From 3f8346dcc4b38116ea15543b62a1e859b6a47e85 Mon Sep 17 00:00:00 2001 From: Justin Berger Date: Thu, 15 Mar 2018 10:36:09 -0600 Subject: Added first draft of epnp code --- src/epnp/epnp.h | 60 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 60 insertions(+) create mode 100644 src/epnp/epnp.h (limited to 'src/epnp/epnp.h') diff --git a/src/epnp/epnp.h b/src/epnp/epnp.h new file mode 100644 index 0000000..9ca3a2e --- /dev/null +++ b/src/epnp/epnp.h @@ -0,0 +1,60 @@ +// Copyright (c) 2009, V. Lepetit, EPFL +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: + +// 1. Redistributions of source code must retain the above copyright notice, this +// list of conditions and the following disclaimer. +// 2. Redistributions in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR +// ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +// The views and conclusions contained in the software and documentation are those +// of the authors and should not be interpreted as representing official policies, +// either expressed or implied, of the FreeBSD Project. + +#ifndef epnp_h +#define epnp_h + +#ifndef WITH_OPENCV +#include "opencv_shim.h" +#else +#include +#endif + +typedef struct { + + double uc, vc, fu, fv; + + double *pws, *us, *alphas, *pcs; + int maximum_number_of_correspondences; + int number_of_correspondences; + + double cws[4][3], ccs[4][3]; + double cws_determinant; +} epnp; + +void epnp_set_internal_parameters(epnp *self, double uc, double vc, double fu, double fv); +void epnp_set_maximum_number_of_correspondences(epnp *self, int n); +void epnp_reset_correspondences(epnp *self); +void epnp_add_correspondence(epnp *self, double X, double Y, double Z, double u, double v); +double epnp_compute_pose(epnp *self, double R[3][3], double t[3]); +void relative_error(double *rot_err, double *transl_err, const double Rtrue[3][3], const double ttrue[3], + const double Rest[3][3], const double test[3]); +void epnp_print_pose(epnp *self, const double R[3][3], const double t[3]); +double epnp_reprojection_error(epnp *self, const double R[3][3], const double t[3]); +void print_pose(const double R[3][3], const double t[3]); + +#endif -- cgit v1.2.3 From a3faba1727a741fa43d4ad2a7b43cf93dcc1cadf Mon Sep 17 00:00:00 2001 From: Justin Berger Date: Thu, 15 Mar 2018 16:26:11 -0600 Subject: Cleaned up memory leaks --- src/epnp/epnp.h | 1 + 1 file changed, 1 insertion(+) (limited to 'src/epnp/epnp.h') diff --git a/src/epnp/epnp.h b/src/epnp/epnp.h index 9ca3a2e..0a42b04 100644 --- a/src/epnp/epnp.h +++ b/src/epnp/epnp.h @@ -46,6 +46,7 @@ typedef struct { double cws_determinant; } epnp; +void epnp_dtor(epnp *self); void epnp_set_internal_parameters(epnp *self, double uc, double vc, double fu, double fv); void epnp_set_maximum_number_of_correspondences(epnp *self, int n); void epnp_reset_correspondences(epnp *self); -- cgit v1.2.3 From 26da6d75305d02e17e7b011ab88f6d50dcea02f0 Mon Sep 17 00:00:00 2001 From: Justin Berger Date: Thu, 15 Mar 2018 17:04:30 -0600 Subject: Refactored the minimal ocv to be in redist --- src/epnp/epnp.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/epnp/epnp.h') diff --git a/src/epnp/epnp.h b/src/epnp/epnp.h index 0a42b04..f87e1bf 100644 --- a/src/epnp/epnp.h +++ b/src/epnp/epnp.h @@ -29,7 +29,7 @@ #define epnp_h #ifndef WITH_OPENCV -#include "opencv_shim.h" +#include "../../redist/minimal_opencv.h" #else #include #endif -- cgit v1.2.3