1 extern void cam_cal_smplx_params_set(double s_init, double c1, double c2, double a);
2
3
4 extern double cam_cal_simplex(Camera * cam, int mask, List * data, Vec3 * (*get_3d) ( ), Vec2 * (*get_pix) ( ), Covar * in_cov);
5
6 extern int cam_cal_tsai(Camera * cam, List * data, Vec3 * (*get_3d) ( ), Vec2 * (*get_pix) ( ));
7
8
9
10 extern Vec2 *leftpix_get(List * l);
11 extern Vec2 *rightpix_get(List * l);
12 extern Vec3 *world_get(List * l);
13 extern void calib_update(Covar * tot_inv, Camera * leftc, Camera * rightc, int mask);
14 extern int conv_camera_int(int mask, Camera * cam, double *a);
15 extern int conv_camera_ext(Camera * cam, double *a);
16 extern int conv_camera_rel(Camera * cam1, Camera * cam2, double *a);
17 extern int store_camera_int(int mask, double *a, Camera * cam);
18 extern int store_camera_ext(double *a, Camera * cam);
19 extern int store_camera_rel(double *a, Camera * cam1, Camera * cam2);
20 extern double camerror(int *n_data, double *f, Camera * cam, List * world3d, Vec2 * (*pix_get) ( ), Vec3 * (*world_get) ( ), double accuracy);
21 extern double pot_camerror(int *n_data, double *f, Camera *cam, List *world3d,
22 double (*pix_get) ( /* ??? */ ),
23 Vec3 * (*world_get) ( /* ??? */ ), double accuracy);
24 extern double rad_camerror(int *n_data, double *rad, double *err, Camera * cam, List * world3d, Vec2 * (*pix_get) ( ), Vec3 * (*world_get) ( ));
25 extern double triv_camerror(int *n_data, double *x, Camera * cam1, Camera * cam2, List * world3d, Vec2 * (*pix_get1) ( ), Vec2 * (*pix_get2) ( ), double accuracy);
26 extern double cam_reg(Covar * incov, int mask, double *a);
27 extern double stereo_reg(Covar * incov, int mask, double *a);
28 extern Mat3 S_array(double T1, double T2, double T3);
29 extern void conv_rot_to_quat(Mat3 * mat, double *q);
30 extern void conv_quat_to_rot(double *q, Mat3 * mat);
31 extern void cam_cal_triv_smplx_params_set(double s_init, double c1, double c2, double a);
32
33
34 extern double cam_cal_triv_simplex(Camera * caml, Camera * camr, int mask, List * data, Vec2 * (*getpixl) ( ), Vec2 * (*getpixr) ( ), Covar * in_cov);
35
36 extern Covar *cal_trivedi_invcovar(Camera * caml, Camera * camr, int mask, List * data, Vec2 * (*getpixl) ( ), Vec2 * (*getpixr) ( ));
37 extern Covar *init_cal_invcovar(Camera *caml,Camera *camr,int mask);
38 extern void grid_match(List * world, List * horiz_lines, List * vert_lines, double grid_thres, double vert_thres, void (*store_vertex) ( ));
39
40 extern void get_inter_lines(List * horiz, List * vert, double thres, Line2 ** hline, Line2 ** vline);
41 extern double min_interx(List * ptr);
42 extern double min_intery(List * ptr);
43 extern void compute_vert_invariants(List * world);
44 extern void compute_horiz_invariants(List * world);
45
46
47
48 extern void colinear_2Dlist(List * lines, List ** co_horizlist, List ** co_vertlist, double co_thres, double join_thres);
49 extern void cam_cal_stereo_smplx_params_set(double s_init, double c1, double c2, double a);
50
51
52 extern double cam_cal_stereo_simplex(Camera * caml, Camera * camr, int mask, List * data, Vec3 * (*get3d) ( ), Vec2 * (*getpixl) ( ), Vec2 * (*getpixr) ( ), Covar * in_cov);
53
54 extern Covar *cal_full_stereo_covar(Camera * caml, Camera * camr, int mask, List * data, Vec3 * (*get3d) ( ), Vec2 * (*getpixl) ( ), Vec2 * (*getpixr) ( ));
55 extern Covar *cal_full_stereo_invcovar(int mask, Covar * cov, double condition);
56
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