add omnidirectional camera calibration to ccalib

modules/ccalib/include/opencv2/omnidir.hpp

+/*M///////////////////////////////////////////////////////////////////////////////////////
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+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2015, Baisheng Lai (laibaisheng@gmail.com), Zhejiang University,
+// all rights reserved.
+//
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+//M*/
+#ifndef __OPENCV_OMNIDIR_HPP__
+#define __OPENCV_OMNIDIR_HPP__
+#ifdef __cplusplus
+
+#include <opencv2/core.hpp>
+#include <opencv2/features2d.hpp>
+#include <opencv2/imgproc.hpp>
+#include <opencv2/calib3d.hpp>
+#include <vector>
+namespace cv
+{
+
+/* @defgroup calib3d_omnidir Omnidirectional camera model
+
+*/
+/** @brief The methods in this namespace is to calibrate omnidirectional cameras.
+    This module was accepted as a GSoC 2015 project for OpenCV, authored by
+    Baisheng Lai, mentored by Bo Li.
+  @ingroup calib3d_omnidir
+*/
+namespace omnidir
+{
+    //! @addtogroup calib3d_omnidir
+    //! @{
+    enum {
+        CALIB_USE_GUESS             = 1,
+        CALIB_FIX_SKEW              = 2,
+        CALIB_FIX_K1                = 4,
+        CALIB_FIX_K2                = 8,
+        CALIB_FIX_P1                = 16,
+        CALIB_FIX_P2                = 32,
+        CALIB_FIX_XI                = 64,
+        CALIB_FIX_GAMMA             = 128,
+        CALIB_FIX_CENTER            = 256
+    };
+
+    /** @brief Projects points for omnidirectional camera using CMei's model
+
+    @param objectPoints Object points in world coordiante, 1xN/Nx1 3-channel of type CV_64F and N
+    is the number of points.
+    @param imagePoints Output array of image points, 1xN/Nx1 2-channel of type CV_64F
+    @param rvec vector of rotation between world coordinate and camera coordinate, i.e., om
+    @param tvec vector of translation between pattern coordinate and camera coordinate
+    @param K Camera matrix \f$K = \vecthreethree{f_x}{s}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$.
+    @param D Input vector of distortion coefficients \f$(k_1, k_2, p_1, p_2)\f$.
+    @param xi The parameter xi for CMei's model
+    @param jacobian Optional output 2Nx16 of type CV_64F jacobian matrix, constains the derivatives of
+    image pixel points wrt parametes including \f$om, T, f_x, f_y, s, c_x, c_y, xi, k_1, k_2, p_1, p_2\f$.
+    This matrix will be used in calibration by optimization.
+
+    The function projects object 3D points of world coordiante to image pixels, parametered by intrinsic
+    and extrinsic parameters. Also, it optionaly compute a by-product: the jacobian matrix containing
+    onstains the derivatives of image pixel points wrt intrinsic and extrinsic parametes.
+     */
+    CV_EXPORTS_W void projectPoints(InputArray objectPoints, OutputArray imagePoints, InputArray rvec, InputArray tvec,
+                       InputArray K, double xi, InputArray D, OutputArray jacobian = noArray());
+
+    /** @brief Undistort 2D image points for omnidirectional camera using CMei's model
+
+    @param distorted Array of distorted image points, 1xN/Nx1 2-channel of tyep CV_64F
+    @param K Camera matrix \f$K = \vecthreethree{f_x}{s}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$.
+    @param D Distortion coefficients \f$(k_1, k_2, p_1, p_2)\f$.
+    @param xi The parameter xi for CMei's model
+    @param R Rotation trainsform between the original and object space : 3x3 1-channel, or vector: 3x1/1x3
+    1-channel or 1x1 3-channel
+    @param undistorted array of normalized object points, 1xN/Nx1 2-channel of type CV_64F
+     */
+
+    CV_EXPORTS_W void undistortPoints(InputArray distorted, OutputArray undistorted, InputArray K, InputArray D, double xi, InputArray R);
+
+    /** @brief Computes undistortion and rectification maps for omnidirectional camera image transform by cv::remap().
+    If D is empty zero distortion is used, if R or P is empty identity matrixes are used.
+
+    @param K Camera matrix \f$K = \vecthreethree{f_x}{s}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$.
+    @param D Input vector of distortion coefficients \f$(k_1, k_2, p_1, p_2)\f$.
+    @param xi The parameter xi for CMei's model
+    @param R Rotation trainsform between the original and object space : 3x3 1-channel, or vector: 3x1/1x3
+    @param P New camera matrix (3x3) or new projection matrix (3x4)
+    @param size Undistorted image size.
+    @param mltype Type of the first output map that can be CV_32FC1 or CV_16SC2 . See convertMaps()
+    for details.
+    @param map1 The first output map.
+    @param map2 The second output map.
+     */
+    CV_EXPORTS_W void initUndistortRectifyMap(InputArray K, InputArray D, double xi, InputArray R, InputArray P, const cv::Size& size,
+        int mltype, OutputArray map1, OutputArray map2);
+
+    /** @brief Undistort omnidirectional images to perspective images
+
+    @param distorted omnidirectional image with very large distortion
+    @param undistorted The output undistorted image
+    @param K Camera matrix \f$K = \vecthreethree{f_x}{s}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$.
+    @param D Input vector of distortion coefficients \f$(k_1, k_2, p_1, p_2)\f$.
+    @param xi The parameter xi for CMei's model
+    @param Knew Camera matrix of the distorted image. By default, it is just K.
+    @param new_size The new image size. By default, it is the size of distorted.
+    */
+    CV_EXPORTS_W void undistortImage(InputArray distorted, OutputArray undistorted, InputArray K, InputArray D, double xi,
+        InputArray Knew = cv::noArray(), const Size& new_size = Size());
+
+        /** @brief Perform omnidirectional camera calibration
+
+    @param patternPoints Vector of vector of pattern points in world (pattern) coordiante, 1xN/Nx1 3-channel
+    @param imagePoints Vector of vector of correspoinding image points of objectPoints
+    @param size Image size of calibration images.
+    @param K Output calibrated camera matrix. If you want to initialize K by yourself, input a non-empty K.
+    @param xi Ouput parameter xi for CMei's model
+    @param D Output distortion parameters \f$(k_1, k_2, p_1, p_2)\f$
+    @param omAll Output rotations for each calibration images
+    @param tAll Output translation for each calibration images
+    @param flags The flags that control calibrate
+    @param criteria Termination criteria for optimization
+    */
+    CV_EXPORTS_W double calibrate(InputOutputArrayOfArrays patternPoints, InputOutputArrayOfArrays imagePoints, Size size,
+        InputOutputArray K, InputOutputArray xi, InputOutputArray D, OutputArrayOfArrays omAll, OutputArrayOfArrays tAll,
+        int flags, TermCriteria criteria);
+
+
+//! @} calib3d_omnidir
+namespace internal
+{
+    void initializeCalibration(InputOutputArrayOfArrays objectPoints, InputOutputArrayOfArrays imagePoints, Size size, OutputArrayOfArrays omAll, OutputArrayOfArrays tAll, OutputArray K, double& xi);
+    void computeJacobian(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, InputArray parameters, Mat& JTJ_inv, Mat& JTE, int flags);
+    void encodeParameters(InputArray K, OutputArrayOfArrays omAll, OutputArrayOfArrays tAll, InputArray distoaration, double xi, int n, OutputArray parameters);
+    void decodeParameters(InputArray paramsters, OutputArray K, OutputArrayOfArrays omAll, OutputArrayOfArrays tAll, OutputArray distoration, double& xi);
+    void estimateUncertainties(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, InputArray parameters, Mat& errors, Vec2d& std_error, double& rms, int flags);
+    double computeMeanReproerr(InputArrayOfArrays imagePoints, InputArrayOfArrays proImagePoints);
+    void checkFixed(Mat &G, int flags, int n);
+    void subMatrix(const Mat& src, Mat& dst, const std::vector<int>& cols, const std::vector<int>& rows);
+    void flags2idx(int flags, std::vector<int>& idx, int n);
+    void fillFixed(Mat&G, int flags, int n);
+} // internal
+
+
+} // omnidir
+
+} //cv
+#endif
+#endif
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