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107 lines
3.6 KiB
C++
107 lines
3.6 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2009, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#ifndef __OPENCV_PROJECTION_HPP__
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#define __OPENCV_PROJECTION_HPP__
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#include <opencv2/core.hpp>
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namespace cv
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{
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namespace sfm
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{
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//! @addtogroup projection
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//! @{
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/** @brief Converts point coordinates from homogeneous to euclidean pixel coordinates. E.g., ((x,y,z)->(x/z, y/z))
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@param src Input vector of N-dimensional points.
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@param dst Output vector of N-1-dimensional points.
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*/
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CV_EXPORTS_W
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void
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homogeneousToEuclidean(InputArray src, OutputArray dst);
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/** @brief Converts points from Euclidean to homogeneous space. E.g., ((x,y)->(x,y,1))
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@param src Input vector of N-dimensional points.
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@param dst Output vector of N+1-dimensional points.
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*/
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CV_EXPORTS_W
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void
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euclideanToHomogeneous(InputArray src, OutputArray dst);
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/** @brief Get projection matrix P from K, R and t.
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@param K Input 3x3 camera matrix \f$K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$.
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@param R Input 3x3 rotation matrix.
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@param t Input 3x1 translation vector.
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@param P Output 3x4 projection matrix.
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This function estimate the projection matrix by solving the following equation: \f$P = K * [R|t]\f$
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*/
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CV_EXPORTS_W
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void
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projectionFromKRt(InputArray K, InputArray R, InputArray t, OutputArray P);
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/** @brief Get K, R and t from projection matrix P, decompose using the RQ decomposition.
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@param P Input 3x4 projection matrix.
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@param K Output 3x3 camera matrix \f$K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$.
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@param R Output 3x3 rotation matrix.
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@param t Output 3x1 translation vector.
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Reference: @cite HartleyZ00 A4.1.1 pag.579
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*/
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CV_EXPORTS_W
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void
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KRtFromProjection( InputArray P, OutputArray K, OutputArray R, OutputArray t );
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/** @brief Returns the depth of a point transformed by a rigid transform.
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@param R Input 3x3 rotation matrix.
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@param t Input 3x1 translation vector.
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@param X Input 3x1 or 4x1 vector with the 3d point.
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*/
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CV_EXPORTS_W
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double
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depth( InputArray R, InputArray t, InputArray X);
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//! @} sfm
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} /* namespace sfm */
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} /* namespace cv */
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#endif
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/* End of file. */
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