00001 #ifndef epnp_h 00002 #define epnp_h 00003 00004 #include <cv.h> 00005 00006 class epnp { 00007 public: 00008 epnp(void); 00009 ~epnp(); 00010 00011 void set_internal_parameters(const double uc, const double vc, 00012 const double fu, const double fv); 00013 00014 void set_maximum_number_of_correspondences(const int n); 00015 void reset_correspondences(void); 00016 void add_correspondence(const double X, const double Y, const double Z, 00017 const double u, const double v); 00018 00019 double compute_pose(double R[3][3], double T[3]); 00020 00021 void relative_error(double & rot_err, double & transl_err, 00022 const double Rtrue[3][3], const double ttrue[3], 00023 const double Rest[3][3], const double test[3]); 00024 00025 void print_pose(const double R[3][3], const double t[3]); 00026 double reprojection_error(const double R[3][3], const double t[3]); 00027 00028 private: 00029 void choose_control_points(void); 00030 void compute_barycentric_coordinates(void); 00031 void fill_M(CvMat * M, const int row, const double * alphas, const double u, const double v); 00032 void compute_ccs(const double * betas, const double * ut); 00033 void compute_pcs(void); 00034 00035 void solve_for_sign(void); 00036 00037 void find_betas_approx_1(const CvMat * L_6x10, const CvMat * Rho, double * betas); 00038 void find_betas_approx_2(const CvMat * L_6x10, const CvMat * Rho, double * betas); 00039 void find_betas_approx_3(const CvMat * L_6x10, const CvMat * Rho, double * betas); 00040 void qr_solve(CvMat * A, CvMat * b, CvMat * X); 00041 00042 double dot(const double * v1, const double * v2); 00043 double dist2(const double * p1, const double * p2); 00044 00045 void compute_rho(double * rho); 00046 void compute_L_6x10(const double * ut, double * l_6x10); 00047 00048 void gauss_newton(const CvMat * L_6x10, const CvMat * Rho, double current_betas[4]); 00049 void compute_A_and_b_gauss_newton(const double * l_6x10, const double * rho, 00050 double cb[4], CvMat * A, CvMat * b); 00051 00052 double compute_R_and_t(const double * ut, const double * betas, 00053 double R[3][3], double t[3]); 00054 00055 void estimate_R_and_t(double R[3][3], double t[3]); 00056 00057 void copy_R_and_t(const double R_dst[3][3], const double t_dst[3], 00058 double R_src[3][3], double t_src[3]); 00059 00060 void mat_to_quat(const double R[3][3], double q[4]); 00061 00062 00063 double uc, vc, fu, fv; 00064 00065 double * pws, * us, * alphas, * pcs; 00066 int maximum_number_of_correspondences; 00067 int number_of_correspondences; 00068 00069 double cws[4][3], ccs[4][3]; 00070 double cws_determinant; 00071 }; 00072 00073 #endif