||
Ar = cv::cvarrToMat(ArArr);
|
|
||||||
|
|
||||||
cv::initUndistortRectifyMap( A, distCoeffs, R, Ar, mapx.size(), mapx.type(), mapx, mapy );
|
|
||||||
CV_Assert( mapx0.data == mapx.data && mapy0.data == mapy.data );
|
|
||||||
}
|
|
||||||
|
|
||||||
static void cvUndistortPointsInternal( const CvMat* _src, CvMat* _dst, const CvMat* _cameraMatrix,
|
static void cvUndistortPointsInternal( const CvMat* _src, CvMat* _dst, const CvMat* _cameraMatrix,
|
||||||
const CvMat* _distCoeffs,
|
const CvMat* _distCoeffs,
|
||||||
const CvMat* matR, const CvMat* matP, cv::TermCriteria criteria)
|
const CvMat* matR, const CvMat* matP, cv::TermCriteria criteria)
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user