OpenCV  2.4.13
Open Source Computer Vision
calib3d/calib3d.hpp File Reference

Classes

struct  CvStereoBMState
 
class  CvLevMarq
 
class  cv::StereoBM
 
class  cv::StereoSGBM
 

Namespaces

 cv
 
 cv::fisheye
 

Macros

#define CV_FM_7POINT   1
 
#define CV_FM_8POINT   2
 
#define CV_LMEDS   4
 
#define CV_RANSAC   8
 
#define CV_FM_LMEDS_ONLY   CV_LMEDS
 
#define CV_FM_RANSAC_ONLY   CV_RANSAC
 
#define CV_FM_LMEDS   CV_LMEDS
 
#define CV_FM_RANSAC   CV_RANSAC
 
#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
 
#define CV_CALIB_USE_INTRINSIC_GUESS   1
 
#define CV_CALIB_FIX_ASPECT_RATIO   2
 
#define CV_CALIB_FIX_PRINCIPAL_POINT   4
 
#define CV_CALIB_ZERO_TANGENT_DIST   8
 
#define CV_CALIB_FIX_FOCAL_LENGTH   16
 
#define CV_CALIB_FIX_K1   32
 
#define CV_CALIB_FIX_K2   64
 
#define CV_CALIB_FIX_K3   128
 
#define CV_CALIB_FIX_K4   2048
 
#define CV_CALIB_FIX_K5   4096
 
#define CV_CALIB_FIX_K6   8192
 
#define CV_CALIB_RATIONAL_MODEL   16384
 
#define CV_CALIB_FIX_INTRINSIC   256
 
#define CV_CALIB_SAME_FOCAL_LENGTH   512
 
#define CV_CALIB_ZERO_DISPARITY   1024
 
#define CV_STEREO_BM_NORMALIZED_RESPONSE   0
 
#define CV_STEREO_BM_XSOBEL   1
 
#define CV_STEREO_BM_BASIC   0
 
#define CV_STEREO_BM_FISH_EYE   1
 
#define CV_STEREO_BM_NARROW   2
 

Typedefs

typedef struct CvPOSITObject CvPOSITObject
 

Enumerations

enum  { CV_ITERATIVE = 0, CV_EPNP = 1, CV_P3P = 2 }
 
enum  { cv::LMEDS = 4, cv::RANSAC = 8 }
 type of the robust estimation algorithm More...
 
enum  { cv::ITERATIVE =CV_ITERATIVE, cv::EPNP =CV_EPNP, cv::P3P =CV_P3P }
 computes the camera pose from a few 3D points and the corresponding projections. The outliers are not handled. More...
 
enum  { cv::CALIB_CB_ADAPTIVE_THRESH = 1, cv::CALIB_CB_NORMALIZE_IMAGE = 2, cv::CALIB_CB_FILTER_QUADS = 4, cv::CALIB_CB_FAST_CHECK = 8 }
 
enum  { cv::CALIB_CB_SYMMETRIC_GRID = 1, cv::CALIB_CB_ASYMMETRIC_GRID = 2, cv::CALIB_CB_CLUSTERING = 4 }
 
enum  {
  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_FIX_INTRINSIC = 256, cv::CALIB_SAME_FOCAL_LENGTH = 512, cv::CALIB_ZERO_DISPARITY = 1024
}
 
enum  { cv::FM_7POINT = 1, cv::FM_8POINT = 2, cv::FM_LMEDS = 4, cv::FM_RANSAC = 8 }
 the algorithm for finding fundamental matrix More...
 
enum  {
  cv::fisheye::CALIB_USE_INTRINSIC_GUESS = 1, cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC = 2, cv::fisheye::CALIB_CHECK_COND = 4, cv::fisheye::CALIB_FIX_SKEW = 8,
  cv::fisheye::CALIB_FIX_K1 = 16, cv::fisheye::CALIB_FIX_K2 = 32, cv::fisheye::CALIB_FIX_K3 = 64, cv::fisheye::CALIB_FIX_K4 = 128,
  cv::fisheye::CALIB_FIX_INTRINSIC = 256
}
 

Functions

CvPOSITObjectcvCreatePOSITObject (CvPoint3D32f *points, int point_count)
 
void cvPOSIT (CvPOSITObject *posit_object, CvPoint2D32f *image_points, double focal_length, CvTermCriteria criteria, float *rotation_matrix, float *translation_vector)
 
void cvReleasePOSITObject (CvPOSITObject **posit_object)
 
int cvRANSACUpdateNumIters (double p, double err_prob, int model_points, int max_iters)
 
void cvConvertPointsHomogeneous (const CvMat *src, CvMat *dst)
 
int cvFindFundamentalMat (const CvMat *points1, const CvMat *points2, CvMat *fundamental_matrix, int method CV_DEFAULT(8), double param1 CV_DEFAULT(3.), double param2 CV_DEFAULT(0.99), CvMat *status CV_DEFAULT(NULL))
 
void cvComputeCorrespondEpilines (const CvMat *points, int which_image, const CvMat *fundamental_matrix, CvMat *correspondent_lines)
 
void cvTriangulatePoints (CvMat *projMatr1, CvMat *projMatr2, CvMat *projPoints1, CvMat *projPoints2, CvMat *points4D)
 
void cvCorrectMatches (CvMat *F, CvMat *points1, CvMat *points2, CvMat *new_points1, CvMat *new_points2)
 
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))
 
int cvRodrigues2 (const CvMat *src, CvMat *dst, CvMat *jacobian CV_DEFAULT(0))
 
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))
 
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))
 
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))
 
void cvCalcMatMulDeriv (const CvMat *A, const CvMat *B, CvMat *dABdA, CvMat *dABdB)
 
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))
 
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))
 
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))
 
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.))
 
int cvCheckChessboard (IplImage *src, CvSize size)
 
int cvFindChessboardCorners (const void *image, CvSize pattern_size, CvPoint2D32f *corners, int *corner_count CV_DEFAULT(NULL), int flags CV_DEFAULT(1+2))
 
void cvDrawChessboardCorners (CvArr *image, CvSize pattern_size, CvPoint2D32f *corners, int count, int pattern_was_found)
 
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)))
 
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))
 
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(256))
 
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(1024), 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))
 
int cvStereoRectifyUncalibrated (const CvMat *points1, const CvMat *points2, const CvMat *F, CvSize img_size, CvMat *H1, CvMat *H2, double threshold CV_DEFAULT(5))
 
CvStereoBMStatecvCreateStereoBMState (int preset CV_DEFAULT(0), int numberOfDisparities CV_DEFAULT(0))
 
void cvReleaseStereoBMState (CvStereoBMState **state)
 
void cvFindStereoCorrespondenceBM (const CvArr *left, const CvArr *right, CvArr *disparity, CvStereoBMState *state)
 
CvRect cvGetValidDisparityROI (CvRect roi1, CvRect roi2, int minDisparity, int numberOfDisparities, int SADWindowSize)
 
void cvValidateDisparity (CvArr *disparity, const CvArr *cost, int minDisparity, int numberOfDisparities, int disp12MaxDiff CV_DEFAULT(1))
 
void cvReprojectImageTo3D (const CvArr *disparityImage, CvArr *_3dImage, const CvMat *Q, int handleMissingValues CV_DEFAULT(0))
 
void cv::Rodrigues (InputArray src, OutputArray dst, OutputArray jacobian=noArray())
 converts rotation vector to rotation matrix or vice versa using Rodrigues transformation More...
 
Mat cv::findHomography (InputArray srcPoints, InputArray dstPoints, int method=0, double ransacReprojThreshold=3, OutputArray mask=noArray())
 computes the best-fit perspective transformation mapping srcPoints to dstPoints. More...
 
Mat cv::findHomography (InputArray srcPoints, InputArray dstPoints, OutputArray mask, int method=0, double ransacReprojThreshold=3)
 variant of findHomography for backward compatibility More...
 
Vec3d cv::RQDecomp3x3 (InputArray src, OutputArray mtxR, OutputArray mtxQ, OutputArray Qx=noArray(), OutputArray Qy=noArray(), OutputArray Qz=noArray())
 Computes RQ decomposition of 3x3 matrix. More...
 
void cv::decomposeProjectionMatrix (InputArray projMatrix, OutputArray cameraMatrix, OutputArray rotMatrix, OutputArray transVect, OutputArray rotMatrixX=noArray(), OutputArray rotMatrixY=noArray(), OutputArray rotMatrixZ=noArray(), OutputArray eulerAngles=noArray())
 Decomposes the projection matrix into camera matrix and the rotation martix and the translation vector. More...
 
void cv::matMulDeriv (InputArray A, InputArray B, OutputArray dABdA, OutputArray dABdB)
 computes derivatives of the matrix product w.r.t each of the multiplied matrix coefficients More...
 
void cv::composeRT (InputArray rvec1, InputArray tvec1, InputArray rvec2, InputArray tvec2, OutputArray rvec3, OutputArray tvec3, OutputArray dr3dr1=noArray(), OutputArray dr3dt1=noArray(), OutputArray dr3dr2=noArray(), OutputArray dr3dt2=noArray(), OutputArray dt3dr1=noArray(), OutputArray dt3dt1=noArray(), OutputArray dt3dr2=noArray(), OutputArray dt3dt2=noArray())
 composes 2 [R|t] transformations together. Also computes the derivatives of the result w.r.t the arguments More...
 
void cv::projectPoints (InputArray objectPoints, InputArray rvec, InputArray tvec, InputArray cameraMatrix, InputArray distCoeffs, OutputArray imagePoints, OutputArray jacobian=noArray(), double aspectRatio=0)
 projects points from the model coordinate space to the image coordinates. Also computes derivatives of the image coordinates w.r.t the intrinsic and extrinsic camera parameters More...
 
bool cv::solvePnP (InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false, int flags=ITERATIVE)
 
void cv::solvePnPRansac (InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false, int iterationsCount=100, float reprojectionError=8.0, int minInliersCount=100, OutputArray inliers=noArray(), int flags=ITERATIVE)
 computes the camera pose from a few 3D points and the corresponding projections. The outliers are possible. More...
 
Mat cv::initCameraMatrix2D (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size imageSize, double aspectRatio=1.)
 initializes camera matrix from a few 3D points and the corresponding projections. More...
 
bool cv::findChessboardCorners (InputArray image, Size patternSize, OutputArray corners, int flags=CALIB_CB_ADAPTIVE_THRESH+CALIB_CB_NORMALIZE_IMAGE)
 finds checkerboard pattern of the specified size in the image More...
 
bool cv::find4QuadCornerSubpix (InputArray img, InputOutputArray corners, Size region_size)
 finds subpixel-accurate positions of the chessboard corners More...
 
void cv::drawChessboardCorners (InputOutputArray image, Size patternSize, InputArray corners, bool patternWasFound)
 draws the checkerboard pattern (found or partly found) in the image More...
 
bool cv::findCirclesGrid (InputArray image, Size patternSize, OutputArray centers, int flags=CALIB_CB_SYMMETRIC_GRID, const Ptr< FeatureDetector > &blobDetector=new SimpleBlobDetector())
 finds circles' grid pattern of the specified size in the image More...
 
bool cv::findCirclesGridDefault (InputArray image, Size patternSize, OutputArray centers, int flags=CALIB_CB_SYMMETRIC_GRID)
 the deprecated function. Use findCirclesGrid() instead of it. More...
 
double cv::calibrateCamera (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size imageSize, CV_OUT InputOutputArray cameraMatrix, CV_OUT InputOutputArray distCoeffs, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags=0, TermCriteria criteria=TermCriteria( TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON))
 finds intrinsic and extrinsic camera parameters from several fews of a known calibration pattern. More...
 
void cv::calibrationMatrixValues (InputArray cameraMatrix, Size imageSize, double apertureWidth, double apertureHeight, CV_OUT double &fovx, CV_OUT double &fovy, CV_OUT double &focalLength, CV_OUT Point2d &principalPoint, CV_OUT double &aspectRatio)
 computes several useful camera characteristics from the camera matrix, camera frame resolution and the physical sensor size. More...
 
double cv::stereoCalibrate (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, CV_OUT InputOutputArray cameraMatrix1, CV_OUT InputOutputArray distCoeffs1, CV_OUT InputOutputArray cameraMatrix2, CV_OUT InputOutputArray distCoeffs2, Size imageSize, OutputArray R, OutputArray T, OutputArray E, OutputArray F, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 1e-6), int flags=CALIB_FIX_INTRINSIC)
 finds intrinsic and extrinsic parameters of a stereo camera More...
 
void cv::stereoRectify (InputArray cameraMatrix1, InputArray distCoeffs1, InputArray cameraMatrix2, InputArray distCoeffs2, Size imageSize, InputArray R, InputArray T, OutputArray R1, OutputArray R2, OutputArray P1, OutputArray P2, OutputArray Q, int flags=CALIB_ZERO_DISPARITY, double alpha=-1, Size newImageSize=Size(), CV_OUT Rect *validPixROI1=0, CV_OUT Rect *validPixROI2=0)
 computes the rectification transformation for a stereo camera from its intrinsic and extrinsic parameters More...
 
bool cv::stereoRectifyUncalibrated (InputArray points1, InputArray points2, InputArray F, Size imgSize, OutputArray H1, OutputArray H2, double threshold=5)
 computes the rectification transformation for an uncalibrated stereo camera (zero distortion is assumed) More...
 
float cv::rectify3Collinear (InputArray cameraMatrix1, InputArray distCoeffs1, InputArray cameraMatrix2, InputArray distCoeffs2, InputArray cameraMatrix3, InputArray distCoeffs3, InputArrayOfArrays imgpt1, InputArrayOfArrays imgpt3, Size imageSize, InputArray R12, InputArray T12, InputArray R13, InputArray T13, OutputArray R1, OutputArray R2, OutputArray R3, OutputArray P1, OutputArray P2, OutputArray P3, OutputArray Q, double alpha, Size newImgSize, CV_OUT Rect *roi1, CV_OUT Rect *roi2, int flags)
 computes the rectification transformations for 3-head camera, where all the heads are on the same line. More...
 
Mat cv::getOptimalNewCameraMatrix (InputArray cameraMatrix, InputArray distCoeffs, Size imageSize, double alpha, Size newImgSize=Size(), CV_OUT Rect *validPixROI=0, bool centerPrincipalPoint=false)
 returns the optimal new camera matrix More...
 
void cv::convertPointsToHomogeneous (InputArray src, OutputArray dst)
 converts point coordinates from normal pixel coordinates to homogeneous coordinates ((x,y)->(x,y,1)) More...
 
void cv::convertPointsFromHomogeneous (InputArray src, OutputArray dst)
 converts point coordinates from homogeneous to normal pixel coordinates ((x,y,z)->(x/z, y/z)) More...
 
void cv::convertPointsHomogeneous (InputArray src, OutputArray dst)
 for backward compatibility More...
 
Mat cv::findFundamentalMat (InputArray points1, InputArray points2, int method=FM_RANSAC, double param1=3., double param2=0.99, OutputArray mask=noArray())
 finds fundamental matrix from a set of corresponding 2D points More...
 
Mat cv::findFundamentalMat (InputArray points1, InputArray points2, OutputArray mask, int method=FM_RANSAC, double param1=3., double param2=0.99)
 variant of findFundamentalMat for backward compatibility More...
 
void cv::computeCorrespondEpilines (InputArray points, int whichImage, InputArray F, OutputArray lines)
 finds coordinates of epipolar lines corresponding the specified points More...
 
void cv::triangulatePoints (InputArray projMatr1, InputArray projMatr2, InputArray projPoints1, InputArray projPoints2, OutputArray points4D)
 
void cv::correctMatches (InputArray F, InputArray points1, InputArray points2, OutputArray newPoints1, OutputArray newPoints2)
 
void cv::filterSpeckles (InputOutputArray img, double newVal, int maxSpeckleSize, double maxDiff, InputOutputArray buf=noArray())
 filters off speckles (small regions of incorrectly computed disparity) More...
 
Rect cv::getValidDisparityROI (Rect roi1, Rect roi2, int minDisparity, int numberOfDisparities, int SADWindowSize)
 computes valid disparity ROI from the valid ROIs of the rectified images (that are returned by cv::stereoRectify()) More...
 
void cv::validateDisparity (InputOutputArray disparity, InputArray cost, int minDisparity, int numberOfDisparities, int disp12MaxDisp=1)
 validates disparity using the left-right check. The matrix "cost" should be computed by the stereo correspondence algorithm More...
 
void cv::reprojectImageTo3D (InputArray disparity, OutputArray _3dImage, InputArray Q, bool handleMissingValues=false, int ddepth=-1)
 reprojects disparity image to 3D: (x,y,d)->(X,Y,Z) using the matrix Q returned by cv::stereoRectify More...
 
int cv::estimateAffine3D (InputArray src, InputArray dst, OutputArray out, OutputArray inliers, double ransacThreshold=3, double confidence=0.99)
 
void cv::fisheye::projectPoints (InputArray objectPoints, OutputArray imagePoints, const Affine3d &affine, InputArray K, InputArray D, double alpha=0, OutputArray jacobian=noArray())
 projects 3D points using fisheye model More...
 
void cv::fisheye::projectPoints (InputArray objectPoints, OutputArray imagePoints, InputArray rvec, InputArray tvec, InputArray K, InputArray D, double alpha=0, OutputArray jacobian=noArray())
 projects points using fisheye model More...
 
void cv::fisheye::distortPoints (InputArray undistorted, OutputArray distorted, InputArray K, InputArray D, double alpha=0)
 distorts 2D points using fisheye model More...
 
void cv::fisheye::undistortPoints (InputArray distorted, OutputArray undistorted, InputArray K, InputArray D, InputArray R=noArray(), InputArray P=noArray())
 undistorts 2D points using fisheye model More...
 
void cv::fisheye::initUndistortRectifyMap (InputArray K, InputArray D, InputArray R, InputArray P, const cv::Size &size, int m1type, OutputArray map1, OutputArray map2)
 
void cv::fisheye::undistortImage (InputArray distorted, OutputArray undistorted, InputArray K, InputArray D, InputArray Knew=cv::noArray(), const Size &new_size=Size())
 undistorts image, optionally changes resolution and camera matrix. If Knew zero identity matrix is used More...
 
void cv::fisheye::estimateNewCameraMatrixForUndistortRectify (InputArray K, InputArray D, const Size &image_size, InputArray R, OutputArray P, double balance=0.0, const Size &new_size=Size(), double fov_scale=1.0)
 estimates new camera matrix for undistortion or rectification More...
 
double cv::fisheye::calibrate (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, const Size &image_size, InputOutputArray K, InputOutputArray D, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags=0, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, DBL_EPSILON))
 performs camera calibaration More...
 
void cv::fisheye::stereoRectify (InputArray K1, InputArray D1, InputArray K2, InputArray D2, const Size &imageSize, InputArray R, InputArray tvec, OutputArray R1, OutputArray R2, OutputArray P1, OutputArray P2, OutputArray Q, int flags, const Size &newImageSize=Size(), double balance=0.0, double fov_scale=1.0)
 stereo rectification estimation More...
 
double cv::fisheye::stereoCalibrate (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize, OutputArray R, OutputArray T, int flags=CALIB_FIX_INTRINSIC, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, DBL_EPSILON))
 performs stereo calibaration More...
 

Macro Definition Documentation

#define CV_CALIB_CB_ADAPTIVE_THRESH   1
#define CV_CALIB_CB_FAST_CHECK   8
#define CV_CALIB_CB_FILTER_QUADS   4
#define CV_CALIB_CB_NORMALIZE_IMAGE   2
#define CV_CALIB_FIX_ASPECT_RATIO   2
#define CV_CALIB_FIX_FOCAL_LENGTH   16
#define CV_CALIB_FIX_INTRINSIC   256
#define CV_CALIB_FIX_K1   32
#define CV_CALIB_FIX_K2   64
#define CV_CALIB_FIX_K3   128
#define CV_CALIB_FIX_K4   2048
#define CV_CALIB_FIX_K5   4096
#define CV_CALIB_FIX_K6   8192
#define CV_CALIB_FIX_PRINCIPAL_POINT   4
#define CV_CALIB_RATIONAL_MODEL   16384
#define CV_CALIB_SAME_FOCAL_LENGTH   512
#define CV_CALIB_USE_INTRINSIC_GUESS   1
#define CV_CALIB_ZERO_DISPARITY   1024
#define CV_CALIB_ZERO_TANGENT_DIST   8
#define CV_FM_7POINT   1
#define CV_FM_8POINT   2
#define CV_FM_LMEDS   CV_LMEDS
#define CV_FM_LMEDS_ONLY   CV_LMEDS
#define CV_FM_RANSAC   CV_RANSAC
#define CV_FM_RANSAC_ONLY   CV_RANSAC
#define CV_LMEDS   4
#define CV_RANSAC   8
#define CV_STEREO_BM_BASIC   0
#define CV_STEREO_BM_FISH_EYE   1
#define CV_STEREO_BM_NARROW   2
#define CV_STEREO_BM_NORMALIZED_RESPONSE   0
#define CV_STEREO_BM_XSOBEL   1

Typedef Documentation

typedef struct CvPOSITObject CvPOSITObject

Enumeration Type Documentation

anonymous enum
Enumerator
CV_ITERATIVE 
CV_EPNP 
CV_P3P 

Function Documentation

void cvCalcMatMulDeriv ( const CvMat A,
const CvMat B,
CvMat dABdA,
CvMat dABdB 
)
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_DEFAULTNULL,
CvMat *translation_vectors   CV_DEFAULTNULL,
int flags   CV_DEFAULT0,
CvTermCriteria term_crit   CV_DEFAULTcvTermCriteria( CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 30, DBL_EPSILON) 
)
void cvCalibrationMatrixValues ( const CvMat camera_matrix,
CvSize  image_size,
double aperture_width   CV_DEFAULT0,
double aperture_height   CV_DEFAULT0,
double *fovx   CV_DEFAULTNULL,
double *fovy   CV_DEFAULTNULL,
double *focal_length   CV_DEFAULTNULL,
CvPoint2D64f *principal_point   CV_DEFAULTNULL,
double *pixel_aspect_ratio   CV_DEFAULTNULL 
)
int cvCheckChessboard ( IplImage src,
CvSize  size 
)
void cvComposeRT ( const CvMat _rvec1,
const CvMat _tvec1,
const CvMat _rvec2,
const CvMat _tvec2,
CvMat _rvec3,
CvMat _tvec3,
CvMat *dr3dr1   CV_DEFAULT0,
CvMat *dr3dt1   CV_DEFAULT0,
CvMat *dr3dr2   CV_DEFAULT0,
CvMat *dr3dt2   CV_DEFAULT0,
CvMat *dt3dr1   CV_DEFAULT0,
CvMat *dt3dt1   CV_DEFAULT0,
CvMat *dt3dr2   CV_DEFAULT0,
CvMat *dt3dt2   CV_DEFAULT
)
void cvComputeCorrespondEpilines ( const CvMat points,
int  which_image,
const CvMat fundamental_matrix,
CvMat correspondent_lines 
)
void cvConvertPointsHomogeneous ( const CvMat src,
CvMat dst 
)
void cvCorrectMatches ( CvMat F,
CvMat points1,
CvMat points2,
CvMat new_points1,
CvMat new_points2 
)
CvPOSITObject* cvCreatePOSITObject ( CvPoint3D32f points,
int  point_count 
)
CvStereoBMState* cvCreateStereoBMState ( int preset   CV_DEFAULT0,
int numberOfDisparities   CV_DEFAULT
)
void cvDecomposeProjectionMatrix ( const CvMat projMatr,
CvMat calibMatr,
CvMat rotMatr,
CvMat posVect,
CvMat *rotMatrX   CV_DEFAULTNULL,
CvMat *rotMatrY   CV_DEFAULTNULL,
CvMat *rotMatrZ   CV_DEFAULTNULL,
CvPoint3D64f *eulerAngles   CV_DEFAULTNULL 
)
void cvDrawChessboardCorners ( CvArr image,
CvSize  pattern_size,
CvPoint2D32f corners,
int  count,
int  pattern_was_found 
)
int cvFindChessboardCorners ( const void image,
CvSize  pattern_size,
CvPoint2D32f corners,
int *corner_count   CV_DEFAULTNULL,
int flags   CV_DEFAULT1+2 
)
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
)
int cvFindFundamentalMat ( const CvMat points1,
const CvMat points2,
CvMat fundamental_matrix,
int method   CV_DEFAULT8,
double param1   CV_DEFAULT3.,
double param2   CV_DEFAULT0.99,
CvMat *status   CV_DEFAULTNULL 
)
int cvFindHomography ( const CvMat src_points,
const CvMat dst_points,
CvMat homography,
int method   CV_DEFAULT0,
double ransacReprojThreshold   CV_DEFAULT3,
CvMat *mask   CV_DEFAULT
)
void cvFindStereoCorrespondenceBM ( const CvArr left,
const CvArr right,
CvArr disparity,
CvStereoBMState state 
)
void cvGetOptimalNewCameraMatrix ( const CvMat camera_matrix,
const CvMat dist_coeffs,
CvSize  image_size,
double  alpha,
CvMat new_camera_matrix,
CvSize new_imag_size   CV_DEFAULTcvSize(0, 0),
CvRect *valid_pixel_ROI   CV_DEFAULT0,
int center_principal_point   CV_DEFAULT
)
CvRect cvGetValidDisparityROI ( CvRect  roi1,
CvRect  roi2,
int  minDisparity,
int  numberOfDisparities,
int  SADWindowSize 
)
void cvInitIntrinsicParams2D ( const CvMat object_points,
const CvMat image_points,
const CvMat npoints,
CvSize  image_size,
CvMat camera_matrix,
double aspect_ratio   CV_DEFAULT1. 
)
void cvPOSIT ( CvPOSITObject posit_object,
CvPoint2D32f image_points,
double  focal_length,
CvTermCriteria  criteria,
float *  rotation_matrix,
float *  translation_vector 
)
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_DEFAULTNULL,
CvMat *dpdt   CV_DEFAULTNULL,
CvMat *dpdf   CV_DEFAULTNULL,
CvMat *dpdc   CV_DEFAULTNULL,
CvMat *dpddist   CV_DEFAULTNULL,
double aspect_ratio   CV_DEFAULT
)
int cvRANSACUpdateNumIters ( double  p,
double  err_prob,
int  model_points,
int  max_iters 
)
void cvReleasePOSITObject ( CvPOSITObject **  posit_object)
void cvReleaseStereoBMState ( CvStereoBMState **  state)
void cvReprojectImageTo3D ( const CvArr disparityImage,
CvArr _3dImage,
const CvMat Q,
int handleMissingValues   CV_DEFAULT
)
int cvRodrigues2 ( const CvMat src,
CvMat dst,
CvMat *jacobian   CV_DEFAULT
)
void cvRQDecomp3x3 ( const CvMat matrixM,
CvMat matrixR,
CvMat matrixQ,
CvMat *matrixQx   CV_DEFAULTNULL,
CvMat *matrixQy   CV_DEFAULTNULL,
CvMat *matrixQz   CV_DEFAULTNULL,
CvPoint3D64f *eulerAngles   CV_DEFAULTNULL 
)
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_DEFAULT0,
CvMat *F   CV_DEFAULT0,
CvTermCriteria term_crit   CV_DEFAULTcvTermCriteria( CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 30, 1e-6),
int flags   CV_DEFAULT256 
)
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_DEFAULT0,
int flags   CV_DEFAULT1024,
double alpha   CV_DEFAULT-1,
CvSize new_image_size   CV_DEFAULTcvSize(0, 0),
CvRect *valid_pix_ROI1   CV_DEFAULT0,
CvRect *valid_pix_ROI2   CV_DEFAULT
)
int cvStereoRectifyUncalibrated ( const CvMat points1,
const CvMat points2,
const CvMat F,
CvSize  img_size,
CvMat H1,
CvMat H2,
double threshold   CV_DEFAULT
)
void cvTriangulatePoints ( CvMat projMatr1,
CvMat projMatr2,
CvMat projPoints1,
CvMat projPoints2,
CvMat points4D 
)
void cvValidateDisparity ( CvArr disparity,
const CvArr cost,
int  minDisparity,
int  numberOfDisparities,
int disp12MaxDiff   CV_DEFAULT
)