omnidir.hpp

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#ifndef __OPENCV_OMNIDIR_HPP__
#define __OPENCV_OMNIDIR_HPP__
 
#include "opencv2/core.hpp"
#include "opencv2/core/affine.hpp"
#include <vector>
 
namespace cv
{
namespace omnidir
{
 
    enum {
        CALIB_USE_GUESS             = 1,
        CALIB_FIX_SKEW              = 2,
        CALIB_FIX_K1                = 4,
        CALIB_FIX_K2                = 8,
        CALIB_FIX_P1                = 16,
        CALIB_FIX_P2                = 32,
        CALIB_FIX_XI                = 64,
        CALIB_FIX_GAMMA             = 128,
        CALIB_FIX_CENTER            = 256
    };
 
    enum{
        RECTIFY_PERSPECTIVE         = 1,
        RECTIFY_CYLINDRICAL         = 2,
        RECTIFY_LONGLATI            = 3,
        RECTIFY_STEREOGRAPHIC       = 4
    };
 
    enum{
        XYZRGB  = 1,
        XYZ     = 2
    };
    CV_EXPORTS_W void projectPoints(InputArray objectPoints, OutputArray imagePoints, InputArray rvec, InputArray tvec,
                       InputArray K, double xi, InputArray D, OutputArray jacobian = noArray());
 
    CV_EXPORTS void projectPoints(InputArray objectPoints, OutputArray imagePoints, const Affine3d& affine,
                        InputArray K, double xi, InputArray D, OutputArray jacobian = noArray());
 
    CV_EXPORTS_W void undistortPoints(InputArray distorted, OutputArray undistorted, InputArray K, InputArray D, InputArray xi, InputArray R);
 
    CV_EXPORTS_W void initUndistortRectifyMap(InputArray K, InputArray D, InputArray xi, InputArray R, InputArray P, const cv::Size& size,
        int m1type, OutputArray map1, OutputArray map2, int flags);
 
    CV_EXPORTS_W void undistortImage(InputArray distorted, OutputArray undistorted, InputArray K, InputArray D, InputArray xi, int flags,
        InputArray Knew = cv::noArray(), const Size& new_size = Size(), InputArray R = Mat::eye(3, 3, CV_64F));
 
    CV_EXPORTS_W double calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size size,
        InputOutputArray K, InputOutputArray xi, InputOutputArray D, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
        int flags, TermCriteria criteria, OutputArray idx=noArray());
 
    CV_EXPORTS_W double stereoCalibrate(InputOutputArrayOfArrays objectPoints, InputOutputArrayOfArrays imagePoints1, InputOutputArrayOfArrays imagePoints2,
        const Size& imageSize1, const Size& imageSize2, InputOutputArray K1, InputOutputArray xi1, InputOutputArray D1, InputOutputArray K2, InputOutputArray xi2,
        InputOutputArray D2, OutputArray rvec, OutputArray tvec, OutputArrayOfArrays rvecsL, OutputArrayOfArrays tvecsL, int flags, TermCriteria criteria, OutputArray idx=noArray());
 
    CV_EXPORTS_W void stereoRectify(InputArray R, InputArray T, OutputArray R1, OutputArray R2);
 
    CV_EXPORTS_W void stereoReconstruct(InputArray image1, InputArray image2, InputArray K1, InputArray D1, InputArray xi1,
        InputArray K2, InputArray D2, InputArray xi2, InputArray R, InputArray T, int flag, int numDisparities, int SADWindowSize,
        OutputArray disparity, OutputArray image1Rec, OutputArray image2Rec, const Size& newSize = Size(), InputArray Knew = cv::noArray(),
        OutputArray pointCloud = cv::noArray(), int pointType = XYZRGB);
 
namespace internal
{
    void initializeCalibration(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size size, OutputArrayOfArrays omAll,
        OutputArrayOfArrays tAll, OutputArray K, double& xi, OutputArray idx = noArray());
 
    void initializeStereoCalibration(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
        const Size& size1, const Size& size2, OutputArray om, OutputArray T, OutputArrayOfArrays omL, OutputArrayOfArrays tL, OutputArray K1, OutputArray D1, OutputArray K2, OutputArray D2,
        double &xi1, double &xi2, int flags, OutputArray idx);
 
    void computeJacobian(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, InputArray parameters, Mat& JTJ_inv, Mat& JTE, int flags,
                            double epsilon);
 
    void computeJacobianStereo(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
        InputArray parameters, Mat& JTJ_inv, Mat& JTE, int flags, double epsilon);
 
    void encodeParameters(InputArray K, InputArrayOfArrays omAll, InputArrayOfArrays tAll, InputArray distoaration, double xi, OutputArray parameters);
 
    void encodeParametersStereo(InputArray K1, InputArray K2, InputArray om, InputArray T, InputArrayOfArrays omL, InputArrayOfArrays tL,
        InputArray D1, InputArray D2, double xi1, double xi2, OutputArray parameters);
 
    void decodeParameters(InputArray paramsters, OutputArray K, OutputArrayOfArrays omAll, OutputArrayOfArrays tAll, OutputArray distoration, double& xi);
 
    void decodeParametersStereo(InputArray parameters, OutputArray K1, OutputArray K2, OutputArray om, OutputArray T, OutputArrayOfArrays omL,
        OutputArrayOfArrays tL, OutputArray D1, OutputArray D2, double& xi1, double& xi2);
 
    void estimateUncertainties(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, InputArray parameters, Mat& errors, Vec2d& std_error, double& rms, int flags);
 
    void estimateUncertaintiesStereo(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputArray parameters, Mat& errors,
        Vec2d& std_error, double& rms, int flags);
 
    double computeMeanReproErr(InputArrayOfArrays imagePoints, InputArrayOfArrays proImagePoints);
 
    double computeMeanReproErr(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, InputArray K, InputArray D, double xi, InputArrayOfArrays omAll,
        InputArrayOfArrays tAll);
 
    double computeMeanReproErrStereo(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputArray K1, InputArray K2,
        InputArray D1, InputArray D2, double xi1, double xi2, InputArray om, InputArray T, InputArrayOfArrays omL, InputArrayOfArrays TL);
 
    void subMatrix(const Mat& src, Mat& dst, const std::vector<int>& cols, const std::vector<int>& rows);
 
    void flags2idx(int flags, std::vector<int>& idx, int n);
 
    void flags2idxStereo(int flags, std::vector<int>& idx, int n);
 
    void fillFixed(Mat&G, int flags, int n);
 
    void fillFixedStereo(Mat& G, int flags, int n);
 
    double findMedian(const Mat& row);
 
    Vec3d findMedian3(InputArray mat);
 
    void getInterset(InputArray idx1, InputArray idx2, OutputArray inter1, OutputArray inter2, OutputArray inter_ori);
 
    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);
 
    //void JRodriguesMatlab(const Mat& src, Mat& dst);
 
    //void dAB(InputArray A, InputArray B, OutputArray dABdA, OutputArray dABdB);
} // internal
 
 
} // omnidir
 
} //cv
#endif