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Corrected notes

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This commit is contained in:
Ilya Krylov
2014-04-29 10:24:39 +04:00
parent f0f741b796
commit e6aa8ce932
5 changed files with 75 additions and 125 deletions
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68
modules/calib3d/include/opencv2/calib3d/calib3d.hpp
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@@ -745,32 +745,10 @@ CV_EXPORTS_W int estimateAffine3D(InputArray src, InputArray dst,
OutputArray out, OutputArray inliers,
double ransacThreshold=3, double confidence=0.99);
class Fisheye
{
public:
//Definitions:
// Let P be a point in 3D of coordinates X in the world reference frame (stored in the matrix X)
// The coordinate vector of P in the camera reference frame is: Xc = R*X + T
// where R is the rotation matrix corresponding to the rotation vector om: R = rodrigues(om);
// call x, y and z the 3 coordinates of Xc: x = Xc(1); y = Xc(2); z = Xc(3);
// The pinehole projection coordinates of P is [a;b] where a=x/z and b=y/z.
// call r^2 = a^2 + b^2,
// call theta = atan(r),
//
// Fisheye distortion -> theta_d = theta * (1 + k(1)*theta^2 + k(2)*theta^4 + k(3)*theta^6 + k(4)*theta^8)
//
// The distorted point coordinates are: xd = [xx;yy] where:
//
// xx = (theta_d / r) * x
// yy = (theta_d / r) * y
//
// Finally, convertion into pixel coordinates: The final pixel coordinates vector xp=[xxp;yyp] where:
//
// xxp = f(1)*(xx + alpha*yy) + c(1)
// yyp = f(2)*yy + c(2)
enum{
CALIB_USE_INTRINSIC_GUESS = 1,
CALIB_RECOMPUTE_EXTRINSIC = 2,
@@ -826,53 +804,7 @@ public:
double balance = 0.0, double fov_scale = 1.0);
};
namespace internal {
struct 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);
Mat ComputeHomography(Mat m, Mat M);
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);
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);
}
}
#endif
#endif