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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 "opencv2/core/core_c.h"
53#include <iostream>
54
55#if 0 // fix buffer overflow first (FIXIT mark in .cpp file)
56
57class upnp
58{
59public:
60 upnp(const cv::Mat& cameraMatrix, const cv::Mat& opoints, const cv::Mat& ipoints);
61 ~upnp();
62
63 double compute_pose(cv::Mat& R, cv::Mat& t);
64private:
65 upnp(const upnp &); // copy disabled
66 upnp& operator=(const upnp &); // assign disabled
67 template <typename T>
68 void init_camera_parameters(const cv::Mat& cameraMatrix)
69 {
70 uc = cameraMatrix.at<T> (0, 2);
71 vc = cameraMatrix.at<T> (1, 2);
72 fu = 1;
73 fv = 1;
74 }
75 template <typename OpointType, typename IpointType>
76 void init_points(const cv::Mat& opoints, const cv::Mat& ipoints)
77 {
78 for(int i = 0; i < number_of_correspondences; i++)
79 {
80 pws[3 * i ] = opoints.at<OpointType>(i).x;
81 pws[3 * i + 1] = opoints.at<OpointType>(i).y;
82 pws[3 * i + 2] = opoints.at<OpointType>(i).z;
83
84 us[2 * i ] = ipoints.at<IpointType>(i).x;
85 us[2 * i + 1] = ipoints.at<IpointType>(i).y;
86 }
87 }
88
89 double reprojection_error(const double R[3][3], const double t[3]);
90 void choose_control_points();
91 void compute_alphas();
92 void fill_M(cv::Mat * M, const int row, const double * alphas, const double u, const double v);
93 void compute_ccs(const double * betas, const double * ut);
94 void compute_pcs(void);
95
96 void solve_for_sign(void);
97
98 void find_betas_and_focal_approx_1(cv::Mat * Ut, cv::Mat * Rho, double * betas, double * efs);
99 void find_betas_and_focal_approx_2(cv::Mat * Ut, cv::Mat * Rho, double * betas, double * efs);
100 void qr_solve(cv::Mat * A, cv::Mat * b, cv::Mat * X);
101
102 cv::Mat compute_constraint_distance_2param_6eq_2unk_f_unk(const cv::Mat& M1);
103 cv::Mat compute_constraint_distance_3param_6eq_6unk_f_unk(const cv::Mat& M1, const cv::Mat& M2);
104 void generate_all_possible_solutions_for_f_unk(const double betas[5], double solutions[18][3]);
105
106 double sign(const double v);
107 double dot(const double * v1, const double * v2);
108 double dotXY(const double * v1, const double * v2);
109 double dotZ(const double * v1, const double * v2);
110 double dist2(const double * p1, const double * p2);
111
112 void compute_rho(double * rho);
113 void compute_L_6x12(const double * ut, double * l_6x12);
114
115 void gauss_newton(const cv::Mat * L_6x12, const cv::Mat * Rho, double current_betas[4], double * efs);
116 void compute_A_and_b_gauss_newton(const double * l_6x12, const double * rho,
117 const double cb[4], cv::Mat * A, cv::Mat * b, double const f);
118
119 double compute_R_and_t(const double * ut, const double * betas,
120 double R[3][3], double t[3]);
121
122 void estimate_R_and_t(double R[3][3], double t[3]);
123
124 void copy_R_and_t(const double R_dst[3][3], const double t_dst[3],
125 double R_src[3][3], double t_src[3]);
126
127
128 double uc, vc, fu, fv;
129
130 std::vector<double> pws, us, alphas, pcs;
131 int number_of_correspondences;
132
133 double cws[4][3], ccs[4][3];
134 int max_nr;
135 double * A1, * A2;
136};
137
138#endif
139
140#endif // OPENCV_CALIB3D_UPNP_H_
141

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