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00042 
00043 #ifndef __OPENCV_CALIB3D_HPP__
00044 #define __OPENCV_CALIB3D_HPP__
00045 
00046 #include "opencv2/core/core.hpp"
00047 
00048 #ifdef __cplusplus
00049 extern "C" {
00050 #endif
00051 
00052 /****************************************************************************************\
00053 *                      Camera Calibration, Pose Estimation and Stereo                    *
00054 \****************************************************************************************/
00055 
00056 typedef struct CvPOSITObject CvPOSITObject;
00057 
00058 /* Allocates and initializes CvPOSITObject structure before doing cvPOSIT */
00059 CVAPI(CvPOSITObject*)  cvCreatePOSITObject( CvPoint3D32f* points, int point_count );
00060 
00061 
00062 /* Runs POSIT (POSe from ITeration) algorithm for determining 3d position of
00063    an object given its model and projection in a weak-perspective case */
00064 CVAPI(void)  cvPOSIT(  CvPOSITObject* posit_object, CvPoint2D32f* image_points,
00065                        double focal_length, CvTermCriteria criteria,
00066                        float* rotation_matrix, float* translation_vector);
00067 
00068 /* Releases CvPOSITObject structure */
00069 CVAPI(void)  cvReleasePOSITObject( CvPOSITObject**  posit_object );
00070 
00071 /* updates the number of RANSAC iterations */
00072 CVAPI(int) cvRANSACUpdateNumIters( double p, double err_prob,
00073                                    int model_points, int max_iters );
00074 
00075 CVAPI(void) cvConvertPointsHomogeneous( const CvMat* src, CvMat* dst );
00076 
00077 /* Calculates fundamental matrix given a set of corresponding points */
00078 #define CV_FM_7POINT 1
00079 #define CV_FM_8POINT 2
00080 
00081 #define CV_LMEDS 4
00082 #define CV_RANSAC 8
00083     
00084 #define CV_FM_LMEDS_ONLY  CV_LMEDS
00085 #define CV_FM_RANSAC_ONLY CV_RANSAC
00086 #define CV_FM_LMEDS CV_LMEDS
00087 #define CV_FM_RANSAC CV_RANSAC
00088     
00089 CVAPI(int) cvFindFundamentalMat( const CvMat* points1, const CvMat* points2,
00090                                  CvMat* fundamental_matrix,
00091                                  int method CV_DEFAULT(CV_FM_RANSAC),
00092                                  double param1 CV_DEFAULT(3.), double param2 CV_DEFAULT(0.99),
00093                                  CvMat* status CV_DEFAULT(NULL) );
00094 
00095 /* For each input point on one of images
00096    computes parameters of the corresponding
00097    epipolar line on the other image */
00098 CVAPI(void) cvComputeCorrespondEpilines( const CvMat* points,
00099                                          int which_image,
00100                                          const CvMat* fundamental_matrix,
00101                                          CvMat* correspondent_lines );
00102 
00103 /* Triangulation functions */
00104 
00105 CVAPI(void) cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2,
00106                                 CvMat* projPoints1, CvMat* projPoints2,
00107                                 CvMat* points4D);
00108 
00109 CVAPI(void) cvCorrectMatches(CvMat* F, CvMat* points1, CvMat* points2,
00110                              CvMat* new_points1, CvMat* new_points2);
00111 
00112     
00113 /* Computes the optimal new camera matrix according to the free scaling parameter alpha:
00114    alpha=0 - only valid pixels will be retained in the undistorted image
00115    alpha=1 - all the source image pixels will be retained in the undistorted image
00116 */
00117 CVAPI(void) cvGetOptimalNewCameraMatrix( const CvMat* camera_matrix,
00118                                          const CvMat* dist_coeffs,
00119                                          CvSize image_size, double alpha,
00120                                          CvMat* new_camera_matrix,
00121                                          CvSize new_imag_size CV_DEFAULT(cvSize(0,0)),
00122                                          CvRect* valid_pixel_ROI CV_DEFAULT(0) );
00123 
00124 /* Converts rotation vector to rotation matrix or vice versa */
00125 CVAPI(int) cvRodrigues2( const CvMat* src, CvMat* dst,
00126                          CvMat* jacobian CV_DEFAULT(0) );
00127 
00128 /* Finds perspective transformation between the object plane and image (view) plane */
00129 CVAPI(int) cvFindHomography( const CvMat* src_points,
00130                              const CvMat* dst_points,
00131                              CvMat* homography,
00132                              int method CV_DEFAULT(0),
00133                              double ransacReprojThreshold CV_DEFAULT(3),
00134                              CvMat* mask CV_DEFAULT(0));
00135 
00136 /* Computes RQ decomposition for 3x3 matrices */
00137 CVAPI(void) cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,
00138                            CvMat *matrixQx CV_DEFAULT(NULL),
00139                            CvMat *matrixQy CV_DEFAULT(NULL),
00140                            CvMat *matrixQz CV_DEFAULT(NULL),
00141                            CvPoint3D64f *eulerAngles CV_DEFAULT(NULL));
00142 
00143 /* Computes projection matrix decomposition */
00144 CVAPI(void) cvDecomposeProjectionMatrix( const CvMat *projMatr, CvMat *calibMatr,
00145                                          CvMat *rotMatr, CvMat *posVect,
00146                                          CvMat *rotMatrX CV_DEFAULT(NULL),
00147                                          CvMat *rotMatrY CV_DEFAULT(NULL),
00148                                          CvMat *rotMatrZ CV_DEFAULT(NULL),
00149                                          CvPoint3D64f *eulerAngles CV_DEFAULT(NULL));
00150 
00151 /* Computes d(AB)/dA and d(AB)/dB */
00152 CVAPI(void) cvCalcMatMulDeriv( const CvMat* A, const CvMat* B, CvMat* dABdA, CvMat* dABdB );
00153 
00154 /* Computes r3 = rodrigues(rodrigues(r2)*rodrigues(r1)),
00155    t3 = rodrigues(r2)*t1 + t2 and the respective derivatives */
00156 CVAPI(void) cvComposeRT( const CvMat* _rvec1, const CvMat* _tvec1,
00157                          const CvMat* _rvec2, const CvMat* _tvec2,
00158                          CvMat* _rvec3, CvMat* _tvec3,
00159                          CvMat* dr3dr1 CV_DEFAULT(0), CvMat* dr3dt1 CV_DEFAULT(0),
00160                          CvMat* dr3dr2 CV_DEFAULT(0), CvMat* dr3dt2 CV_DEFAULT(0),
00161                          CvMat* dt3dr1 CV_DEFAULT(0), CvMat* dt3dt1 CV_DEFAULT(0),
00162                          CvMat* dt3dr2 CV_DEFAULT(0), CvMat* dt3dt2 CV_DEFAULT(0) );
00163 
00164 /* Projects object points to the view plane using
00165    the specified extrinsic and intrinsic camera parameters */
00166 CVAPI(void) cvProjectPoints2( const CvMat* object_points, const CvMat* rotation_vector,
00167                               const CvMat* translation_vector, const CvMat* camera_matrix,
00168                               const CvMat* distortion_coeffs, CvMat* image_points,
00169                               CvMat* dpdrot CV_DEFAULT(NULL), CvMat* dpdt CV_DEFAULT(NULL),
00170                               CvMat* dpdf CV_DEFAULT(NULL), CvMat* dpdc CV_DEFAULT(NULL),
00171                               CvMat* dpddist CV_DEFAULT(NULL),
00172                               double aspect_ratio CV_DEFAULT(0));
00173 
00174 /* Finds extrinsic camera parameters from
00175    a few known corresponding point pairs and intrinsic parameters */
00176 CVAPI(void) cvFindExtrinsicCameraParams2( const CvMat* object_points,
00177                                           const CvMat* image_points,
00178                                           const CvMat* camera_matrix,
00179                                           const CvMat* distortion_coeffs,
00180                                           CvMat* rotation_vector,
00181                                           CvMat* translation_vector,
00182                                           int use_extrinsic_guess CV_DEFAULT(0) );
00183 
00184 /* Computes initial estimate of the intrinsic camera parameters
00185    in case of planar calibration target (e.g. chessboard) */
00186 CVAPI(void) cvInitIntrinsicParams2D( const CvMat* object_points,
00187                                      const CvMat* image_points,
00188                                      const CvMat* npoints, CvSize image_size,
00189                                      CvMat* camera_matrix,
00190                                      double aspect_ratio CV_DEFAULT(1.) );
00191 
00192 #define CV_CALIB_CB_ADAPTIVE_THRESH  1
00193 #define CV_CALIB_CB_NORMALIZE_IMAGE  2
00194 #define CV_CALIB_CB_FILTER_QUADS     4
00195 #define CV_CALIB_CB_FAST_CHECK       8
00196 
00197 // Performs a fast check if a chessboard is in the input image. This is a workaround to 
00198 // a problem of cvFindChessboardCorners being slow on images with no chessboard
00199 // - src: input image
00200 // - size: chessboard size
00201 // Returns 1 if a chessboard can be in this image and findChessboardCorners should be called, 
00202 // 0 if there is no chessboard, -1 in case of error
00203 CVAPI(int) cvCheckChessboard(IplImage* src, CvSize size);
00204     
00205     /* Detects corners on a chessboard calibration pattern */
00206 CVAPI(int) cvFindChessboardCorners( const void* image, CvSize pattern_size,
00207                                     CvPoint2D32f* corners,
00208                                     int* corner_count CV_DEFAULT(NULL),
00209                                     int flags CV_DEFAULT(CV_CALIB_CB_ADAPTIVE_THRESH+
00210                                         CV_CALIB_CB_NORMALIZE_IMAGE) );
00211 
00212 /* Draws individual chessboard corners or the whole chessboard detected */
00213 CVAPI(void) cvDrawChessboardCorners( CvArr* image, CvSize pattern_size,
00214                                      CvPoint2D32f* corners,
00215                                      int count, int pattern_was_found );
00216 
00217 #define CV_CALIB_USE_INTRINSIC_GUESS  1
00218 #define CV_CALIB_FIX_ASPECT_RATIO     2
00219 #define CV_CALIB_FIX_PRINCIPAL_POINT  4
00220 #define CV_CALIB_ZERO_TANGENT_DIST    8
00221 #define CV_CALIB_FIX_FOCAL_LENGTH 16
00222 #define CV_CALIB_FIX_K1  32
00223 #define CV_CALIB_FIX_K2  64
00224 #define CV_CALIB_FIX_K3  128
00225 #define CV_CALIB_FIX_K4  2048
00226 #define CV_CALIB_FIX_K5  4096
00227 #define CV_CALIB_FIX_K6  8192
00228 #define CV_CALIB_RATIONAL_MODEL 16384
00229 
00230 /* Finds intrinsic and extrinsic camera parameters
00231    from a few views of known calibration pattern */
00232 CVAPI(double) cvCalibrateCamera2( const CvMat* object_points,
00233                                 const CvMat* image_points,
00234                                 const CvMat* point_counts,
00235                                 CvSize image_size,
00236                                 CvMat* camera_matrix,
00237                                 CvMat* distortion_coeffs,
00238                                 CvMat* rotation_vectors CV_DEFAULT(NULL),
00239                                 CvMat* translation_vectors CV_DEFAULT(NULL),
00240                                 int flags CV_DEFAULT(0) );
00241 
00242 /* Computes various useful characteristics of the camera from the data computed by
00243    cvCalibrateCamera2 */
00244 CVAPI(void) cvCalibrationMatrixValues( const CvMat *camera_matrix,
00245                                 CvSize image_size,
00246                                 double aperture_width CV_DEFAULT(0),
00247                                 double aperture_height CV_DEFAULT(0),
00248                                 double *fovx CV_DEFAULT(NULL),
00249                                 double *fovy CV_DEFAULT(NULL),
00250                                 double *focal_length CV_DEFAULT(NULL),
00251                                 CvPoint2D64f *principal_point CV_DEFAULT(NULL),
00252                                 double *pixel_aspect_ratio CV_DEFAULT(NULL));
00253 
00254 #define CV_CALIB_FIX_INTRINSIC  256
00255 #define CV_CALIB_SAME_FOCAL_LENGTH 512
00256 
00257 /* Computes the transformation from one camera coordinate system to another one
00258    from a few correspondent views of the same calibration target. Optionally, calibrates
00259    both cameras */
00260 CVAPI(double) cvStereoCalibrate( const CvMat* object_points, const CvMat* image_points1,
00261                                const CvMat* image_points2, const CvMat* npoints,
00262                                CvMat* camera_matrix1, CvMat* dist_coeffs1,
00263                                CvMat* camera_matrix2, CvMat* dist_coeffs2,
00264                                CvSize image_size, CvMat* R, CvMat* T,
00265                                CvMat* E CV_DEFAULT(0), CvMat* F CV_DEFAULT(0),
00266                                CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
00267                                    CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,1e-6)),
00268                                int flags CV_DEFAULT(CV_CALIB_FIX_INTRINSIC));
00269 
00270 #define CV_CALIB_ZERO_DISPARITY 1024
00271 
00272 /* Computes 3D rotations (+ optional shift) for each camera coordinate system to make both
00273    views parallel (=> to make all the epipolar lines horizontal or vertical) */
00274 CVAPI(void) cvStereoRectify( const CvMat* camera_matrix1, const CvMat* camera_matrix2,
00275                              const CvMat* dist_coeffs1, const CvMat* dist_coeffs2,
00276                              CvSize image_size, const CvMat* R, const CvMat* T,
00277                              CvMat* R1, CvMat* R2, CvMat* P1, CvMat* P2,
00278                              CvMat* Q CV_DEFAULT(0),
00279                              int flags CV_DEFAULT(CV_CALIB_ZERO_DISPARITY),
00280                              double alpha CV_DEFAULT(-1),
00281                              CvSize new_image_size CV_DEFAULT(cvSize(0,0)),
00282                              CvRect* valid_pix_ROI1 CV_DEFAULT(0),
00283                              CvRect* valid_pix_ROI2 CV_DEFAULT(0));
00284 
00285 /* Computes rectification transformations for uncalibrated pair of images using a set
00286    of point correspondences */
00287 CVAPI(int) cvStereoRectifyUncalibrated( const CvMat* points1, const CvMat* points2,
00288                                         const CvMat* F, CvSize img_size,
00289                                         CvMat* H1, CvMat* H2,
00290                                         double threshold CV_DEFAULT(5));
00291 
00292 
00293 
00294 /* stereo correspondence parameters and functions */
00295 
00296 #define CV_STEREO_BM_NORMALIZED_RESPONSE  0
00297 #define CV_STEREO_BM_XSOBEL               1
00298 
00299 /* Block matching algorithm structure */
00300 typedef struct CvStereoBMState
00301 {
00302     // pre-filtering (normalization of input images)
00303     int preFilterType; // =CV_STEREO_BM_NORMALIZED_RESPONSE now
00304     int preFilterSize; // averaging window size: ~5x5..21x21
00305     int preFilterCap; // the output of pre-filtering is clipped by [-preFilterCap,preFilterCap]
00306 
00307     // correspondence using Sum of Absolute Difference (SAD)
00308     int SADWindowSize; // ~5x5..21x21
00309     int minDisparity;  // minimum disparity (can be negative)
00310     int numberOfDisparities; // maximum disparity - minimum disparity (> 0)
00311 
00312     // post-filtering
00313     int textureThreshold;  // the disparity is only computed for pixels
00314                            // with textured enough neighborhood
00315     int uniquenessRatio;   // accept the computed disparity d* only if
00316                            // SAD(d) >= SAD(d*)*(1 + uniquenessRatio/100.)
00317                            // for any d != d*+/-1 within the search range.
00318     int speckleWindowSize; // disparity variation window
00319     int speckleRange; // acceptable range of variation in window
00320 
00321     int trySmallerWindows; // if 1, the results may be more accurate,
00322                            // at the expense of slower processing 
00323     CvRect roi1, roi2;
00324     int disp12MaxDiff;
00325 
00326     // temporary buffers
00327     CvMat* preFilteredImg0;
00328     CvMat* preFilteredImg1;
00329     CvMat* slidingSumBuf;
00330     CvMat* cost;
00331     CvMat* disp;
00332 } CvStereoBMState;
00333 
00334 #define CV_STEREO_BM_BASIC 0
00335 #define CV_STEREO_BM_FISH_EYE 1
00336 #define CV_STEREO_BM_NARROW 2
00337 
00338 CVAPI(CvStereoBMState*) cvCreateStereoBMState(int preset CV_DEFAULT(CV_STEREO_BM_BASIC),
00339                                               int numberOfDisparities CV_DEFAULT(0));
00340 
00341 CVAPI(void) cvReleaseStereoBMState( CvStereoBMState** state );
00342 
00343 CVAPI(void) cvFindStereoCorrespondenceBM( const CvArr* left, const CvArr* right,
00344                                           CvArr* disparity, CvStereoBMState* state );
00345     
00346 CVAPI(CvRect) cvGetValidDisparityROI( CvRect roi1, CvRect roi2, int minDisparity,
00347                                       int numberOfDisparities, int SADWindowSize );
00348     
00349 CVAPI(void) cvValidateDisparity( CvArr* disparity, const CvArr* cost,
00350                                  int minDisparity, int numberOfDisparities,
00351                                  int disp12MaxDiff CV_DEFAULT(1) );  
00352 
00353 /* Kolmogorov-Zabin stereo-correspondence algorithm (a.k.a. KZ1) */
00354 #define CV_STEREO_GC_OCCLUDED  SHRT_MAX
00355 
00356 typedef struct CvStereoGCState
00357 {
00358     int Ithreshold;
00359     int interactionRadius;
00360     float K, lambda, lambda1, lambda2;
00361     int occlusionCost;
00362     int minDisparity;
00363     int numberOfDisparities;
00364     int maxIters;
00365 
00366     CvMat* left;
00367     CvMat* right;
00368     CvMat* dispLeft;
00369     CvMat* dispRight;
00370     CvMat* ptrLeft;
00371     CvMat* ptrRight;
00372     CvMat* vtxBuf;
00373     CvMat* edgeBuf;
00374 } CvStereoGCState;
00375 
00376 CVAPI(CvStereoGCState*) cvCreateStereoGCState( int numberOfDisparities, int maxIters );
00377 CVAPI(void) cvReleaseStereoGCState( CvStereoGCState** state );
00378 
00379 CVAPI(void) cvFindStereoCorrespondenceGC( const CvArr* left, const CvArr* right,
00380                                           CvArr* disparityLeft, CvArr* disparityRight,
00381                                           CvStereoGCState* state,
00382                                           int useDisparityGuess CV_DEFAULT(0) );
00383 
00384 /* Reprojects the computed disparity image to the 3D space using the specified 4x4 matrix */
00385 CVAPI(void)  cvReprojectImageTo3D( const CvArr* disparityImage,
00386                                    CvArr* _3dImage, const CvMat* Q,
00387                                    int handleMissingValues CV_DEFAULT(0) );
00388 
00389 
00390 #ifdef __cplusplus
00391 }
00392 
00394 
00395 class CV_EXPORTS CvLevMarq
00396 {
00397 public:
00398     CvLevMarq();
00399     CvLevMarq( int nparams, int nerrs, CvTermCriteria criteria=
00400               cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON),
00401               bool completeSymmFlag=false );
00402     ~CvLevMarq();
00403     void init( int nparams, int nerrs, CvTermCriteria criteria=
00404               cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON),
00405               bool completeSymmFlag=false );
00406     bool update( const CvMat*& param, CvMat*& J, CvMat*& err );
00407     bool updateAlt( const CvMat*& param, CvMat*& JtJ, CvMat*& JtErr, double*& errNorm );
00408     
00409     void clear();
00410     void step();
00411     enum { DONE=0, STARTED=1, CALC_J=2, CHECK_ERR=3 };
00412     
00413     cv::Ptr<CvMat> mask;
00414     cv::Ptr<CvMat> prevParam;
00415     cv::Ptr<CvMat> param;
00416     cv::Ptr<CvMat> J;
00417     cv::Ptr<CvMat> err;
00418     cv::Ptr<CvMat> JtJ;
00419     cv::Ptr<CvMat> JtJN;
00420     cv::Ptr<CvMat> JtErr;
00421     cv::Ptr<CvMat> JtJV;
00422     cv::Ptr<CvMat> JtJW;
00423     double prevErrNorm, errNorm;
00424     int lambdaLg10;
00425     CvTermCriteria criteria;
00426     int state;
00427     int iters;
00428     bool completeSymmFlag;
00429 };
00430 
00431 namespace cv
00432 {
00433 
00435 CV_EXPORTS_W void Rodrigues(const Mat& src, CV_OUT Mat& dst);
00436     
00438 CV_EXPORTS_AS(RodriguesJ) void Rodrigues(const Mat& src, CV_OUT Mat& dst, CV_OUT Mat& jacobian);
00439 
00441 enum
00442 {
00443     LMEDS=CV_LMEDS, 
00444     RANSAC=CV_RANSAC 
00445 };
00446 
00448 CV_EXPORTS_AS(findHomographyAndOutliers) Mat findHomography( const Mat& srcPoints,
00449                                const Mat& dstPoints,
00450                                vector<uchar>& mask, int method=0,
00451                                double ransacReprojThreshold=3 );
00452 
00454 CV_EXPORTS_W Mat findHomography( const Mat& srcPoints,
00455                                const Mat& dstPoints,
00456                                int method=0, double ransacReprojThreshold=3 );
00457 
00459 CV_EXPORTS int estimateAffine3D(const Mat& from, const Mat& to, CV_OUT Mat& dst,
00460                                 CV_OUT vector<uchar>& outliers,
00461                                 double param1 = 3.0, double param2 = 0.99);    
00462     
00464 CV_EXPORTS void RQDecomp3x3( const Mat& M, Mat& R, Mat& Q );
00465     
00467 CV_EXPORTS_W Vec3d RQDecomp3x3( const Mat& M, Mat& R, Mat& Q,
00468                               CV_OUT Mat& Qx, CV_OUT Mat& Qy, CV_OUT Mat& Qz );
00469 
00471 CV_EXPORTS void decomposeProjectionMatrix( const Mat& projMatrix, Mat& cameraMatrix,
00472                                            Mat& rotMatrix, Mat& transVect );
00473     
00475 CV_EXPORTS_W void decomposeProjectionMatrix( const Mat& projMatrix, CV_OUT Mat& cameraMatrix,
00476                                            CV_OUT Mat& rotMatrix, CV_OUT Mat& transVect,
00477                                            CV_OUT Mat& rotMatrixX, CV_OUT Mat& rotMatrixY,
00478                                            CV_OUT Mat& rotMatrixZ, CV_OUT Vec3d& eulerAngles );
00479 
00481 CV_EXPORTS_W void matMulDeriv( const Mat& A, const Mat& B, CV_OUT Mat& dABdA, CV_OUT Mat& dABdB );
00482 
00484 CV_EXPORTS_W void composeRT( const Mat& rvec1, const Mat& tvec1,
00485                            const Mat& rvec2, const Mat& tvec2,
00486                            CV_OUT Mat& rvec3, CV_OUT Mat& tvec3 );
00487 
00489 CV_EXPORTS_AS(composeRT_J) void composeRT( const Mat& rvec1, const Mat& tvec1,
00490                            const Mat& rvec2, const Mat& tvec2,
00491                            CV_OUT Mat& rvec3, CV_OUT Mat& tvec3,
00492                            CV_OUT Mat& dr3dr1, CV_OUT Mat& dr3dt1,
00493                            CV_OUT Mat& dr3dr2, CV_OUT Mat& dr3dt2,
00494                            CV_OUT Mat& dt3dr1, CV_OUT Mat& dt3dt1,
00495                            CV_OUT Mat& dt3dr2, CV_OUT Mat& dt3dt2 );
00496 
00498 CV_EXPORTS_W void projectPoints( const Mat& objectPoints,
00499                                const Mat& rvec, const Mat& tvec,
00500                                const Mat& cameraMatrix,
00501                                const Mat& distCoeffs,
00502                                CV_OUT vector<Point2f>& imagePoints );
00503 
00505 CV_EXPORTS_AS(projectPointsJ) void projectPoints( const Mat& objectPoints,
00506                                const Mat& rvec, const Mat& tvec,
00507                                const Mat& cameraMatrix,
00508                                const Mat& distCoeffs,
00509                                CV_OUT vector<Point2f>& imagePoints,
00510                                CV_OUT Mat& dpdrot, CV_OUT Mat& dpdt, CV_OUT Mat& dpdf,
00511                                CV_OUT Mat& dpdc, CV_OUT Mat& dpddist,
00512                                double aspectRatio=0 );
00513 
00515 CV_EXPORTS_W void solvePnP( const Mat& objectPoints,
00516                             const Mat& imagePoints,
00517                             const Mat& cameraMatrix,
00518                             const Mat& distCoeffs,
00519                             CV_OUT Mat& rvec, CV_OUT Mat& tvec,
00520                             bool useExtrinsicGuess=false );
00521 
00523 CV_EXPORTS_W Mat initCameraMatrix2D( const vector<vector<Point3f> >& objectPoints,
00524                                    const vector<vector<Point2f> >& imagePoints,
00525                                    Size imageSize, double aspectRatio=1. );
00526 
00527 
00528 enum { CALIB_CB_ADAPTIVE_THRESH = 1, CALIB_CB_NORMALIZE_IMAGE = 2,
00529        CALIB_CB_FILTER_QUADS = 4, CALIB_CB_FAST_CHECK = 8 };
00530 
00532 CV_EXPORTS_W bool findChessboardCorners( const Mat& image, Size patternSize,
00533                                          CV_OUT vector<Point2f>& corners,
00534                                          int flags=CALIB_CB_ADAPTIVE_THRESH+
00535                                               CALIB_CB_NORMALIZE_IMAGE );
00536 
00538 CV_EXPORTS_W void drawChessboardCorners( Mat& image, Size patternSize,
00539                                          const Mat& corners,
00540                                          bool patternWasFound );
00541 
00542 CV_EXPORTS void drawChessboardCorners( Mat& image, Size patternSize,
00543                                        const vector<Point2f>& corners,
00544                                        bool patternWasFound );    
00545 
00547 CV_EXPORTS_W bool findCirclesGrid( const Mat& image, Size patternSize,
00548                                    CV_OUT vector<Point2f>& centers,
00549                                    int flags=0 );
00550 
00551 enum
00552 {
00553     CALIB_USE_INTRINSIC_GUESS = CV_CALIB_USE_INTRINSIC_GUESS,
00554     CALIB_FIX_ASPECT_RATIO = CV_CALIB_FIX_ASPECT_RATIO,
00555     CALIB_FIX_PRINCIPAL_POINT = CV_CALIB_FIX_PRINCIPAL_POINT,
00556     CALIB_ZERO_TANGENT_DIST = CV_CALIB_ZERO_TANGENT_DIST,
00557     CALIB_FIX_FOCAL_LENGTH = CV_CALIB_FIX_FOCAL_LENGTH,
00558     CALIB_FIX_K1 = CV_CALIB_FIX_K1,
00559     CALIB_FIX_K2 = CV_CALIB_FIX_K2,
00560     CALIB_FIX_K3 = CV_CALIB_FIX_K3,
00561     CALIB_FIX_K4 = CV_CALIB_FIX_K4,
00562     CALIB_FIX_K5 = CV_CALIB_FIX_K5,
00563     CALIB_FIX_K6 = CV_CALIB_FIX_K6,
00564     CALIB_RATIONAL_MODEL = CV_CALIB_RATIONAL_MODEL,
00565     // only for stereo
00566     CALIB_FIX_INTRINSIC = CV_CALIB_FIX_INTRINSIC,
00567     CALIB_SAME_FOCAL_LENGTH = CV_CALIB_SAME_FOCAL_LENGTH,
00568     // for stereo rectification
00569     CALIB_ZERO_DISPARITY = CV_CALIB_ZERO_DISPARITY
00570 };
00571 
00573 CV_EXPORTS_W double calibrateCamera( const vector<vector<Point3f> >& objectPoints,
00574                                      const vector<vector<Point2f> >& imagePoints,
00575                                      Size imageSize,
00576                                      CV_IN_OUT Mat& cameraMatrix,
00577                                      CV_IN_OUT Mat& distCoeffs,
00578                                      CV_OUT vector<Mat>& rvecs, CV_OUT vector<Mat>& tvecs,
00579                                      int flags=0 );
00580 
00582 CV_EXPORTS_W void calibrationMatrixValues( const Mat& cameraMatrix,
00583                                 Size imageSize,
00584                                 double apertureWidth,
00585                                 double apertureHeight,
00586                                 CV_OUT double& fovx,
00587                                 CV_OUT double& fovy,
00588                                 CV_OUT double& focalLength,
00589                                 CV_OUT Point2d& principalPoint,
00590                                 CV_OUT double& aspectRatio );
00591 
00593 CV_EXPORTS_W double stereoCalibrate( const vector<vector<Point3f> >& objectPoints,
00594                                      const vector<vector<Point2f> >& imagePoints1,
00595                                      const vector<vector<Point2f> >& imagePoints2,
00596                                      CV_IN_OUT Mat& cameraMatrix1, CV_IN_OUT Mat& distCoeffs1,
00597                                      CV_IN_OUT Mat& cameraMatrix2, CV_IN_OUT Mat& distCoeffs2,
00598                                      Size imageSize, CV_OUT Mat& R, CV_OUT Mat& T,
00599                                      CV_OUT Mat& E, CV_OUT Mat& F,
00600                                      TermCriteria criteria = TermCriteria(TermCriteria::COUNT+
00601                                          TermCriteria::EPS, 30, 1e-6),
00602                                      int flags=CALIB_FIX_INTRINSIC );
00603 
00604     
00606 CV_EXPORTS void stereoRectify( const Mat& cameraMatrix1, const Mat& distCoeffs1,
00607                                const Mat& cameraMatrix2, const Mat& distCoeffs2,
00608                                Size imageSize, const Mat& R, const Mat& T,
00609                                CV_OUT Mat& R1, CV_OUT Mat& R2,
00610                                CV_OUT Mat& P1, CV_OUT Mat& P2, CV_OUT Mat& Q,
00611                                int flags=CALIB_ZERO_DISPARITY );
00612 
00614 CV_EXPORTS_W void stereoRectify( const Mat& cameraMatrix1, const Mat& distCoeffs1,
00615                                  const Mat& cameraMatrix2, const Mat& distCoeffs2,
00616                                  Size imageSize, const Mat& R, const Mat& T,
00617                                  CV_OUT Mat& R1, CV_OUT Mat& R2,
00618                                  CV_OUT Mat& P1, CV_OUT Mat& P2, CV_OUT Mat& Q,
00619                                  double alpha, Size newImageSize=Size(),
00620                                  CV_OUT Rect* validPixROI1=0, CV_OUT Rect* validPixROI2=0,
00621                                  int flags=CALIB_ZERO_DISPARITY );
00622 
00624 CV_EXPORTS_W bool stereoRectifyUncalibrated( const Mat& points1, const Mat& points2,
00625                                              const Mat& F, Size imgSize,
00626                                              CV_OUT Mat& H1, CV_OUT Mat& H2,
00627                                              double threshold=5 );
00628 
00630 CV_EXPORTS_W float rectify3Collinear( const Mat& cameraMatrix1, const Mat& distCoeffs1,
00631                                       const Mat& cameraMatrix2, const Mat& distCoeffs2,
00632                                       const Mat& cameraMatrix3, const Mat& distCoeffs3,
00633                                       const vector<vector<Point2f> >& imgpt1,
00634                                       const vector<vector<Point2f> >& imgpt3,
00635                                       Size imageSize, const Mat& R12, const Mat& T12,
00636                                       const Mat& R13, const Mat& T13,
00637                                       CV_OUT Mat& R1, CV_OUT Mat& R2, CV_OUT Mat& R3,
00638                                       CV_OUT Mat& P1, CV_OUT Mat& P2, CV_OUT Mat& P3, CV_OUT Mat& Q,
00639                                       double alpha, Size newImgSize,
00640                                       CV_OUT Rect* roi1, CV_OUT Rect* roi2, int flags );
00641     
00643 CV_EXPORTS_W Mat getOptimalNewCameraMatrix( const Mat& cameraMatrix, const Mat& distCoeffs,
00644                                             Size imageSize, double alpha, Size newImgSize=Size(),
00645                                             CV_OUT Rect* validPixROI=0);
00646 
00648 CV_EXPORTS void convertPointsHomogeneous( const Mat& src, CV_OUT vector<Point3f>& dst );
00650 CV_EXPORTS void convertPointsHomogeneous( const Mat& src, CV_OUT vector<Point2f>& dst );
00651 
00653 enum
00654 { 
00655     FM_7POINT = CV_FM_7POINT, 
00656     FM_8POINT = CV_FM_8POINT, 
00657     FM_LMEDS = CV_FM_LMEDS,  
00658     FM_RANSAC = CV_FM_RANSAC  
00659 };
00660 
00662 CV_EXPORTS Mat findFundamentalMat( const Mat& points1, const Mat& points2,
00663                                      CV_OUT vector<uchar>& mask, int method=FM_RANSAC,
00664                                      double param1=3., double param2=0.99 );
00665 
00667 CV_EXPORTS_W Mat findFundamentalMat( const Mat& points1, const Mat& points2,
00668                                      int method=FM_RANSAC,
00669                                      double param1=3., double param2=0.99 );
00670 
00672 CV_EXPORTS void computeCorrespondEpilines( const Mat& points1,
00673                                              int whichImage, const Mat& F,
00674                                              CV_OUT vector<Vec3f>& lines );
00675 
00676 template<> CV_EXPORTS void Ptr<CvStereoBMState>::delete_obj();
00677 
00683 class CV_EXPORTS_W StereoBM
00684 {
00685 public:
00686     enum { PREFILTER_NORMALIZED_RESPONSE = 0, PREFILTER_XSOBEL = 1,
00687         BASIC_PRESET=0, FISH_EYE_PRESET=1, NARROW_PRESET=2 };
00688 
00690     CV_WRAP StereoBM();
00692     CV_WRAP StereoBM(int preset, int ndisparities=0, int SADWindowSize=21);
00694     void init(int preset, int ndisparities=0, int SADWindowSize=21);
00696     CV_WRAP_AS(compute) void operator()( const Mat& left, const Mat& right, Mat& disparity, int disptype=CV_16S );
00697 
00699     Ptr<CvStereoBMState> state;
00700 };
00701 
00702 
00708 class CV_EXPORTS_W StereoSGBM
00709 {
00710 public:
00711     enum { DISP_SHIFT=4, DISP_SCALE = (1<<DISP_SHIFT) };
00712 
00714     CV_WRAP StereoSGBM();
00715     
00717     CV_WRAP StereoSGBM(int minDisparity, int numDisparities, int SADWindowSize,
00718                int P1=0, int P2=0, int disp12MaxDiff=0,
00719                int preFilterCap=0, int uniquenessRatio=0,
00720                int speckleWindowSize=0, int speckleRange=0,
00721                bool fullDP=false);
00723     virtual ~StereoSGBM();
00724 
00726     CV_WRAP_AS(compute) virtual void operator()(const Mat& left, const Mat& right, Mat& disp);
00727 
00728     CV_PROP_RW int minDisparity;
00729     CV_PROP_RW int numberOfDisparities;
00730     CV_PROP_RW int SADWindowSize;
00731     CV_PROP_RW int preFilterCap;
00732     CV_PROP_RW int uniquenessRatio;
00733     CV_PROP_RW int P1;
00734     CV_PROP_RW int P2;
00735     CV_PROP_RW int speckleWindowSize;
00736     CV_PROP_RW int speckleRange;
00737     CV_PROP_RW int disp12MaxDiff;
00738     CV_PROP_RW bool fullDP;
00739 
00740 protected:
00741     Mat buffer;
00742 };
00743 
00745 CV_EXPORTS_W void filterSpeckles( Mat& img, double newVal, int maxSpeckleSize, double maxDiff, Mat& buf );
00746 
00748 CV_EXPORTS_W Rect getValidDisparityROI( Rect roi1, Rect roi2,
00749                                         int minDisparity, int numberOfDisparities,
00750                                         int SADWindowSize );
00751 
00753 CV_EXPORTS_W void validateDisparity( Mat& disparity, const Mat& cost,
00754                                      int minDisparity, int numberOfDisparities,
00755                                      int disp12MaxDisp=1 );
00756 
00758 CV_EXPORTS_W void reprojectImageTo3D( const Mat& disparity,
00759                                       CV_OUT Mat& _3dImage, const Mat& Q,
00760                                       bool handleMissingValues=false );
00761     
00762 }
00763 
00764 #endif
00765 
00766 #endif
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