// **************************************************************************************************
// Project Delphi-OpenCV
// **************************************************************************************************
// Contributor:
// Laentir Valetov
// email:laex@bk.ru
// Mikhail Grigorev
// email:sleuthound@gmail.com
// **************************************************************************************************
// You may retrieve the latest version of this file at the GitHub,
// located at git://github.com/Laex/Delphi-OpenCV.git
// **************************************************************************************************
// License:
// The contents of this file are subject to the Mozilla Public License Version 1.1 (the "License");
// you may not use this file except in compliance with the License. You may obtain a copy of the
// License at http://www.mozilla.org/MPL/
//
// Software distributed under the License is distributed on an "AS IS" basis, WITHOUT WARRANTY OF
// ANY KIND, either express or implied. See the License for the specific language governing rights
// and limitations under the License.
//
// Alternatively, the contents of this file may be used under the terms of the
// GNU Lesser General Public License (the  "LGPL License"), in which case the
// provisions of the LGPL License are applicable instead of those above.
// If you wish to allow use of your version of this file only under the terms
// of the LGPL License and not to allow others to use your version of this file
// under the MPL, indicate your decision by deleting  the provisions above and
// replace  them with the notice and other provisions required by the LGPL
// License.  If you do not delete the provisions above, a recipient may use
// your version of this file under either the MPL or the LGPL License.
//
// For more information about the LGPL: http://www.gnu.org/copyleft/lesser.html
// **************************************************************************************************
// Warning: Using Delphi XE3 syntax!
// **************************************************************************************************
// The Initial Developer of the Original Code:
// OpenCV: open source computer vision library
// Homepage:    http://ocv.org
// Online docs: http://docs.ocv.org
// Q&A forum:   http://answers.ocv.org
// Dev zone:    http://code.ocv.org
// **************************************************************************************************
// Original file:
// opencv\modules\calib3d\include\opencv2\calib3d\calib3d_c.h
// *************************************************************************************************

//
{$I OpenCV.inc}
//
{$IFDEF DEBUG}
{$A8,B-,C+,D+,E-,F-,G+,H+,I+,J-,K-,L+,M-,N+,O-,P+,Q+,R+,S-,T-,U-,V+,W+,X+,Y+,Z1}
{$ELSE}
{$A8,B-,C-,D-,E-,F-,G+,H+,I+,J-,K-,L-,M-,N+,O+,P+,Q-,R-,S-,T-,U-,V+,W-,X+,Y-,Z1}
{$ENDIF}
{$WARN SYMBOL_DEPRECATED OFF}
{$WARN SYMBOL_PLATFORM OFF}
{$WARN UNIT_PLATFORM OFF}
{$WARN UNSAFE_TYPE OFF}
{$WARN UNSAFE_CODE OFF}
{$WARN UNSAFE_CAST OFF}
unit ocv.calib3d_c;

interface

uses
  ocv.core.types_c,
  ocv.compat;

(* ***************************************************************************************
  *                      Camera Calibration, Pose Estimation and Stereo                  *
  **************************************************************************************** *)
Type
  // typedef struct CvPOSITObject CvPOSITObject;
  PCvPOSITObject = ^TCvPOSITObject;

  TCvPOSITObject = record
    N: Integer;
    inv_matr: PSingle;
    obj_vecs: PSingle;
    img_vecs: PSingle;
  end;

  (*
    Allocates and initializes CvPOSITObject structure before doing cvPOSIT
    CVAPI(CvPOSITObject* )  cvCreatePOSITObject( CvPoint3D32f* points, int point_count );
  *)
function cvCreatePOSITObject(points: pCvPoint3D32f; point_count: Integer): PCvPOSITObject; cdecl;
{$EXTERNALSYM cvCreatePOSITObject}
(* Runs POSIT (POSe from ITeration) algorithm for determining 3d position of
  an object given its model and projection in a weak-perspective case

  CVAPI(void)  cvPOSIT(  CvPOSITObject* posit_object, CvPoint2D32f* image_points,
  double focal_length, CvTermCriteria criteria,
  float* rotation_matrix, float* translation_vector);
*)
procedure cvPOSIT(posit_object: PCvPOSITObject; imagePoints: pCvPoint2D32f; focal_length: double;
  criteria: TCvTermCriteria; rotation_matrix: TCvMatr32f; translation_vector: TCvVect32f); cdecl;
(* Releases CvPOSITObject structure
  CVAPI(void)  cvReleasePOSITObject( CvPOSITObject**  posit_object );
*)
procedure cvReleasePOSITObject(Var posit_object: PCvPOSITObject); cdecl;
(* updates the number of RANSAC iterations *)
// CVAPI(int) cvRANSACUpdateNumIters( double p, double err_prob,
// int model_points, int max_iters );
function cvRANSACUpdateNumIters(p: double; err_prob: double; model_points: Integer; max_iters: Integer): Integer; cdecl;

// CVAPI(void) cvConvertPointsHomogeneous( const CvMat* src, CvMat* dst );
procedure cvConvertPointsHomogeneous(const src: pCvMat; dst: pCvMat); cdecl;

const
  (* Calculates fundamental matrix given a set of corresponding points *)
  CV_FM_7POINT = 1;
  CV_FM_8POINT = 2;

  CV_LMEDS  = 4;
  CV_RANSAC = 8;

  CV_FM_LMEDS_ONLY  = CV_LMEDS;
  CV_FM_RANSAC_ONLY = CV_RANSAC;
  CV_FM_LMEDS       = CV_LMEDS;
  CV_FM_RANSAC      = CV_RANSAC;

  CV_ITERATIVE = 0;
  CV_EPNP = 1; // F.Moreno-Noguer, V.Lepetit and P.Fua "EPnP: Efficient Perspective-n-Point Camera Pose Estimation"
  CV_P3P = 2;
  // X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem"

  (*
    CVAPI(int) cvFindFundamentalMat( const CvMat* points1, const CvMat* points2,
    CvMat* fundamental_matrix,
    int method CV_DEFAULT(CV_FM_RANSAC),
    double param1 CV_DEFAULT(3.), double param2 CV_DEFAULT(0.99),
    CvMat* status CV_DEFAULT(NULL) );
  *)
function cvFindFundamentalMat(const points1: pCvMat; const points2: pCvMat; fundamental_matrix: pCvMat;
  method: Integer = CV_FM_RANSAC; param1: double = 3; param2: double = 0.99; status: pCvMat = nil): Integer; cdecl;

(*
  For each input point on one of images
  computes parameters of the corresponding
  epipolar line on the other image

  CVAPI(void) cvComputeCorrespondEpilines( const CvMat* points,
  int which_image,
  const CvMat* fundamental_matrix,
  CvMat* correspondent_lines );
*)

(* Triangulation functions
  CVAPI(void) cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2,
  CvMat* projPoints1, CvMat* projPoints2,
  CvMat* points4D);
*)

(*
  CVAPI(void) cvCorrectMatches(CvMat* F, CvMat* points1, CvMat* points2,
  CvMat* new_points1, CvMat* new_points2);
*)

(*
  Computes the optimal new camera matrix according to the free scaling parameter alpha:
  alpha=0 - only valid pixels will be retained in the undistorted image
  alpha=1 - all the source image pixels will be retained in the undistorted image

  CVAPI(void) cvGetOptimalNewCameraMatrix( const CvMat* camera_matrix,
  const CvMat* dist_coeffs,
  CvSize image_size, double alpha,
  CvMat* new_camera_matrix,
  CvSize new_imag_size CV_DEFAULT(cvSize(0,0)),
  CvRect* valid_pixel_ROI CV_DEFAULT(0),
  int center_principal_point CV_DEFAULT(0));
*)

(*
  Converts rotation vector to rotation matrix or vice versa

  CVAPI(int) cvRodrigues2( const CvMat* src, CvMat* dst,
  CvMat* jacobian CV_DEFAULT(0) );
*)
function cvRodrigues2(const src: pCvMat; dst: pCvMat; jacobian: pCvMat = nil): Integer; cdecl;

(*
  Finds perspective transformation between the object plane and image (view) plane

  CVAPI(int) cvFindHomography( const CvMat* src_points,
  const CvMat* dst_points,
  CvMat* homography,
  int method CV_DEFAULT(0),
  double ransacReprojThreshold CV_DEFAULT(3),
  CvMat* mask CV_DEFAULT(0));
*)
function cvFindHomography(const src_points: pCvMat; const dst_points: pCvMat; homography: pCvMat; method: Integer = 0;
  ransacReprojThreshold: double = 3; mask: pCvMat = nil): Integer; cdecl;

(*
  Computes RQ decomposition for 3x3 matrices
  CVAPI(void) cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,
  CvMat *matrixQx CV_DEFAULT(NULL),
  CvMat *matrixQy CV_DEFAULT(NULL),
  CvMat *matrixQz CV_DEFAULT(NULL),
  CvPoint3D64f *eulerAngles CV_DEFAULT(NULL));
*)

(*
  Computes projection matrix decomposition

  CVAPI(void) cvDecomposeProjectionMatrix( const CvMat *projMatr, CvMat *calibMatr,
  CvMat *rotMatr, CvMat *posVect,
  CvMat *rotMatrX CV_DEFAULT(NULL),
  CvMat *rotMatrY CV_DEFAULT(NULL),
  CvMat *rotMatrZ CV_DEFAULT(NULL),
  CvPoint3D64f *eulerAngles CV_DEFAULT(NULL));
*)

(*
  Computes d(AB)/dA and d(AB)/dB

  CVAPI(void) cvCalcMatMulDeriv( const CvMat* A, const CvMat* B, CvMat* dABdA, CvMat* dABdB );
*)

(*
  Computes r3 = rodrigues(rodrigues(r2)*rodrigues(r1)),
  t3 = rodrigues(r2)*t1 + t2 and the respective derivatives

  CVAPI(void) cvComposeRT( const CvMat* _rvec1, const CvMat* _tvec1,
  const CvMat* _rvec2, const CvMat* _tvec2,
  CvMat* _rvec3, CvMat* _tvec3,
  CvMat* dr3dr1 CV_DEFAULT(0), CvMat* dr3dt1 CV_DEFAULT(0),
  CvMat* dr3dr2 CV_DEFAULT(0), CvMat* dr3dt2 CV_DEFAULT(0),
  CvMat* dt3dr1 CV_DEFAULT(0), CvMat* dt3dt1 CV_DEFAULT(0),
  CvMat* dt3dr2 CV_DEFAULT(0), CvMat* dt3dt2 CV_DEFAULT(0) );
*)

(*
  Projects object points to the view plane using
  the specified extrinsic and intrinsic camera parameters

  CVAPI(void) cvProjectPoints2( const CvMat* object_points, const CvMat* rotation_vector,
  const CvMat* translation_vector, const CvMat* camera_matrix,
  const CvMat* distortion_coeffs, CvMat* image_points,
  CvMat* dpdrot CV_DEFAULT(NULL), CvMat* dpdt CV_DEFAULT(NULL),
  CvMat* dpdf CV_DEFAULT(NULL), CvMat* dpdc CV_DEFAULT(NULL),
  CvMat* dpddist CV_DEFAULT(NULL),
  double aspect_ratio CV_DEFAULT(0));
*)
procedure cvProjectPoints2(const object_points: pCvMat; const rotation_vector: pCvMat; const translation_vector: pCvMat;
  const camera_matrix: pCvMat; const distortion_coeffs: pCvMat; image_points: pCvMat; dpdrot: pCvMat = nil;
  dpdt: pCvMat = nil; dpdf: pCvMat = nil; dpdc: pCvMat = nil; dpddist: pCvMat = nil; aspect_ratio: double = 0); cdecl;

// * Finds extrinsic camera parameters from
// a few known corresponding point pairs and intrinsic parameters *)
// CVAPI(void) cvFindExtrinsicCameraParams2( const CvMat* object_points,
// const CvMat* image_points,
// const CvMat* camera_matrix,
// const CvMat* distortion_coeffs,
// CvMat* rotation_vector,
// CvMat* translation_vector,
// int use_extrinsic_guess CV_DEFAULT(0) );
procedure cvFindExtrinsicCameraParams2(const object_points: pCvMat; const image_points: pCvMat;
  const camera_matrix: pCvMat; const distortion_coeffs: pCvMat; rotation_vector: pCvMat; translation_vector: pCvMat;
  use_extrinsic_guess: Integer = 0); cdecl;

(* Computes initial estimate of the intrinsic camera parameters
  // in case of planar calibration target (e.g. chessboard) *)
// CVAPI(void) cvInitIntrinsicParams2D( const CvMat* object_points,
// const CvMat* image_points,
// const CvMat* npoints, CvSize image_size,
// CvMat* camera_matrix,
// double aspect_ratio CV_DEFAULT(1.) );
//
// #define CV_CALIB_CB_ADAPTIVE_THRESH  1
// #define CV_CALIB_CB_NORMALIZE_IMAGE  2
// #define CV_CALIB_CB_FILTER_QUADS     4
// #define CV_CALIB_CB_FAST_CHECK       8
//

{ // Performs a fast check if a chessboard is in the input image. This is a workaround to
  // a problem of cvFindChessboardCorners being slow on images with no chessboard
  // - src: input image
  // - size: chessboard size
  // Returns 1 if a chessboard can be in this image and findChessboardCorners should be called,
  // 0 if there is no chessboard, -1 in case of error
  CVAPI(int) cvCheckChessboard(IplImage* src, CvSize size);
}
function cvCheckChessboard(const image: pCvArr; size: TCvSize): Integer; cdecl;


// /* Detects corners on a chessboard calibration pattern *)
// CVAPI(int) cvFindChessboardCorners( const void* image, CvSize pattern_size,
// CvPoint2D32f* corners,
// int* corner_count CV_DEFAULT(NULL),
// int flags CV_DEFAULT(CV_CALIB_CB_ADAPTIVE_THRESH+CV_CALIB_CB_NORMALIZE_IMAGE) );

const
  CV_CALIB_USE_INTRINSIC_GUESS = 1;
  CV_CALIB_FIX_ASPECT_RATIO    = 2;
  CV_CALIB_FIX_PRINCIPAL_POINT = 4;
  CV_CALIB_ZERO_TANGENT_DIST   = 8;
  CV_CALIB_FIX_FOCAL_LENGTH    = 16;
  CV_CALIB_FIX_K1              = 32;
  CV_CALIB_FIX_K2              = 64;
  CV_CALIB_FIX_K3              = 128;
  CV_CALIB_FIX_K4              = 2048;
  CV_CALIB_FIX_K5              = 4096;
  CV_CALIB_FIX_K6              = 8192;
  CV_CALIB_RATIONAL_MODEL      = 16384;
  CV_CALIB_THIN_PRISM_MODEL    = 32768;
  CV_CALIB_FIX_S1_S2_S3_S4     = 65536;

  (*
    Draws individual chessboard corners or the whole chessboard detected

    CVAPI(void) cvDrawChessboardCorners(
    CvArr* image,
    CvSize pattern_size,
    CvPoint2D32f* corners,
    int count,
    int pattern_was_found );
  *)
procedure cvDrawChessboardCorners(image: pIplImage; pattern_size: TCvSize; corners: pCvPoint2D32f; count: Integer;
  pattern_was_found: Integer); cdecl;

{
  /* Finds intrinsic and extrinsic camera parameters
  from a few views of known calibration pattern *)
  CVAPI(double) cvCalibrateCamera2(
  const CvMat* object_points,
  const CvMat* image_points,
  const CvMat* point_counts,
  CvSize image_size,
  CvMat* camera_matrix,
  CvMat* distortion_coeffs,
  CvMat* rotation_vectors CV_DEFAULT(NULL),
  CvMat* translation_vectors CV_DEFAULT(NULL),
  int flags CV_DEFAULT(0),
  CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,DBL_EPSILON)) );
}

function cvCalibrateCamera2(
  { } const object_points: pCvMat;
  { } const image_points: pCvMat;
  { } const point_counts: pCvMat;
  { } image_size: TCvSize;
  { } camera_matrix: pCvMat;
  { } distortion_coeffs: pCvMat;
  { } rotation_vectors: pCvMat { =nil };
  { } translation_vectors: pCvMat { =nil };
  { } flags: Integer { =0 };
  { } term_crit: TCvTermCriteria { =cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,DBL_EPSILON) }
  ): double; cdecl;

(* Computes various useful characteristics of the camera from the data computed by
  cvCalibrateCamera2

  CVAPI(void) cvCalibrationMatrixValues( const CvMat *camera_matrix,
  CvSize image_size,
  double aperture_width CV_DEFAULT(0),
  double aperture_height CV_DEFAULT(0),
  double *fovx CV_DEFAULT(NULL),
  double *fovy CV_DEFAULT(NULL),
  double *focal_length CV_DEFAULT(NULL),
  CvPoint2D64f *principal_point CV_DEFAULT(NULL),
  double *pixel_aspect_ratio CV_DEFAULT(NULL));
*)
const
  CV_CALIB_FIX_INTRINSIC     = 256;
  CV_CALIB_SAME_FOCAL_LENGTH = 512;

  (* Computes the transformation from one camera coordinate system to another one
    from a few correspondent views of the same calibration target. Optionally, calibrates
    both cameras

    CVAPI(double) cvStereoCalibrate( const CvMat* object_points, const CvMat* image_points1,
    const CvMat* image_points2, const CvMat* npoints,
    CvMat* camera_matrix1, CvMat* dist_coeffs1,
    CvMat* camera_matrix2, CvMat* dist_coeffs2,
    CvSize image_size, CvMat* R, CvMat* T,
    CvMat* E CV_DEFAULT(0), CvMat* F CV_DEFAULT(0),
    CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
    CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,1e-6)),
    int flags CV_DEFAULT(CV_CALIB_FIX_INTRINSIC));
  *)
function cvStereoCalibrate(const object_points: pCvMat; const image_points1: pCvMat; const image_points2: pCvMat;
  const npoints: pCvMat; camera_matrix1: pCvMat; dist_coeffs1: pCvMat; camera_matrix2: pCvMat; dist_coeffs2: pCvMat;
  image_size: TCvSize; R: pCvMat; T: pCvMat; E: pCvMat { = nil }; F: pCvMat { = nil };
  term_crit: TCvTermCriteria { = CV_DEFAULT(cvTermCriteria(CV_TERMCRIT_ITER + CV_TERMCRIT_EPS, 30, 1E-6)) };
  flags: Integer { = CV_DEFAULT(CV_CALIB_FIX_INTRINSIC) } ): double; cdecl;

const
  CV_CALIB_ZERO_DISPARITY = 1024;

  (*
    Computes 3D rotations (+ optional shift) for each camera coordinate system to make both
    views parallel (=> to make all the epipolar lines horizontal or vertical)

    CVAPI(void) cvStereoRectify( const CvMat* camera_matrix1, const CvMat* camera_matrix2,
    const CvMat* dist_coeffs1, const CvMat* dist_coeffs2,
    CvSize image_size, const CvMat* R, const CvMat* T,
    CvMat* R1, CvMat* R2, CvMat* P1, CvMat* P2,
    CvMat* Q CV_DEFAULT(0),
    int flags CV_DEFAULT(CV_CALIB_ZERO_DISPARITY),
    double alpha CV_DEFAULT(-1),
    CvSize new_image_size CV_DEFAULT(cvSize(0,0)),
    CvRect* valid_pix_ROI1 CV_DEFAULT(0),
    CvRect* valid_pix_ROI2 CV_DEFAULT(0));
  *)
procedure cvStereoRectify(const camera_matrix1: pCvMat; const camera_matrix2: pCvMat; const dist_coeffs1: pCvMat;
  const dist_coeffs2: pCvMat; image_size: TCvSize; const R: pCvMat; const T: pCvMat; R1: pCvMat; R2: pCvMat; P1: pCvMat;
  P2: pCvMat; Q: pCvMat { = nil }; flags: Integer { = CV_CALIB_ZERO_DISPARITY }; alpha: double { = -1 };
  new_image_size: TCvSize { =CV_DEFAULT(cvSize(0,0)) }; valid_pix_ROI1: pCvRect { =nil };
  valid_pix_ROI2: pCvRect { =nil } ); cdecl;

(*
  Computes rectification transformations for uncalibrated pair of images using a set
  of point correspondences

  CVAPI(int) cvStereoRectifyUncalibrated( const CvMat* points1, const CvMat* points2,
  const CvMat* F, CvSize img_size,
  CvMat* H1, CvMat* H2,
  double threshold CV_DEFAULT(5));
*)
function cvStereoRectifyUncalibrated(const points1: pCvMat; const points2: pCvMat; const F: pCvMat; img_size: TCvSize;
  H1: pCvMat; H2: pCvMat; threshold: double = 5): Integer; cdecl;

(* stereo correspondence parameters and functions *)
const
  CV_STEREO_BM_NORMALIZED_RESPONSE = 0;
  CV_STEREO_BM_XSOBEL              = 1;

Type
  (* Block matching algorithm structure *)
  (* typedef struct CvStereoBMState
    {
    // pre-filtering (normalization of input images)
    int preFilterType; // =CV_STEREO_BM_NORMALIZED_RESPONSE now
    int preFilterSize; // averaging window size: ~5x5..21x21
    int preFilterCap; // the output of pre-filtering is clipped by [-preFilterCap,preFilterCap]

    // correspondence using Sum of Absolute Difference (SAD)
    int SADWindowSize; // ~5x5..21x21
    int minDisparity;  // minimum disparity (can be negative)
    int numberOfDisparities; // maximum disparity - minimum disparity (> 0)

    // post-filtering
    int textureThreshold;  // the disparity is only computed for pixels
    // with textured enough neighborhood
    int uniquenessRatio;   // accept the computed disparity d* only if
    // SAD(d) >= SAD(d* )*(1 + uniquenessRatio/100.)
    // for any d != d*+/-1 within the search range.
    int speckleWindowSize; // disparity variation window
    int speckleRange; // acceptable range of variation in window

    int trySmallerWindows; // if 1, the results may be more accurate,
    // at the expense of slower processing
    CvRect roi1, roi2;
    int disp12MaxDiff;

    // temporary buffers
    CvMat* preFilteredImg0;
    CvMat* preFilteredImg1;
    CvMat* slidingSumBuf;
    CvMat* cost;
    CvMat* disp;
    } CvStereoBMState;
  *)

  pCvStereoBMState = ^TCvStereoBMState;

  TCvStereoBMState = record
    // pre-filtering (normalization of input images)
    preFilterType: Integer; // =CV_STEREO_BM_NORMALIZED_RESPONSE now
    preFilterSize: Integer; // averaging window size: ~5x5..21x21
    preFilterCap: Integer; // the output of pre-filtering is clipped by [-preFilterCap,preFilterCap]

    // correspondence using Sum of Absolute Difference (SAD)
    SADWindowSize: Integer; // ~5x5..21x21
    minDisparity: Integer; // minimum disparity (can be negative)
    numberOfDisparities: Integer; // maximum disparity - minimum disparity (> 0)

    // post-filtering
    textureThreshold: Integer; // the disparity is only computed for pixels
    // with textured enough neighborhood
    uniquenessRatio: Integer; // accept the computed disparity d* only if
    // SAD(d) >= SAD(d*)*(1 + uniquenessRatio/100.)
    // for any d != d*+/-1 within the search range.
    speckleWindowSize: Integer; // disparity variation window
    speckleRange: Integer; // acceptable range of variation in window

    trySmallerWindows: Integer; // if 1, the results may be more accurate,
    // at the expense of slower processing
    roi1, roi2: TCvRect;
    disp12MaxDiff: Integer;

    // temporary buffers
    preFilteredImg0: pCvMat;
    preFilteredImg1: pCvMat;
    slidingSumBuf: pCvMat;
    cost: pCvMat;
    disp: pCvMat;
  end;

const
  CV_STEREO_BM_BASIC    = 0;
  CV_STEREO_BM_FISH_EYE = 1;
  CV_STEREO_BM_NARROW   = 2;

  (*
    CVAPI(CvStereoBMState* ) cvCreateStereoBMState(int preset CV_DEFAULT(CV_STEREO_BM_BASIC),
    int numberOfDisparities CV_DEFAULT(0));
  *)
function cvCreateStereoBMState(preset: Integer = CV_STEREO_BM_BASIC; numberOfDisparities: Integer = 0)
  : pCvStereoBMState; cdecl;

// CVAPI(void) cvReleaseStereoBMState( CvStereoBMState** state );
//
// CVAPI(void) cvFindStereoCorrespondenceBM( const CvArr* left, const CvArr* right,
// CvArr* disparity, CvStereoBMState* state );

(*
  CVAPI(CvRect) cvGetValidDisparityROI( CvRect roi1, CvRect roi2, int minDisparity,
  int numberOfDisparities, int SADWindowSize );
*)
function cvGetValidDisparityROI(roi1: TCvRect; roi2: TCvRect; minDisparity: Integer; numberOfDisparities: Integer;
  SADWindowSize: Integer): TCvRect; cdecl;

// CVAPI(void) cvValidateDisparity( CvArr* disparity, const CvArr* cost,
// int minDisparity, int numberOfDisparities,
// int disp12MaxDiff CV_DEFAULT(1) );

(*
  Reprojects the computed disparity image to the 3D space using the specified 4x4 matrix

  CVAPI(void)  cvReprojectImageTo3D(
  const CvArr* disparityImage,
  CvArr* _3dImage,
  const CvMat* Q,
  int handleMissingValues CV_DEFAULT(0) );
*)

procedure cvReprojectImageTo3D(
  { } const disparityImage: pCvMat;
  { } _3dImage: pIplImage;
  { } const Q: pCvMat;
  { } handleMissingValues: Integer = 0); cdecl;

Const
  CV_CALIB_CB_ADAPTIVE_THRESH = 1;
  CV_CALIB_CB_NORMALIZE_IMAGE = 2;
  CV_CALIB_CB_FILTER_QUADS    = 4;
  CV_CALIB_CB_FAST_CHECK      = 8;

  (*
    Detects corners on a chessboard calibration pattern

    CVAPI(int) cvFindChessboardCorners(
    const void* image,
    CvSize pattern_size,
    CvPoint2D32f* corners,
    int* corner_count CV_DEFAULT(NULL),
    int flags CV_DEFAULT(CV_CALIB_CB_ADAPTIVE_THRESH+CV_CALIB_CB_NORMALIZE_IMAGE) );
  *)
function cvFindChessboardCorners(const image: Pointer; pattern_size: TCvSize; corners: pCvPoint2D32f;
  corner_count: pInteger = nil; flags: Integer = CV_CALIB_CB_ADAPTIVE_THRESH + CV_CALIB_CB_NORMALIZE_IMAGE)
  : Integer; cdecl;

implementation

uses ocv.lib;

Const
  libname = calib3d_lib;

function cvCreatePOSITObject; external libname;
procedure cvPOSIT; external libname;
procedure cvReleasePOSITObject; external libname;
function cvRANSACUpdateNumIters; external libname;
procedure cvConvertPointsHomogeneous; external libname;
function cvFindFundamentalMat; external libname;
procedure cvComputeCorrespondEpilines; external libname;
procedure cvTriangulatePoints; external libname;
procedure cvCorrectMatches; external libname;
procedure cvGetOptimalNewCameraMatrix; external libname;
function cvRodrigues2; external libname;
function cvFindHomography; external libname;
procedure cvRQDecomp3x3; external libname;
procedure cvDecomposeProjectionMatrix; external libname;
procedure cvCalcMatMulDeriv; external libname;
procedure cvComposeRT; external libname;
procedure cvProjectPoints2; external libname;
procedure cvFindExtrinsicCameraParams2; external libname;
procedure cvInitIntrinsicParams2D; external libname;
function cvCheckChessboard; external libname;
function cvFindChessboardCorners; external libname;
procedure cvDrawChessboardCorners; external libname;
function cvCalibrateCamera2; external libname;
procedure cvCalibrationMatrixValues; external libname;
function cvStereoCalibrate; external libname;
procedure cvStereoRectify; external libname;
function cvStereoRectifyUncalibrated; external libname;
function cvCreateStereoBMState; external libname;
procedure cvReleaseStereoBMState; external libname;
procedure cvFindStereoCorrespondenceBM; external libname;
function cvGetValidDisparityROI; external libname;
procedure cvValidateDisparity; external libname;
procedure cvReprojectImageTo3D; external libname;

end.