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icpCalib.h
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1/*
2 * icpCalib.h
3 * artoolkitX
4 *
5 * This file is part of artoolkitX.
6 *
7 * artoolkitX is free software: you can redistribute it and/or modify
8 * it under the terms of the GNU Lesser General Public License as published by
9 * the Free Software Foundation, either version 3 of the License, or
10 * (at your option) any later version.
11 *
12 * artoolkitX is distributed in the hope that it will be useful,
13 * but WITHOUT ANY WARRANTY; without even the implied warranty of
14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15 * GNU Lesser General Public License for more details.
16 *
17 * You should have received a copy of the GNU Lesser General Public License
18 * along with artoolkitX. If not, see <http://www.gnu.org/licenses/>.
19 *
20 * As a special exception, the copyright holders of this library give you
21 * permission to link this library with independent modules to produce an
22 * executable, regardless of the license terms of these independent modules, and to
23 * copy and distribute the resulting executable under terms of your choice,
24 * provided that you also meet, for each linked independent module, the terms and
25 * conditions of the license of that module. An independent module is a module
26 * which is neither derived from nor based on this library. If you modify this
27 * library, you may extend this exception to your version of the library, but you
28 * are not obligated to do so. If you do not wish to do so, delete this exception
29 * statement from your version.
30 *
31 * Copyright 2018 Realmax, Inc.
32 * Copyright 2015 Daqri, LLC.
33 * Copyright 2004-2015 ARToolworks, Inc.
34 *
35 * Author(s): Hirokazu Kato
36 *
37 */
38
39#ifndef ICP_CALIB_H
40#define ICP_CALIB_H
41
42#include <ARX/AR/icpCore.h>
43
44#ifdef __cplusplus
45 extern "C" {
46#endif
47
48#define ICP_CALIB_STEREO_MAX_LOOP 100
49#define ICP_CALIB_STEREO_BREAK_LOOP_ERROR_THRESH 0.001
50#define ICP_CALIB_STEREO_BREAK_LOOP_ERROR_RATIO_THRESH 0.99
51
52
53 typedef struct {
54 ICP2DCoordT *screenCoordL;
55 ICP2DCoordT *screenCoordR;
56 ICP3DCoordT *worldCoordL;
57 ICP3DCoordT *worldCoordR;
58 int numL;
59 int numR;
60 ARdouble initMatXw2Xcl[3][4];
61} ICPCalibDataT;
62
63 int icpCalibStereo( ICPCalibDataT data[], int num,
64 ARdouble matXcl2Ul[3][4], ARdouble matXcr2Ur[3][4], ARdouble initTransL2R[3][4],
65 ARdouble matTransL2R[3][4],
66 ARdouble *err );
67
68#ifdef __cplusplus
69}
70#endif
71#endif
ARdouble
double ARdouble
Definition: ar.h:99
icpCalibStereo
int icpCalibStereo(ICPCalibDataT data[], int num, ARdouble matXcl2Ul[3][4], ARdouble matXcr2Ur[3][4], ARdouble initTransL2R[3][4], ARdouble matTransL2R[3][4], ARdouble *err)
Definition: icpCalibStereo.c:50
icpCore.h
ICP2DCoordT
Definition: icpCore.h:71
ICP3DCoordT
Definition: icpCore.h:76
ICPCalibDataT
Definition: icpCalib.h:53
ICPCalibDataT::worldCoordL
ICP3DCoordT * worldCoordL
Definition: icpCalib.h:56
ICPCalibDataT::screenCoordR
ICP2DCoordT * screenCoordR
Definition: icpCalib.h:55
ICPCalibDataT::numR
int numR
Definition: icpCalib.h:59
ICPCalibDataT::screenCoordL
ICP2DCoordT * screenCoordL
Definition: icpCalib.h:54
ICPCalibDataT::numL
int numL
Definition: icpCalib.h:58
ICPCalibDataT::worldCoordR
ICP3DCoordT * worldCoordR
Definition: icpCalib.h:57