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// Copyright (c) 2017-2023 California Institute of Technology ("Caltech"). U.S.
// Government sponsorship acknowledged. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
// THESE ARE NOT A PART OF THE EXTERNAL API. Exported for the mrcal python
// wrapper only
// These models have no precomputed data
typedef struct {} mrcal_LENSMODEL_PINHOLE__precomputed_t;
typedef struct {} mrcal_LENSMODEL_STEREOGRAPHIC__precomputed_t;
typedef struct {} mrcal_LENSMODEL_LONLAT__precomputed_t;
typedef struct {} mrcal_LENSMODEL_LATLON__precomputed_t;
typedef struct {} mrcal_LENSMODEL_OPENCV4__precomputed_t;
typedef struct {} mrcal_LENSMODEL_OPENCV5__precomputed_t;
typedef struct {} mrcal_LENSMODEL_OPENCV8__precomputed_t;
typedef struct {} mrcal_LENSMODEL_OPENCV12__precomputed_t;
typedef struct {} mrcal_LENSMODEL_CAHVOR__precomputed_t;
typedef struct {} mrcal_LENSMODEL_CAHVORE__precomputed_t;
// The splined stereographic models configuration parameters can be used to
// compute the segment size. I cache this computation
typedef struct
{
// The distance between adjacent knots (1 segment) is u_per_segment =
// 1/segments_per_u
double segments_per_u;
} mrcal_LENSMODEL_SPLINED_STEREOGRAPHIC__precomputed_t;
typedef struct
{
bool ready;
union
{
#define PRECOMPUTED_STRUCT(s,n) mrcal_ ##s##__precomputed_t s##__precomputed;
MRCAL_LENSMODEL_LIST(PRECOMPUTED_STRUCT);
#undef PRECOMPUTED_STRUCT
};
} mrcal_projection_precomputed_t;
void _mrcal_project_internal_opencv( // outputs
mrcal_point2_t* q,
mrcal_point3_t* dq_dp, // may be NULL
double* dq_dintrinsics_nocore, // may be NULL
// inputs
const mrcal_point3_t* p,
int N,
const double* intrinsics,
int Nintrinsics);
bool _mrcal_project_internal( // out
mrcal_point2_t* q,
// Stored as a row-first array of shape (N,2,3). Each
// trailing ,3 dimension element is a mrcal_point3_t
mrcal_point3_t* dq_dp,
// core, distortions concatenated. Stored as a row-first
// array of shape (N,2,Nintrinsics). This is a DENSE array.
// High-parameter-count lens models have very sparse
// gradients here, and the internal project() function
// returns those sparsely. For now THIS function densifies
// all of these
double* dq_dintrinsics,
// in
const mrcal_point3_t* p,
int N,
const mrcal_lensmodel_t* lensmodel,
// core, distortions concatenated
const double* intrinsics,
int Nintrinsics,
const mrcal_projection_precomputed_t* precomputed);
void _mrcal_precompute_lensmodel_data(mrcal_projection_precomputed_t* precomputed,
const mrcal_lensmodel_t* lensmodel);
bool _mrcal_unproject_internal( // out
mrcal_point3_t* out,
// in
const mrcal_point2_t* q,
int N,
const mrcal_lensmodel_t* lensmodel,
// core, distortions concatenated
const double* intrinsics,
const mrcal_projection_precomputed_t* precomputed);
// Report the number of non-zero entries in the optimization jacobian
int _mrcal_num_j_nonzero(int Nobservations_board,
int Nobservations_point,
// May be NULL if we don't have any of these
const mrcal_observation_point_triangulated_t* observations_point_triangulated,
int Nobservations_point_triangulated,
int calibration_object_width_n,
int calibration_object_height_n,
int Ncameras_intrinsics, int Ncameras_extrinsics,
int Nframes,
int Npoints, int Npoints_fixed,
const mrcal_observation_board_t* observations_board,
const mrcal_observation_point_t* observations_point,
mrcal_problem_selections_t problem_selections,
const mrcal_lensmodel_t* lensmodel);
#ifdef __cplusplus
}
#endif
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