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137 lines
5.5 KiB
C++
137 lines
5.5 KiB
C++
//M*//////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000, Intel Corporation, all rights reserved.
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// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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/****************************************************************************************\
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* Exhaustive Linearization for Robust Camera Pose and Focal Length Estimation.
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* Contributed by Edgar Riba
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\****************************************************************************************/
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#ifndef OPENCV_CALIB3D_UPNP_H_
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#define OPENCV_CALIB3D_UPNP_H_
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#include "precomp.hpp"
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#include "opencv2/core/core_c.h"
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#include <iostream>
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class upnp
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{
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public:
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upnp(const cv::Mat& cameraMatrix, const cv::Mat& opoints, const cv::Mat& ipoints);
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~upnp();
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double compute_pose(cv::Mat& R, cv::Mat& t);
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private:
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upnp(const upnp &); // copy disabled
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upnp& operator=(const upnp &); // assign disabled
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template <typename T>
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void init_camera_parameters(const cv::Mat& cameraMatrix)
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{
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uc = cameraMatrix.at<T> (0, 2);
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vc = cameraMatrix.at<T> (1, 2);
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fu = 1;
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fv = 1;
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}
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template <typename OpointType, typename IpointType>
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void init_points(const cv::Mat& opoints, const cv::Mat& ipoints)
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{
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for(int i = 0; i < number_of_correspondences; i++)
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{
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pws[3 * i ] = opoints.at<OpointType>(i).x;
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pws[3 * i + 1] = opoints.at<OpointType>(i).y;
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pws[3 * i + 2] = opoints.at<OpointType>(i).z;
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us[2 * i ] = ipoints.at<IpointType>(i).x;
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us[2 * i + 1] = ipoints.at<IpointType>(i).y;
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}
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}
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double reprojection_error(const double R[3][3], const double t[3]);
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void choose_control_points();
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void compute_alphas();
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void fill_M(cv::Mat * 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_and_focal_approx_1(cv::Mat * Ut, cv::Mat * Rho, double * betas, double * efs);
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void find_betas_and_focal_approx_2(cv::Mat * Ut, cv::Mat * Rho, double * betas, double * efs);
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void qr_solve(cv::Mat * A, cv::Mat * b, cv::Mat * X);
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cv::Mat compute_constraint_distance_2param_6eq_2unk_f_unk(const cv::Mat& M1);
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cv::Mat compute_constraint_distance_3param_6eq_6unk_f_unk(const cv::Mat& M1, const cv::Mat& M2);
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void generate_all_possible_solutions_for_f_unk(const double betas[5], double solutions[18][3]);
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double sign(const double v);
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double dot(const double * v1, const double * v2);
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double dotXY(const double * v1, const double * v2);
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double dotZ(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_6x12(const double * ut, double * l_6x12);
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void gauss_newton(const cv::Mat * L_6x12, const cv::Mat * Rho, double current_betas[4], double * efs);
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void compute_A_and_b_gauss_newton(const double * l_6x12, const double * rho,
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const double cb[4], cv::Mat * A, cv::Mat * b, double const f);
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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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double uc, vc, fu, fv;
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std::vector<double> pws, us, alphas, pcs;
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int number_of_correspondences;
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double cws[4][3], ccs[4][3];
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int max_nr;
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double * A1, * A2;
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};
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#endif // OPENCV_CALIB3D_UPNP_H_
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