5 #include "opencv2/core/core_c.h"
9 epnp(const cv::Mat& cameraMatrix, const cv::Mat& opoints, const cv::Mat& ipoints);
12 void add_correspondence(const double X, const double Y, const double Z,
13 const double u, const double v);
15 void compute_pose(cv::Mat& R, cv::Mat& t);
18 void init_camera_parameters(const cv::Mat& cameraMatrix)
20 uc = cameraMatrix.at<T> (0, 2);
21 vc = cameraMatrix.at<T> (1, 2);
22 fu = cameraMatrix.at<T> (0, 0);
23 fv = cameraMatrix.at<T> (1, 1);
25 template <typename OpointType, typename IpointType>
26 void init_points(const cv::Mat& opoints, const cv::Mat& ipoints)
28 for(int i = 0; i < number_of_correspondences; i++)
30 pws[3 * i ] = opoints.at<OpointType>(i).x;
31 pws[3 * i + 1] = opoints.at<OpointType>(i).y;
32 pws[3 * i + 2] = opoints.at<OpointType>(i).z;
34 us[2 * i ] = ipoints.at<IpointType>(i).x*fu + uc;
35 us[2 * i + 1] = ipoints.at<IpointType>(i).y*fv + vc;
38 double reprojection_error(const double R[3][3], const double t[3]);
39 void choose_control_points(void);
40 void compute_barycentric_coordinates(void);
41 void fill_M(CvMat * M, const int row, const double * alphas, const double u, const double v);
42 void compute_ccs(const double * betas, const double * ut);
43 void compute_pcs(void);
45 void solve_for_sign(void);
47 void find_betas_approx_1(const CvMat * L_6x10, const CvMat * Rho, double * betas);
48 void find_betas_approx_2(const CvMat * L_6x10, const CvMat * Rho, double * betas);
49 void find_betas_approx_3(const CvMat * L_6x10, const CvMat * Rho, double * betas);
50 void qr_solve(CvMat * A, CvMat * b, CvMat * X);
52 double dot(const double * v1, const double * v2);
53 double dist2(const double * p1, const double * p2);
55 void compute_rho(double * rho);
56 void compute_L_6x10(const double * ut, double * l_6x10);
58 void gauss_newton(const CvMat * L_6x10, const CvMat * Rho, double current_betas[4]);
59 void compute_A_and_b_gauss_newton(const double * l_6x10, const double * rho,
60 const double cb[4], CvMat * A, CvMat * b);
62 double compute_R_and_t(const double * ut, const double * betas,
63 double R[3][3], double t[3]);
65 void estimate_R_and_t(double R[3][3], double t[3]);
67 void copy_R_and_t(const double R_dst[3][3], const double t_dst[3],
68 double R_src[3][3], double t_src[3]);
71 double uc, vc, fu, fv;
73 std::vector<double> pws, us, alphas, pcs;
74 int number_of_correspondences;
76 double cws[4][3], ccs[4][3];