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70 lines
2.5 KiB
C++
70 lines
2.5 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_SFM_TRIANGULATION_HPP__
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#define __OPENCV_SFM_TRIANGULATION_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 triangulation
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//! @{
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/** @brief Reconstructs bunch of points by triangulation.
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@param points2d Input vector of vectors of 2d points (the inner vector is per image). Has to be 2 X N.
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@param projection_matrices Input vector with 3x4 projections matrices of each image.
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@param points3d Output array with computed 3d points. Is 3 x N.
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Triangulates the 3d position of 2d correspondences between several images.
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Reference: Internally it uses DLT method @cite HartleyZ00 12.2 pag.312
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*/
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CV_EXPORTS_W
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void
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triangulatePoints(InputArrayOfArrays points2d, InputArrayOfArrays projection_matrices,
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OutputArray points3d);
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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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