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42
43/****************************************************************************************\
44* Exhaustive Linearization for Robust Camera Pose and Focal Length Estimation.
45* Contributed by Edgar Riba
46\****************************************************************************************/
47
48#ifndef OPENCV_CALIB3D_UPNP_H_
49#define OPENCV_CALIB3D_UPNP_H_
50
51#include "precomp.hpp"
52#include <iostream>
53
54#if 0 // fix buffer overflow first (FIXIT mark in .cpp file)
55
56class upnp
57{
58public:
59 upnp(const cv::Mat& cameraMatrix, const cv::Mat& opoints, const cv::Mat& ipoints);
60 ~upnp();
61
62 double compute_pose(cv::Mat& R, cv::Mat& t);
63private:
64 upnp(const upnp &); // copy disabled
65 upnp& operator=(const upnp &); // assign disabled
66 template <typename T>
67 void init_camera_parameters(const cv::Mat& cameraMatrix)
68 {
69 uc = cameraMatrix.at<T> (0, 2);
70 vc = cameraMatrix.at<T> (1, 2);
71 fu = 1;
72 fv = 1;
73 }
74 template <typename OpointType, typename IpointType>
75 void init_points(const cv::Mat& opoints, const cv::Mat& ipoints)
76 {
77 for(int i = 0; i < number_of_correspondences; i++)
78 {
79 pws[3 * i ] = opoints.at<OpointType>(i).x;
80 pws[3 * i + 1] = opoints.at<OpointType>(i).y;
81 pws[3 * i + 2] = opoints.at<OpointType>(i).z;
82
83 us[2 * i ] = ipoints.at<IpointType>(i).x;
84 us[2 * i + 1] = ipoints.at<IpointType>(i).y;
85 }
86 }
87
88 double reprojection_error(const double R[3][3], const double t[3]);
89 void choose_control_points();
90 void compute_alphas();
91 void fill_M(cv::Mat * M, const int row, const double * alphas, const double u, const double v);
92 void compute_ccs(const double * betas, const double * ut);
93 void compute_pcs(void);
94
95 void solve_for_sign(void);
96
97 void find_betas_and_focal_approx_1(cv::Mat * Ut, cv::Mat * Rho, double * betas, double * efs);
98 void find_betas_and_focal_approx_2(cv::Mat * Ut, cv::Mat * Rho, double * betas, double * efs);
99 void qr_solve(cv::Mat * A, cv::Mat * b, cv::Mat * X);
100
101 cv::Mat compute_constraint_distance_2param_6eq_2unk_f_unk(const cv::Mat& M1);
102 cv::Mat compute_constraint_distance_3param_6eq_6unk_f_unk(const cv::Mat& M1, const cv::Mat& M2);
103 void generate_all_possible_solutions_for_f_unk(const double betas[5], double solutions[18][3]);
104
105 double sign(const double v);
106 double dot(const double * v1, const double * v2);
107 double dotXY(const double * v1, const double * v2);
108 double dotZ(const double * v1, const double * v2);
109 double dist2(const double * p1, const double * p2);
110
111 void compute_rho(double * rho);
112 void compute_L_6x12(const double * ut, double * l_6x12);
113
114 void gauss_newton(const cv::Mat * L_6x12, const cv::Mat * Rho, double current_betas[4], double * efs);
115 void compute_A_and_b_gauss_newton(const double * l_6x12, const double * rho,
116 const double cb[4], cv::Mat * A, cv::Mat * b, double const f);
117
118 double compute_R_and_t(const double * ut, const double * betas,
119 double R[3][3], double t[3]);
120
121 void estimate_R_and_t(double R[3][3], double t[3]);
122
123 void copy_R_and_t(const double R_dst[3][3], const double t_dst[3],
124 double R_src[3][3], double t_src[3]);
125
126
127 double uc, vc, fu, fv;
128
129 std::vector<double> pws, us, alphas, pcs;
130 int number_of_correspondences;
131
132 double cws[4][3], ccs[4][3];
133 int max_nr;
134 double * A1, * A2;
135};
136
137#endif
138
139#endif // OPENCV_CALIB3D_UPNP_H_
140

source code of opencv/modules/calib3d/src/upnp.h