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// 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/multiview/projection.h"
#include "libmv/numeric/numeric.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_ */
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