1 #ifndef FISHEYE_INTERNAL_H
2 #define FISHEYE_INTERNAL_H
3 #include "precomp.hpp"
4 
5 namespace cv { namespace internal {
6 
7 struct CV_EXPORTS IntrinsicParams
8 {
9     Vec2d f;
10     Vec2d c;
11     Vec4d k;
12     double alpha;
13     std::vector<uchar> isEstimate;
14 
15     IntrinsicParams();
16     IntrinsicParams(Vec2d f, Vec2d c, Vec4d k, double alpha = 0);
17     IntrinsicParams operator+(const Mat& a);
18     IntrinsicParams& operator =(const Mat& a);
19     void Init(const cv::Vec2d& f, const cv::Vec2d& c, const cv::Vec4d& k = Vec4d(0,0,0,0), const double& alpha = 0);
20 };
21 
22 void projectPoints(cv::InputArray objectPoints, cv::OutputArray imagePoints,
23                    cv::InputArray _rvec,cv::InputArray _tvec,
24                    const IntrinsicParams& param, cv::OutputArray jacobian);
25 
26 void ComputeExtrinsicRefine(const Mat& imagePoints, const Mat& objectPoints, Mat& rvec,
27                             Mat&  tvec, Mat& J, const int MaxIter,
28                             const IntrinsicParams& param, const double thresh_cond);
29 CV_EXPORTS Mat ComputeHomography(Mat m, Mat M);
30 
31 CV_EXPORTS Mat NormalizePixels(const Mat& imagePoints, const IntrinsicParams& param);
32 
33 void InitExtrinsics(const Mat& _imagePoints, const Mat& _objectPoints, const IntrinsicParams& param, Mat& omckk, Mat& Tckk);
34 
35 void CalibrateExtrinsics(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints,
36                          const IntrinsicParams& param, const int check_cond,
37                          const double thresh_cond, InputOutputArray omc, InputOutputArray Tc);
38 
39 void ComputeJacobians(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints,
40                       const IntrinsicParams& param,  InputArray omc, InputArray Tc,
41                       const int& check_cond, const double& thresh_cond, Mat& JJ2_inv, Mat& ex3);
42 
43 CV_EXPORTS void  EstimateUncertainties(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints,
44                            const IntrinsicParams& params, InputArray omc, InputArray Tc,
45                            IntrinsicParams& errors, Vec2d& std_err, double thresh_cond, int check_cond, double& rms);
46 
47 void dAB(cv::InputArray A, InputArray B, OutputArray dABdA, OutputArray dABdB);
48 
49 void JRodriguesMatlab(const Mat& src, Mat& dst);
50 
51 void compose_motion(InputArray _om1, InputArray _T1, InputArray _om2, InputArray _T2,
52                     Mat& om3, Mat& T3, Mat& dom3dom1, Mat& dom3dT1, Mat& dom3dom2,
53                     Mat& dom3dT2, Mat& dT3dom1, Mat& dT3dT1, Mat& dT3dom2, Mat& dT3dT2);
54 
55 double median(const Mat& row);
56 
57 Vec3d median3d(InputArray m);
58 
59 }}
60 
61 #endif
62