chore: import upstream snapshot with attribution
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifdef __OPENCV_BUILD
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#error this is a compatibility header which should not be used inside the OpenCV library
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#endif
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#include "opencv2/calib3d.hpp"
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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||||
// By downloading, copying, installing or using the software you agree to this license.
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||||
// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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||||
// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef OPENCV_CALIB3D_C_H
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#define OPENCV_CALIB3D_C_H
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#include "opencv2/core/types_c.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Calculates fundamental matrix given a set of corresponding points */
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#define CV_FM_7POINT 1
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#define CV_FM_8POINT 2
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#define CV_LMEDS 4
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#define CV_RANSAC 8
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#define CV_FM_LMEDS_ONLY CV_LMEDS
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#define CV_FM_RANSAC_ONLY CV_RANSAC
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#define CV_FM_LMEDS CV_LMEDS
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#define CV_FM_RANSAC CV_RANSAC
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enum
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{
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CV_ITERATIVE = 0,
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CV_EPNP = 1, // F.Moreno-Noguer, V.Lepetit and P.Fua "EPnP: Efficient Perspective-n-Point Camera Pose Estimation"
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CV_P3P = 2, // X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem"
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CV_DLS = 3 // Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP"
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};
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#define CV_CALIB_CB_ADAPTIVE_THRESH 1
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#define CV_CALIB_CB_NORMALIZE_IMAGE 2
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#define CV_CALIB_CB_FILTER_QUADS 4
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#define CV_CALIB_CB_FAST_CHECK 8
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#define CV_CALIB_USE_INTRINSIC_GUESS 1
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#define CV_CALIB_FIX_ASPECT_RATIO 2
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#define CV_CALIB_FIX_PRINCIPAL_POINT 4
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#define CV_CALIB_ZERO_TANGENT_DIST 8
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#define CV_CALIB_FIX_FOCAL_LENGTH 16
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#define CV_CALIB_FIX_K1 32
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#define CV_CALIB_FIX_K2 64
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#define CV_CALIB_FIX_K3 128
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#define CV_CALIB_FIX_K4 2048
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#define CV_CALIB_FIX_K5 4096
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#define CV_CALIB_FIX_K6 8192
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#define CV_CALIB_RATIONAL_MODEL 16384
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#define CV_CALIB_THIN_PRISM_MODEL 32768
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#define CV_CALIB_FIX_S1_S2_S3_S4 65536
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#define CV_CALIB_TILTED_MODEL 262144
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#define CV_CALIB_FIX_TAUX_TAUY 524288
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#define CV_CALIB_FIX_TANGENT_DIST 2097152
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#define CV_CALIB_NINTRINSIC 18
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#define CV_CALIB_FIX_INTRINSIC 256
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#define CV_CALIB_SAME_FOCAL_LENGTH 512
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#define CV_CALIB_ZERO_DISPARITY 1024
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/* stereo correspondence parameters and functions */
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#define CV_STEREO_BM_NORMALIZED_RESPONSE 0
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#define CV_STEREO_BM_XSOBEL 1
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#ifdef __cplusplus
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} // extern "C"
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//////////////////////////////////////////////////////////////////////////////////////////
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class CV_EXPORTS CvLevMarq
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{
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public:
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CvLevMarq();
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CvLevMarq( int nparams, int nerrs, CvTermCriteria criteria=
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cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON),
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bool completeSymmFlag=false );
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~CvLevMarq();
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void init( int nparams, int nerrs, CvTermCriteria criteria=
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cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON),
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bool completeSymmFlag=false );
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bool update( const CvMat*& param, CvMat*& J, CvMat*& err );
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bool updateAlt( const CvMat*& param, CvMat*& JtJ, CvMat*& JtErr, double*& errNorm );
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void clear();
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void step();
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enum { DONE=0, STARTED=1, CALC_J=2, CHECK_ERR=3 };
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cv::Ptr<CvMat> mask;
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cv::Ptr<CvMat> prevParam;
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cv::Ptr<CvMat> param;
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cv::Ptr<CvMat> J;
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cv::Ptr<CvMat> err;
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cv::Ptr<CvMat> JtJ;
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cv::Ptr<CvMat> JtJN;
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cv::Ptr<CvMat> JtErr;
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cv::Ptr<CvMat> JtJV;
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cv::Ptr<CvMat> JtJW;
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double prevErrNorm, errNorm;
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int lambdaLg10;
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CvTermCriteria criteria;
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int state;
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int iters;
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bool completeSymmFlag;
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int solveMethod;
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};
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#endif
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#endif /* OPENCV_CALIB3D_C_H */
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@@ -0,0 +1,108 @@
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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||||
//
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// By downloading, copying, installing or using the software you agree to this license.
|
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// If you do not agree to this license, do not download, install,
|
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// copy or use the software.
|
||||
//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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||||
//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
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// Third party copyrights are property of their respective owners.
|
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//
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// Redistribution and use in source and binary forms, with or without modification,
|
||||
// are permitted provided that the following conditions are met:
|
||||
//
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||||
// * Redistribution's of source code must retain the above copyright notice,
|
||||
// this list of conditions and the following disclaimer.
|
||||
//
|
||||
// * Redistribution's in binary form must reproduce the above copyright notice,
|
||||
// this list of conditions and the following disclaimer in the documentation
|
||||
// and/or other materials provided with the distribution.
|
||||
//
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// * The name of the copyright holders may not be used to endorse or promote products
|
||||
// derived from this software without specific prior written permission.
|
||||
//
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||||
// This software is provided by the copyright holders and contributors "as is" and
|
||||
// any express or implied warranties, including, but not limited to, the implied
|
||||
// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
||||
// In no event shall the Intel Corporation or contributors be liable for any direct,
|
||||
// indirect, incidental, special, exemplary, or consequential damages
|
||||
// (including, but not limited to, procurement of substitute goods or services;
|
||||
// loss of use, data, or profits; or business interruption) however caused
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||||
// and on any theory of liability, whether in contract, strict liability,
|
||||
// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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||||
//
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//M*/
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#ifndef OPENCV_CALIB3D_PRIVATE_HPP
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#define OPENCV_CALIB3D_PRIVATE_HPP
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#ifndef __OPENCV_BUILD
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# error this is a private header which should not be used from outside of the OpenCV library
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#endif
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#include "opencv2/core.hpp"
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//! @cond IGNORED
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namespace cv
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{
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// C++ version of the CvLevMarq solver.
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// Main differences between LMSolver and CvLevMarq:
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// 1. Damping Factor ($\lambda$) Adjustment
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// LevMarq: Uses a static, simple scaling approach. If an iteration reduces the error, $\lambda$ is divided by 10. If the error increases, $\lambda$ is multiplied by 10 (repeatedly within the same step, up to 16 times) until a descending step is found.
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// LMSolver: Uses an advanced adaptive gain ratio $R = \frac{\Delta S_{\text{actual}}}{\Delta S_{\text{predicted}}}$. If the step is very successful ($R > 0.75$), $\lambda$ is aggressively halved or set to 0. If the step is poor ($R < 0.25$), $\lambda$ is dynamically multiplied by a computed factor $\nu$ derived from the exact residual mismatch.
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// 2. Diagonal Augmentation Strategy
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// LevMarq: Directly scales the updated main diagonal of $J^T J$ by $1 + \lambda$ on every step.
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// LMSolver: Caches a reference diagonal $D = \operatorname{diag}(J^T J)$ at the start of every accepted step and augments the diagonal by adding $\lambda \cdot D$.
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// 3. Stopping Criteria
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// LevMarq: Stops when a maximum iteration count is reached, or when the relative $L_2$ norm of the parameter update step falls below $\epsilon$ ($\frac{|\Delta x|_2}{|x|_2} < \epsilon$).
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// LMSolver: Checks both the infinity norm of the parameter updates ($|\Delta x|\infty < \epsilon$) and the infinity norm of the residual errors ($|r|\infty < \epsilon$) independently.
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class CV_EXPORTS LevMarq
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{
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public:
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LevMarq();
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LevMarq( int nparams, int nerrs, TermCriteria criteria=
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TermCriteria(TermCriteria::COUNT + TermCriteria::EPS,30,DBL_EPSILON),
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bool completeSymmFlag=false );
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void init( int nparams, int nerrs, TermCriteria criteria=
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TermCriteria(TermCriteria::COUNT + TermCriteria::EPS,30,DBL_EPSILON),
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bool completeSymmFlag=false );
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bool update( Mat1d& param, Mat1d& J, Mat1d& err );
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bool updateAlt( Mat1d& param, Mat1d& JtJ, Mat1d& JtErr, double*& errNorm );
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void step();
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enum { DONE=0, STARTED=1, CALC_J=2, CHECK_ERR=3 };
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Mat1b mask;
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Mat1d prevParam;
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Mat1d param;
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Mat1d J;
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Mat1d err;
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Mat1d JtJ;
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Mat1d JtJN;
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Mat1d JtErr;
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Mat1d JtJV;
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Mat1d JtJW;
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double prevErrNorm, errNorm;
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int lambdaLg10;
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TermCriteria criteria;
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int state;
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int iters;
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bool completeSymmFlag;
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int solveMethod;
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};
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} // namespace cv
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//! @endcond
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#endif // OPENCV_CALIB3D_PRIVATE_HPP
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