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Remove internal calib3d_c_api.h

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The new C++ code is copy/pasted from OpenCV5:
- functions initIntrinsicParams2D, subMatrix (the first 160 lines)
- function prepareDistCoeffs
- the different asserts

Not all the API/code is ported to C++ yet to ease the review.
This commit is contained in:
Vincent Rabaud 2024-11-14 14:13:18 +01:00
parent 4866811933
commit 8c6339c04d
3 changed files with 348 additions and 572 deletions
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94
modules/calib3d/src/calib3d_c_api.h
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@ -1,94 +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.
//
//
// 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_API_H
#define OPENCV_CALIB3D_C_API_H
#include "opencv2/core/core_c.h"
#include "opencv2/calib3d/calib3d_c.h"
#ifdef __cplusplus
extern "C" {
#endif
/****************************************************************************************\
* Camera Calibration, Pose Estimation and Stereo *
\****************************************************************************************/
/* Finds perspective transformation between the object plane and image (view) plane */
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 initial estimate of the intrinsic camera parameters
in case of planar calibration target (e.g. chessboard) */
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.) );
/* Finds intrinsic and extrinsic camera parameters
from a few views of known calibration pattern */
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)) );
#ifdef __cplusplus
} // extern "C"
#endif
#endif /* OPENCV_CALIB3D_C_API_H */

664
modules/calib3d/src/calibration.cpp
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38
modules/calib3d/src/compat_ptsetreg.cpp
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@ -42,7 +42,7 @@
#include "precomp.hpp"
#include "opencv2/core/core_c.h"
#include "calib3d_c_api.h"
#include "opencv2/calib3d/calib3d_c.h"
/************************************************************************************\
Some backward compatibility stuff, to be moved to legacy or compat module
@ -321,39 +321,3 @@ void CvLevMarq::step()
for( int i = 0; i < nparams; i++ )
param->data.db[i] = prevParam->data.db[i] - (mask->data.ptr[i] ? nonzero_param(j++) : 0);
}
CV_IMPL int cvFindHomography( const CvMat* _src, const CvMat* _dst, CvMat* __H, int method,
double ransacReprojThreshold, CvMat* _mask, int maxIters,
double confidence)
{
cv::Mat src = cv::cvarrToMat(_src), dst = cv::cvarrToMat(_dst);
if( src.channels() == 1 && (src.rows == 2 || src.rows == 3) && src.cols > 3 )
cv::transpose(src, src);
if( dst.channels() == 1 && (dst.rows == 2 || dst.rows == 3) && dst.cols > 3 )
cv::transpose(dst, dst);
if ( maxIters < 0 )
maxIters = 0;
if ( maxIters > 2000 )
maxIters = 2000;
if ( confidence < 0 )
confidence = 0;
if ( confidence > 1 )
confidence = 1;
const cv::Mat H = cv::cvarrToMat(__H), mask = cv::cvarrToMat(_mask);
cv::Mat H0 = cv::findHomography(src, dst, method, ransacReprojThreshold,
_mask ? cv::_OutputArray(mask) : cv::_OutputArray(), maxIters,
confidence);
if( H0.empty() )
{
cv::Mat Hz = cv::cvarrToMat(__H);
Hz.setTo(cv::Scalar::all(0));
return 0;
}
H0.convertTo(H, H.type());
return 1;
}