1 /*M/////////////////////////////////////////////////////////////////////////////////////// 2 // 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4 // 5 // By downloading, copying, installing or using the software you agree to this license. 6 // If you do not agree to this license, do not download, install, 7 // copy or use the software. 8 // 9 // 10 // License Agreement 11 // For Open Source Computer Vision Library 12 // 13 // Copyright (C) 2000-2008, Intel Corporation, all rights reserved. 14 // Copyright (C) 2009, Willow Garage Inc., all rights reserved. 15 // Third party copyrights are property of their respective owners. 16 // 17 // Redistribution and use in source and binary forms, with or without modification, 18 // are permitted provided that the following conditions are met: 19 // 20 // * Redistribution's of source code must retain the above copyright notice, 21 // this list of conditions and the following disclaimer. 22 // 23 // * Redistribution's in binary form must reproduce the above copyright notice, 24 // this list of conditions and the following disclaimer in the documentation 25 // and/or other materials provided with the distribution. 26 // 27 // * The name of the copyright holders may not be used to endorse or promote products 28 // derived from this software without specific prior written permission. 29 // 30 // This software is provided by the copyright holders and contributors "as is" and 31 // any express or implied warranties, including, but not limited to, the implied 32 // warranties of merchantability and fitness for a particular purpose are disclaimed. 33 // In no event shall the Intel Corporation or contributors be liable for any direct, 34 // indirect, incidental, special, exemplary, or consequential damages 35 // (including, but not limited to, procurement of substitute goods or services; 36 // loss of use, data, or profits; or business interruption) however caused 37 // and on any theory of liability, whether in contract, strict liability, 38 // or tort (including negligence or otherwise) arising in any way out of 39 // the use of this software, even if advised of the possibility of such damage. 40 // 41 //M*/ 42 43 #ifndef __OPENCV_STITCHING_AUTOCALIB_HPP__ 44 #define __OPENCV_STITCHING_AUTOCALIB_HPP__ 45 46 #include "opencv2/core.hpp" 47 #include "matchers.hpp" 48 49 namespace cv { 50 namespace detail { 51 52 //! @addtogroup stitching_autocalib 53 //! @{ 54 55 /** @brief Tries to estimate focal lengths from the given homography under the assumption that the camera 56 undergoes rotations around its centre only. 57 58 @param H Homography. 59 @param f0 Estimated focal length along X axis. 60 @param f1 Estimated focal length along Y axis. 61 @param f0_ok True, if f0 was estimated successfully, false otherwise. 62 @param f1_ok True, if f1 was estimated successfully, false otherwise. 63 64 See "Construction of Panoramic Image Mosaics with Global and Local Alignment" 65 by Heung-Yeung Shum and Richard Szeliski. 66 */ 67 void CV_EXPORTS focalsFromHomography(const Mat &H, double &f0, double &f1, bool &f0_ok, bool &f1_ok); 68 69 /** @brief Estimates focal lengths for each given camera. 70 71 @param features Features of images. 72 @param pairwise_matches Matches between all image pairs. 73 @param focals Estimated focal lengths for each camera. 74 */ 75 void CV_EXPORTS estimateFocal(const std::vector<ImageFeatures> &features, 76 const std::vector<MatchesInfo> &pairwise_matches, 77 std::vector<double> &focals); 78 79 bool CV_EXPORTS calibrateRotatingCamera(const std::vector<Mat> &Hs, Mat &K); 80 81 //! @} stitching_autocalib 82 83 } // namespace detail 84 } // namespace cv 85 86 #endif // __OPENCV_STITCHING_AUTOCALIB_HPP__ 87