zhang2dmain.h

这是在张正友摄像机标定的基础上对其算法进行改进

//两个全局变量
double *GBmodelPoints;
double *GBimagePoints;
double A_inside[9];/////内参
double **entrinsic;/////外参
double k[2];/////畸变系数
double A_refined[9];/////优化后的A矩阵
double **entrinsic_refine;/////优化后的外参数
double k_refine[2];/////优化后的畸变系数
int picNumber;/////图片的数量
int PointsOfone;/////一幅图像的点数



void solveAx0(int m, int n, double* A, double* x);
void normalise2dpts(int nPoints,double *point,double *T);
void fcn_lm_H(const int *m, const int *n, const double *x, double *fvec, int *iflag);
void lm_cminpack(double *matrix,int nPoints,double *lm);
void lmHomography(double *imagePoints,double *modelPoints,double *H_intia,int nPoints,double *lm);
int homography(int nPoints,double *modelPoints,double *imagePoints,double *H);
void v_compute(int numOfpic,double **H,double *v);
void zhang_2D_extrinsic(int numOfpic,double **H);
void zhang_2D_k(int numOfpic,int nPoints,double *modelPoints,double *imagePoints);
void zhang_2D_unrefined(int numOfpic,int nPoints,double *modelPoints,double *imagePoints);
void fcn_lm_all(const int *m, const int *n, const double *x, double *fvec, int *iflag);
void lm_last(double* begin,double *lm);
void lm_refine_all(double *refine_begin,double* refine,double *modelPoints,double *imagePoints);
void zhang_2D_refine(int numOfpic,int nPoints,double *modelPoints,double *imagePoints);
void zhang_2D_calib(int numOfpic,int nPoints,double *model,double *imagePoints);