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poseproj.h
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poseproj.h
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/////////////////////////////////////////////////////////////////////////////////
//
// Non-linear calibrated camera pose estimation from 3D - 2D correspondences
// Copyright (C) 2011 Manolis Lourakis (lourakis **at** ics.forth.gr)
// Institute of Computer Science, Foundation for Research & Technology - Hellas
// Heraklion, Crete, Greece.
//
/////////////////////////////////////////////////////////////////////////////////
#ifndef _POSEPROJ_H
#define _POSEPROJ_H
extern void calc_poseProjRT(double K[9], double rt[6], double M[3], double m[2]);
extern void calc_poseProjRTJac(double K[9], double rt[6], double M[3], double m_grad0[6], double m_grad1[6]);
extern void calc_poseProjRTF(double rtf[7], double u0v0[2], double M[3], double m[2]);
extern void calc_poseProjRTFJac(double rtf[7], double u0v0[2], double M[3], double m_grad0[7], double m_grad1[7]);
extern void calc_poseProjRTBinoc(double KR[9], double rtL[6], double stereo_rt[6], double M[3], double m[2]);
extern void calc_poseProjRTBinocJac(double KR[9], double rtL[6], double stereo_rt[6], double M[3], double mR_grad0[6], double mR_grad1[6]);
extern void calc_poseProjRTScaleJac(double K[9], double rt[6], double scl[1], double M[3], double m_grad0[7], double m_grad1[7]);
extern void calc_poseProjRTBinocScaleJac(double KR[9], double rtL[6], double scl[1], double stereo_rt[6], double M[3],
double mR_grad0[7], double mR_grad1[7]);
extern void calc_poseProjPJac(double p[12],double M[3],double m_grad[2][12]);
extern void calc_posePRTJac(double K[9],double rt[6],double p_grad[12][6]);
#endif /* _POSEPROJ_H */