calib3d_c.h

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#ifndef OPENCV_CALIB3D_C_H




#define OPENCV_CALIB3D_C_H








#include "opencv2/core/types_c.h"








#ifdef __cplusplus




extern
"C"
{



#endif








/* Calculates fundamental matrix given a set of corresponding points */




#define CV_FM_7POINT 1




#define CV_FM_8POINT 2








#define CV_LMEDS 4




#define CV_RANSAC 8








#define CV_FM_LMEDS_ONLY  CV_LMEDS




#define CV_FM_RANSAC_ONLY CV_RANSAC




#define CV_FM_LMEDS CV_LMEDS




#define CV_FM_RANSAC CV_RANSAC








enum



{



CV_ITERATIVE = 0,



CV_EPNP = 1,
// F.Moreno-Noguer, V.Lepetit and P.Fua "EPnP: Efficient Perspective-n-Point Camera Pose Estimation"




CV_P3P = 2,
// X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem"




CV_DLS = 3
// Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP"



};







#define CV_CALIB_CB_ADAPTIVE_THRESH  1




#define CV_CALIB_CB_NORMALIZE_IMAGE  2




#define CV_CALIB_CB_FILTER_QUADS     4




#define CV_CALIB_CB_FAST_CHECK       8








#define CV_CALIB_USE_INTRINSIC_GUESS  1




#define CV_CALIB_FIX_ASPECT_RATIO     2




#define CV_CALIB_FIX_PRINCIPAL_POINT  4




#define CV_CALIB_ZERO_TANGENT_DIST    8




#define CV_CALIB_FIX_FOCAL_LENGTH 16




#define CV_CALIB_FIX_K1  32




#define CV_CALIB_FIX_K2  64




#define CV_CALIB_FIX_K3  128




#define CV_CALIB_FIX_K4  2048




#define CV_CALIB_FIX_K5  4096




#define CV_CALIB_FIX_K6  8192




#define CV_CALIB_RATIONAL_MODEL 16384




#define CV_CALIB_THIN_PRISM_MODEL 32768




#define CV_CALIB_FIX_S1_S2_S3_S4  65536




#define CV_CALIB_TILTED_MODEL  262144




#define CV_CALIB_FIX_TAUX_TAUY  524288




#define CV_CALIB_FIX_TANGENT_DIST 2097152








#define CV_CALIB_NINTRINSIC 18








#define CV_CALIB_FIX_INTRINSIC  256




#define CV_CALIB_SAME_FOCAL_LENGTH 512








#define CV_CALIB_ZERO_DISPARITY 1024








/* stereo correspondence parameters and functions */




#define CV_STEREO_BM_NORMALIZED_RESPONSE  0




#define CV_STEREO_BM_XSOBEL               1








#ifdef __cplusplus



}
// extern "C"








class
CV_EXPORTS CvLevMarq


{



public:



CvLevMarq();



CvLevMarq(
int
nparams,
int
nerrs,
CvTermCriteria
criteria=



cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON),



bool
completeSymmFlag=false
);



~CvLevMarq();



void
init(
int
nparams,
int
nerrs,
CvTermCriteria
criteria=



cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON),



bool
completeSymmFlag=false
);



bool
update(
const
CvMat*& param,
CvMat*& J,
CvMat*& err );



bool
updateAlt(
const
CvMat*& param,
CvMat*& JtJ,
CvMat*& JtErr,
double*& errNorm );







void
clear();



void
step();



enum
{ DONE=0, STARTED=1, CALC_J=2, CHECK_ERR=3 };







cv::Ptr<CvMat>
mask;



cv::Ptr<CvMat>
prevParam;



cv::Ptr<CvMat>
param;



cv::Ptr<CvMat>
J;



cv::Ptr<CvMat>
err;



cv::Ptr<CvMat>
JtJ;



cv::Ptr<CvMat>
JtJN;



cv::Ptr<CvMat>
JtErr;



cv::Ptr<CvMat>
JtJV;



cv::Ptr<CvMat>
JtJW;



double
prevErrNorm, errNorm;



int
lambdaLg10;



CvTermCriteria
criteria;



int
state;



int
iters;



bool
completeSymmFlag;



int
solveMethod;


};







#endif








#endif

/* OPENCV_CALIB3D_C_H */