Merge branch 'master' of https://github.com/Itseez/opencv

modules/calib3d/src/fisheye.hpp

@@ -0,0 +1,61 @@
+#ifndef FISHEYE_INTERNAL_H
+#define FISHEYE_INTERNAL_H
+#include "precomp.hpp"
+
+namespace cv { namespace internal {
+
+struct CV_EXPORTS IntrinsicParams
+{
+    Vec2d f;
+    Vec2d c;
+    Vec4d k;
+    double alpha;
+    std::vector<int> isEstimate;
+
+    IntrinsicParams();
+    IntrinsicParams(Vec2d f, Vec2d c, Vec4d k, double alpha = 0);
+    IntrinsicParams operator+(const Mat& a);
+    IntrinsicParams& operator =(const Mat& a);
+    void Init(const cv::Vec2d& f, const cv::Vec2d& c, const cv::Vec4d& k = Vec4d(0,0,0,0), const double& alpha = 0);
+};
+
+void projectPoints(cv::InputArray objectPoints, cv::OutputArray imagePoints,
+                   cv::InputArray _rvec,cv::InputArray _tvec,
+                   const IntrinsicParams& param, cv::OutputArray jacobian);
+
+void ComputeExtrinsicRefine(const Mat& imagePoints, const Mat& objectPoints, Mat& rvec,
+                            Mat&  tvec, Mat& J, const int MaxIter,
+                            const IntrinsicParams& param, const double thresh_cond);
+CV_EXPORTS Mat ComputeHomography(Mat m, Mat M);
+
+CV_EXPORTS Mat NormalizePixels(const Mat& imagePoints, const IntrinsicParams& param);
+
+void InitExtrinsics(const Mat& _imagePoints, const Mat& _objectPoints, const IntrinsicParams& param, Mat& omckk, Mat& Tckk);
+
+void CalibrateExtrinsics(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints,
+                         const IntrinsicParams& param, const int check_cond,
+                         const double thresh_cond, InputOutputArray omc, InputOutputArray Tc);
+
+void ComputeJacobians(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints,
+                      const IntrinsicParams& param,  InputArray omc, InputArray Tc,
+                      const int& check_cond, const double& thresh_cond, Mat& JJ2_inv, Mat& ex3);
+
+CV_EXPORTS void  EstimateUncertainties(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints,
+                           const IntrinsicParams& params, InputArray omc, InputArray Tc,
+                           IntrinsicParams& errors, Vec2d& std_err, double thresh_cond, int check_cond, double& rms);
+
+void dAB(cv::InputArray A, InputArray B, OutputArray dABdA, OutputArray dABdB);
+
+void JRodriguesMatlab(const Mat& src, Mat& dst);
+
+void compose_motion(InputArray _om1, InputArray _T1, InputArray _om2, InputArray _T2,
+                    Mat& om3, Mat& T3, Mat& dom3dom1, Mat& dom3dT1, Mat& dom3dom2,
+                    Mat& dom3dT2, Mat& dT3dom1, Mat& dT3dT1, Mat& dT3dom2, Mat& dT3dT2);
+
+double median(const Mat& row);
+
+Vec3d median3d(InputArray m);
+
+}}
+
+#endif