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42 
43 /****************************************************************************************\
44 * Exhaustive Linearization for Robust Camera Pose and Focal Length Estimation.
45 * Contributed by Edgar Riba
46 \****************************************************************************************/
47 
48 #ifndef OPENCV_CALIB3D_UPNP_H_
49 #define OPENCV_CALIB3D_UPNP_H_
50 
51 #include "precomp.hpp"
52 #include "opencv2/core/core_c.h"
53 #include <iostream>
54 
55 class upnp
56 {
57 public:
58     upnp(const cv::Mat& cameraMatrix, const cv::Mat& opoints, const cv::Mat& ipoints);
59     ~upnp();
60 
61     double compute_pose(cv::Mat& R, cv::Mat& t);
62 private:
63     template <typename T>
init_camera_parameters(const cv::Mat & cameraMatrix)64       void init_camera_parameters(const cv::Mat& cameraMatrix)
65       {
66         uc = cameraMatrix.at<T> (0, 2);
67         vc = cameraMatrix.at<T> (1, 2);
68         fu = 1;
69         fv = 1;
70       }
71       template <typename OpointType, typename IpointType>
init_points(const cv::Mat & opoints,const cv::Mat & ipoints)72       void init_points(const cv::Mat& opoints, const cv::Mat& ipoints)
73       {
74           for(int i = 0; i < number_of_correspondences; i++)
75           {
76             pws[3 * i    ] = opoints.at<OpointType>(i).x;
77             pws[3 * i + 1] = opoints.at<OpointType>(i).y;
78             pws[3 * i + 2] = opoints.at<OpointType>(i).z;
79 
80             us[2 * i    ] = ipoints.at<IpointType>(i).x;
81             us[2 * i + 1] = ipoints.at<IpointType>(i).y;
82           }
83       }
84 
85       double reprojection_error(const double R[3][3], const double t[3]);
86       void choose_control_points();
87       void compute_alphas();
88       void fill_M(cv::Mat * M, const int row, const double * alphas, const double u, const double v);
89       void compute_ccs(const double * betas, const double * ut);
90       void compute_pcs(void);
91 
92       void solve_for_sign(void);
93 
94       void find_betas_and_focal_approx_1(cv::Mat * Ut, cv::Mat * Rho, double * betas, double * efs);
95       void find_betas_and_focal_approx_2(cv::Mat * Ut, cv::Mat * Rho, double * betas, double * efs);
96       void qr_solve(cv::Mat * A, cv::Mat * b, cv::Mat * X);
97 
98       cv::Mat compute_constraint_distance_2param_6eq_2unk_f_unk(const cv::Mat& M1);
99       cv::Mat compute_constraint_distance_3param_6eq_6unk_f_unk(const cv::Mat& M1, const cv::Mat& M2);
100       void generate_all_possible_solutions_for_f_unk(const double betas[5], double solutions[18][3]);
101 
102       double sign(const double v);
103       double dot(const double * v1, const double * v2);
104       double dotXY(const double * v1, const double * v2);
105       double dotZ(const double * v1, const double * v2);
106       double dist2(const double * p1, const double * p2);
107 
108       void compute_rho(double * rho);
109       void compute_L_6x12(const double * ut, double * l_6x12);
110 
111       void gauss_newton(const cv::Mat * L_6x12, const cv::Mat * Rho, double current_betas[4], double * efs);
112       void compute_A_and_b_gauss_newton(const double * l_6x12, const double * rho,
113                           const double cb[4], cv::Mat * A, cv::Mat * b, double const f);
114 
115       double compute_R_and_t(const double * ut, const double * betas,
116                    double R[3][3], double t[3]);
117 
118       void estimate_R_and_t(double R[3][3], double t[3]);
119 
120       void copy_R_and_t(const double R_dst[3][3], const double t_dst[3],
121                   double R_src[3][3], double t_src[3]);
122 
123 
124       double uc, vc, fu, fv;
125 
126       std::vector<double> pws, us, alphas, pcs;
127       int number_of_correspondences;
128 
129       double cws[4][3], ccs[4][3];
130       int max_nr;
131       double * A1, * A2;
132 };
133 
134 #endif // OPENCV_CALIB3D_UPNP_H_
135