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diff --git a/thirdparty/linux/include/opencv2/ccalib/omnidir.hpp b/thirdparty/linux/include/opencv2/ccalib/omnidir.hpp new file mode 100644 index 0000000..9663c18 --- /dev/null +++ b/thirdparty/linux/include/opencv2/ccalib/omnidir.hpp @@ -0,0 +1,312 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2015, Baisheng Lai (laibaisheng@gmail.com), Zhejiang University, +// all rights reserved. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +//M*/ + +#include <opencv2/core.hpp> +#include <vector> + +#ifndef __OPENCV_OMNIDIR_HPP__ +#define __OPENCV_OMNIDIR_HPP__ + +namespace cv +{ +namespace omnidir +{ + //! @addtogroup ccalib + //! @{ + + 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 + }; +/** + * This module was accepted as a GSoC 2015 project for OpenCV, authored by + * Baisheng Lai, mentored by Bo Li. + */ + + /** @brief Projects points for omnidirectional camera using CMei's model + + @param objectPoints Object points in world coordinate, vector of vector of Vec3f or Mat of + 1xN/Nx1 3-channel of type CV_32F and N is the number of points. 64F is also acceptable. + @param imagePoints Output array of image points, vector of vector of Vec2f or + 1xN/Nx1 2-channel of type CV_32F. 64F is also acceptable. + @param rvec vector of rotation between world coordinate and camera coordinate, i.e., om + @param tvec vector of translation between pattern coordinate and camera coordinate + @param K Camera matrix \f$K = \vecthreethree{f_x}{s}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$. + @param D Input vector of distortion coefficients \f$(k_1, k_2, p_1, p_2)\f$. + @param xi The parameter xi for CMei's model + @param jacobian Optional output 2Nx16 of type CV_64F jacobian matrix, contains the derivatives of + image pixel points wrt parameters including \f$om, T, f_x, f_y, s, c_x, c_y, xi, k_1, k_2, p_1, p_2\f$. + This matrix will be used in calibration by optimization. + + The function projects object 3D points of world coordinate to image pixels, parameter by intrinsic + and extrinsic parameters. Also, it optionally compute a by-product: the jacobian matrix containing + contains the derivatives of image pixel points wrt intrinsic and extrinsic parameters. + */ + CV_EXPORTS_W void projectPoints(InputArray objectPoints, OutputArray imagePoints, InputArray rvec, InputArray tvec, + InputArray K, double xi, InputArray D, OutputArray jacobian = noArray()); + + /** @brief Undistort 2D image points for omnidirectional camera using CMei's model + + @param distorted Array of distorted image points, vector of Vec2f + or 1xN/Nx1 2-channel Mat of type CV_32F, 64F depth is also acceptable + @param K Camera matrix \f$K = \vecthreethree{f_x}{s}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$. + @param D Distortion coefficients \f$(k_1, k_2, p_1, p_2)\f$. + @param xi The parameter xi for CMei's model + @param R Rotation trainsform between the original and object space : 3x3 1-channel, or vector: 3x1/1x3 + 1-channel or 1x1 3-channel + @param undistorted array of normalized object points, vector of Vec2f/Vec2d or 1xN/Nx1 2-channel Mat with the same + depth of distorted points. + */ + CV_EXPORTS_W void undistortPoints(InputArray distorted, OutputArray undistorted, InputArray K, InputArray D, InputArray xi, InputArray R); + + /** @brief Computes undistortion and rectification maps for omnidirectional camera image transform by a rotation R. + It output two maps that are used for cv::remap(). If D is empty then zero distortion is used, + if R or P is empty then identity matrices are used. + + @param K Camera matrix \f$K = \vecthreethree{f_x}{s}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$, with depth CV_32F or CV_64F + @param D Input vector of distortion coefficients \f$(k_1, k_2, p_1, p_2)\f$, with depth CV_32F or CV_64F + @param xi The parameter xi for CMei's model + @param R Rotation transform between the original and object space : 3x3 1-channel, or vector: 3x1/1x3, with depth CV_32F or CV_64F + @param P New camera matrix (3x3) or new projection matrix (3x4) + @param size Undistorted image size. + @param mltype Type of the first output map that can be CV_32FC1 or CV_16SC2 . See convertMaps() + for details. + @param map1 The first output map. + @param map2 The second output map. + @param flags Flags indicates the rectification type, RECTIFY_PERSPECTIVE, RECTIFY_CYLINDRICAL, RECTIFY_LONGLATI and RECTIFY_STEREOGRAPHIC + are supported. + */ + CV_EXPORTS_W void initUndistortRectifyMap(InputArray K, InputArray D, InputArray xi, InputArray R, InputArray P, const cv::Size& size, + int mltype, OutputArray map1, OutputArray map2, int flags); + + /** @brief Undistort omnidirectional images to perspective images + + @param distorted The input omnidirectional image. + @param undistorted The output undistorted image. + @param K Camera matrix \f$K = \vecthreethree{f_x}{s}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$. + @param D Input vector of distortion coefficients \f$(k_1, k_2, p_1, p_2)\f$. + @param xi The parameter xi for CMei's model. + @param flags Flags indicates the rectification type, RECTIFY_PERSPECTIVE, RECTIFY_CYLINDRICAL, RECTIFY_LONGLATI and RECTIFY_STEREOGRAPHIC + @param Knew Camera matrix of the distorted image. If it is not assigned, it is just K. + @param new_size The new image size. By default, it is the size of distorted. + @param R Rotation matrix between the input and output images. By default, it is identity matrix. + */ + 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)); + + /** @brief Perform omnidirectional camera calibration, the default depth of outputs is CV_64F. + + @param objectPoints Vector of vector of Vec3f object points in world (pattern) coordinate. + It also can be vector of Mat with size 1xN/Nx1 and type CV_32FC3. Data with depth of 64_F is also acceptable. + @param imagePoints Vector of vector of Vec2f corresponding image points of objectPoints. It must be the same + size and the same type with objectPoints. + @param size Image size of calibration images. + @param K Output calibrated camera matrix. + @param xi Output parameter xi for CMei's model + @param D Output distortion parameters \f$(k_1, k_2, p_1, p_2)\f$ + @param rvecs Output rotations for each calibration images + @param tvecs Output translation for each calibration images + @param flags The flags that control calibrate + @param criteria Termination criteria for optimization + @param idx Indices of images that pass initialization, which are really used in calibration. So the size of rvecs is the + same as idx.total(). + */ + 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()); + + /** @brief Stereo calibration for omnidirectional camera model. It computes the intrinsic parameters for two + cameras and the extrinsic parameters between two cameras. The default depth of outputs is CV_64F. + + @param objectPoints Object points in world (pattern) coordinate. Its type is vector<vector<Vec3f> >. + It also can be vector of Mat with size 1xN/Nx1 and type CV_32FC3. Data with depth of 64_F is also acceptable. + @param imagePoints1 The corresponding image points of the first camera, with type vector<vector<Vec2f> >. + It must be the same size and the same type as objectPoints. + @param imagePoints2 The corresponding image points of the second camera, with type vector<vector<Vec2f> >. + It must be the same size and the same type as objectPoints. + @param imageSize1 Image size of calibration images of the first camera. + @param imageSize2 Image size of calibration images of the second camera. + @param K1 Output camera matrix for the first camera. + @param xi1 Output parameter xi of Mei's model for the first camera + @param D1 Output distortion parameters \f$(k_1, k_2, p_1, p_2)\f$ for the first camera + @param K2 Output camera matrix for the first camera. + @param xi2 Output parameter xi of CMei's model for the second camera + @param D2 Output distortion parameters \f$(k_1, k_2, p_1, p_2)\f$ for the second camera + @param rvec Output rotation between the first and second camera + @param tvec Output translation between the first and second camera + @param rvecsL Output rotation for each image of the first camera + @param tvecsL Output translation for each image of the first camera + @param flags The flags that control stereoCalibrate + @param criteria Termination criteria for optimization + @param idx Indices of image pairs that pass initialization, which are really used in calibration. So the size of rvecs is the + same as idx.total(). + @ + */ + 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()); + + /** @brief Stereo rectification for omnidirectional camera model. It computes the rectification rotations for two cameras + + @param R Rotation between the first and second camera + @param T Translation between the first and second camera + @param R1 Output 3x3 rotation matrix for the first camera + @param R2 Output 3x3 rotation matrix for the second camera + */ + CV_EXPORTS_W void stereoRectify(InputArray R, InputArray T, OutputArray R1, OutputArray R2); + + /** @brief Stereo 3D reconstruction from a pair of images + + @param image1 The first input image + @param image2 The second input image + @param K1 Input camera matrix of the first camera + @param D1 Input distortion parameters \f$(k_1, k_2, p_1, p_2)\f$ for the first camera + @param xi1 Input parameter xi for the first camera for CMei's model + @param K2 Input camera matrix of the second camera + @param D2 Input distortion parameters \f$(k_1, k_2, p_1, p_2)\f$ for the second camera + @param xi2 Input parameter xi for the second camera for CMei's model + @param R Rotation between the first and second camera + @param T Translation between the first and second camera + @param flag Flag of rectification type, RECTIFY_PERSPECTIVE or RECTIFY_LONGLATI + @param numDisparities The parameter 'numDisparities' in StereoSGBM, see StereoSGBM for details. + @param SADWindowSize The parameter 'SADWindowSize' in StereoSGBM, see StereoSGBM for details. + @param disparity Disparity map generated by stereo matching + @param image1Rec Rectified image of the first image + @param image2Rec rectified image of the second image + @param newSize Image size of rectified image, see omnidir::undistortImage + @param Knew New camera matrix of rectified image, see omnidir::undistortImage + @param pointCloud Point cloud of 3D reconstruction, with type CV_64FC3 + @param pointType Point cloud type, it can be XYZRGB or XYZ + */ + 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 checkFixed(Mat &G, int flags, int n); + + 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
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