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diff --git a/intern/libmv/libmv/multiview/euclidean_resection.h b/intern/libmv/libmv/multiview/euclidean_resection.h new file mode 100644 index 00000000000..28eae92611c --- /dev/null +++ b/intern/libmv/libmv/multiview/euclidean_resection.h @@ -0,0 +1,148 @@ +// Copyright (c) 2010 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#ifndef LIBMV_MULTIVIEW_EUCLIDEAN_RESECTION_H_ +#define LIBMV_MULTIVIEW_EUCLIDEAN_RESECTION_H_ + +#include "libmv/numeric/numeric.h" +#include "libmv/multiview/projection.h" + +namespace libmv { +namespace euclidean_resection { + +enum ResectionMethod { + RESECTION_ANSAR_DANIILIDIS, + + // 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 +}; + +/** + * Computes the extrinsic parameters, R and t for a calibrated camera + * from 4 or more 3D points and their normalized images. + * + * \param x_camera Image points in normalized camera coordinates e.g. x_camera + * = inv(K) * x_image. + * \param X_world 3D points in the world coordinate system + * \param R Solution for the camera rotation matrix + * \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, + ResectionMethod method = RESECTION_EPNP); + +/** + * Computes the extrinsic parameters, R and t for a calibrated camera + * from 4 or more 3D points and their images. + * + * \param x_image Image points in non-normalized image coordinates. The + * coordates are laid out one per row. The matrix can be Nx2 + * or Nx3 for euclidean or homogenous 2D coordinates. + * \param X_world 3D points in the world coordinate system + * \param K Intrinsic parameters camera matrix + * \param R Solution for the camera rotation matrix + * \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, + ResectionMethod method = RESECTION_EPNP); + +/** + * The absolute orientation algorithm recovers the transformation between a set + * of 3D points, X and Xp such that: + * + * Xp = R*X + t + * + * The recovery of the absolute orientation is implemented after this article: + * Horn, Hilden, "Closed-form solution of absolute orientation using + * orthonormal matrices" + */ +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 + * more 3D points and their images. + * + * \param x_camera Image points in normalized camera coordinates, e.g. + * x_camera=inv(K)*x_image + * \param X_world 3D points in the world coordinate system + * \param R Solution for the camera rotation matrix + * \param t Solution for the camera translation vector + * + * 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); +/** + * Computes the extrinsic parameters, R and t for a calibrated camera from 4 or + * more 3D points and their images. + * + * \param x_camera Image points in normalized camera coordinates, + * e.g. x_camera = inv(K) * x_image + * \param X_world 3D points in the world coordinate system + * \param R Solution for the camera rotation matrix + * \param t Solution for the camera translation vector + * + * This is the algorithm described in: + * "{EP$n$P: An Accurate $O(n)$ Solution to the P$n$P Problem", by V. Lepetit + * 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); + +/** + * Computes the extrinsic parameters, R and t for a calibrated camera from 4 or + * more 3D points and their images. + * + * \param x_camera Image points in normalized camera coordinates, + * e.g. x_camera = inv(K) * x_image + * \param X_world 3D points in the world coordinate system + * \param R Solution for the camera rotation matrix + * \param t Solution for the camera translation vector + * + * 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); + +} // namespace euclidean_resection +} // namespace libmv + + +#endif /* LIBMV_MULTIVIEW_EUCLIDEAN_RESECTION_H_ */ |