diff options
Diffstat (limited to 'intern/libmv/libmv/multiview/euclidean_resection.h')
| -rw-r--r-- | intern/libmv/libmv/multiview/euclidean_resection.h | 47 |
1 files changed, 24 insertions, 23 deletions
diff --git a/intern/libmv/libmv/multiview/euclidean_resection.h b/intern/libmv/libmv/multiview/euclidean_resection.h index 28eae92611c..3c4c3979ff6 100644 --- a/intern/libmv/libmv/multiview/euclidean_resection.h +++ b/intern/libmv/libmv/multiview/euclidean_resection.h @@ -21,8 +21,8 @@ #ifndef LIBMV_MULTIVIEW_EUCLIDEAN_RESECTION_H_ #define LIBMV_MULTIVIEW_EUCLIDEAN_RESECTION_H_ -#include "libmv/numeric/numeric.h" #include "libmv/multiview/projection.h" +#include "libmv/numeric/numeric.h" namespace libmv { namespace euclidean_resection { @@ -33,7 +33,7 @@ enum ResectionMethod { // The "EPnP" algorithm by Lepetit et al. // http://cvlab.epfl.ch/~lepetit/papers/lepetit_ijcv08.pdf RESECTION_EPNP, - + // The Procrustes PNP algorithm ("PPnP") // http://www.diegm.uniud.it/fusiello/papers/3dimpvt12-b.pdf RESECTION_PPNP @@ -50,9 +50,10 @@ enum ResectionMethod { * \param t Solution for the camera translation vector * \param method The resection method to use. */ -bool EuclideanResection(const Mat2X &x_camera, - const Mat3X &X_world, - Mat3 *R, Vec3 *t, +bool EuclideanResection(const Mat2X& x_camera, + const Mat3X& X_world, + Mat3* R, + Vec3* t, ResectionMethod method = RESECTION_EPNP); /** @@ -68,10 +69,11 @@ bool EuclideanResection(const Mat2X &x_camera, * \param t Solution for the camera translation vector * \param method Resection method */ -bool EuclideanResection(const Mat &x_image, - const Mat3X &X_world, - const Mat3 &K, - Mat3 *R, Vec3 *t, +bool EuclideanResection(const Mat& x_image, + const Mat3X& X_world, + const Mat3& K, + Mat3* R, + Vec3* t, ResectionMethod method = RESECTION_EPNP); /** @@ -84,10 +86,7 @@ bool EuclideanResection(const Mat &x_image, * Horn, Hilden, "Closed-form solution of absolute orientation using * orthonormal matrices" */ -void AbsoluteOrientation(const Mat3X &X, - const Mat3X &Xp, - Mat3 *R, - Vec3 *t); +void AbsoluteOrientation(const Mat3X& X, const Mat3X& Xp, Mat3* R, Vec3* t); /** * Computes the extrinsic parameters, R and t for a calibrated camera from 4 or @@ -102,9 +101,10 @@ void AbsoluteOrientation(const Mat3X &X, * This is the algorithm described in: "Linear Pose Estimation from Points or * Lines", by Ansar, A. and Daniilidis, PAMI 2003. vol. 25, no. 5. */ -void EuclideanResectionAnsarDaniilidis(const Mat2X &x_camera, - const Mat3X &X_world, - Mat3 *R, Vec3 *t); +void EuclideanResectionAnsarDaniilidis(const Mat2X& x_camera, + const Mat3X& X_world, + Mat3* R, + Vec3* t); /** * Computes the extrinsic parameters, R and t for a calibrated camera from 4 or * more 3D points and their images. @@ -120,9 +120,10 @@ void EuclideanResectionAnsarDaniilidis(const Mat2X &x_camera, * and F. Moreno-Noguer and P. Fua, IJCV 2009. vol. 81, no. 2 * \note: the non-linear optimization is not implemented here. */ -bool EuclideanResectionEPnP(const Mat2X &x_camera, - const Mat3X &X_world, - Mat3 *R, Vec3 *t); +bool EuclideanResectionEPnP(const Mat2X& x_camera, + const Mat3X& X_world, + Mat3* R, + Vec3* t); /** * Computes the extrinsic parameters, R and t for a calibrated camera from 4 or @@ -137,12 +138,12 @@ bool EuclideanResectionEPnP(const Mat2X &x_camera, * Straight from the paper: * http://www.diegm.uniud.it/fusiello/papers/3dimpvt12-b.pdf */ -bool EuclideanResectionPPnP(const Mat2X &x_camera, - const Mat3X &X_world, - Mat3 *R, Vec3 *t); +bool EuclideanResectionPPnP(const Mat2X& x_camera, + const Mat3X& X_world, + Mat3* R, + Vec3* t); } // namespace euclidean_resection } // namespace libmv - #endif /* LIBMV_MULTIVIEW_EUCLIDEAN_RESECTION_H_ */ |