Delphi-OpenCV/include/calib3d/calib3d_c.pas

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(* /  **************************************************************************************************
  //                                 Project Delphi-OpenCV
  //  **************************************************************************************************
  //  Contributor:
  //  laentir Valetov
  //  email:laex@bk.ru
  //  **************************************************************************************************
  //  You may retrieve the latest version of this file at the GitHub,
  //  located at git://github.com/Laex/Delphi-OpenCV.git
  //  **************************************************************************************************
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  //  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/
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  //  Software distributed under the License is distributed on an "AS IS" basis, WITHOUT WARRANTY OF
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  //  **************************************************************************************************
  //  Warning: Using Delphi XE3 syntax!
  //  **************************************************************************************************
  //  The Initial Developer of the Original Code:
  //  OpenCV: open source computer vision library
  //  Homepage:    http://opencv.org
  //  Online docs: http://docs.opencv.org
  //  Q&A forum:   http://answers.opencv.org
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  //  **************************************************************************************************
  //  Original file:
  //  opencv\modules\calib3d\include\opencv2\calib3d\calib3d_c.h
  //  ************************************************************************************************* *)

{$IFDEF DEBUG}
{$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 calib3d_c;

interface

Uses Core.types_c, 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;
/// * 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) );
  //
  /// * 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) );

  /// * 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));
//
// #define CV_CALIB_FIX_INTRINSIC  256
// #define 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));
//
// #define 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));
//
/// * 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));
//
//
//
/// * stereo correspondence parameters and functions */
//
// #define CV_STEREO_BM_NORMALIZED_RESPONSE  0
// #define CV_STEREO_BM_XSOBEL               1
//
/// * 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;
//
// #define CV_STEREO_BM_BASIC 0
// #define CV_STEREO_BM_FISH_EYE 1
// #define CV_STEREO_BM_NARROW 2
//
// CVAPI(CvStereoBMState*) cvCreateStereoBMState(int preset CV_DEFAULT(CV_STEREO_BM_BASIC),
// int numberOfDisparities CV_DEFAULT(0));
//
// 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 );
//
// 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 uLibName;

procedure cvReprojectImageTo3D; external calib3d_dll;
function cvFindChessboardCorners; external calib3d_dll;
procedure cvDrawChessboardCorners; external calib3d_dll;
function cvCalibrateCamera2; external calib3d_dll;
procedure cvProjectPoints2; external calib3d_dll;
procedure cvFindExtrinsicCameraParams2; external calib3d_dll;
function cvFindHomography; external calib3d_dll;
function cvCreatePOSITObject; external calib3d_dll;
procedure cvPOSIT; external calib3d_dll;
procedure cvReleasePOSITObject; external calib3d_dll;
function cvRANSACUpdateNumIters; external calib3d_dll;
procedure cvConvertPointsHomogeneous(const src: pCvMat; dst: pCvMat); external calib3d_dll;
function cvCheckChessboard; external calib3d_dll;

end.