f4334277
 Hu Chunming
提交3rdparty
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#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<uchar> 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
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