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