backport C++ 3d/calibration_base.cpp:5.x to calib3d/calibration_base.cpp:4.x (#26414)

* Add vanilla calibration_base from 5.x

This is from 55105719dd

* Have the C implementation use the new C++ one.

modules/calib3d/src/calib3d_c_api.h

@@ -111,23 +111,6 @@ void cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2,
 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
-*/
-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 */
-int cvRodrigues2( const CvMat* src, CvMat* dst,
-                  CvMat* jacobian CV_DEFAULT(0) );
-
 /* Finds perspective transformation between the object plane and image (view) plane */
 int cvFindHomography( const CvMat* src_points,
                       const CvMat* dst_points,
@@ -138,54 +121,6 @@ int cvFindHomography( const CvMat* src_points,
                       int maxIters CV_DEFAULT(2000),
                       double confidence CV_DEFAULT(0.995));
 
-/* Computes RQ decomposition for 3x3 matrices */
-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 */
-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 */
-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 */
-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 */
-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 */
-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) */
 void cvInitIntrinsicParams2D( const CvMat* object_points,

modules/calib3d/src/checkchessboard.cpp

@@ -40,7 +40,6 @@
  //M*/
 
 #include "precomp.hpp"
-#include "opencv2/imgproc/imgproc_c.h"
 #include "calib3d_c_api.h"
 
 #include <vector>

modules/calib3d/src/precomp.hpp

@@ -137,6 +137,19 @@ static inline bool haveCollinearPoints( const Mat& m, int count )
     return false;
 }
 
+void findExtrinsicCameraParams2( const Mat& objectPoints,
+                  const Mat& imagePoints, const Mat& A,
+                  const Mat& distCoeffs, Mat& rvec, Mat& tvec,
+                  int useExtrinsicGuess );
+
+void projectPoints( InputArray objectPoints,
+                    InputArray rvec, InputArray tvec,
+                    InputArray cameraMatrix, InputArray distCoeffs,
+                    OutputArray imagePoints, OutputArray dpdr,
+                    OutputArray dpdt, OutputArray dpdf=noArray(),
+                    OutputArray dpdc=noArray(), OutputArray dpdk=noArray(),
+                    OutputArray dpdo=noArray(), double aspectRatio=0.);
+
 } // namespace cv
 
 int checkChessboardBinary(const cv::Mat & img, const cv::Size & size);

modules/calib3d/src/solvepnp.cpp

@@ -48,7 +48,6 @@
 #include "ap3p.h"
 #include "ippe.hpp"
 #include "sqpnp.hpp"
-#include "calib3d_c_api.h"
 
 #include "usac.hpp"
 
@@ -892,12 +891,7 @@ int solvePnPGeneric( InputArray _opoints, InputArray _ipoints,
             tvec.create(3, 1, CV_64FC1);
         }
 
-        CvMat c_objectPoints = cvMat(opoints), c_imagePoints = cvMat(ipoints);
+        findExtrinsicCameraParams2(opoints, ipoints, cameraMatrix, distCoeffs, rvec, tvec, useExtrinsicGuess);
-        CvMat c_cameraMatrix = cvMat(cameraMatrix), c_distCoeffs = cvMat(distCoeffs);
-        CvMat c_rvec = cvMat(rvec), c_tvec = cvMat(tvec);
-        cvFindExtrinsicCameraParams2(&c_objectPoints, &c_imagePoints, &c_cameraMatrix,
-                                     (c_distCoeffs.rows && c_distCoeffs.cols) ? &c_distCoeffs : 0,
-                                     &c_rvec, &c_tvec, useExtrinsicGuess );
 
         vec_rvecs.push_back(rvec);
         vec_tvecs.push_back(tvec);