omnidir.hpp#

#include <opencv2/core.hpp>
#include <opencv2/core/affine.hpp>
#include <vector>

Include dependency graph for omnidir.hpp:

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Namespaces#

namespace cv

namespace cv::omnidir

namespace cv::omnidir::internal

Enumerations#

enum cv::omnidir {
CALIB_USE_GUESS = 1,
CALIB_FIX_SKEW = 2,
CALIB_FIX_K1 = 4,
CALIB_FIX_K2 = 8,
CALIB_FIX_P1 = 16,
CALIB_FIX_P2 = 32,
CALIB_FIX_XI = 64,
CALIB_FIX_GAMMA = 128,
CALIB_FIX_CENTER = 256
}

enum cv::omnidir {
RECTIFY_PERSPECTIVE = 1,
RECTIFY_CYLINDRICAL = 2,
RECTIFY_LONGLATI = 3,
RECTIFY_STEREOGRAPHIC = 4
}

enum cv::omnidir {
XYZRGB = 1,
XYZ = 2
}

Functions#

double cv::omnidir::calibrate (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size size, InputOutputArray K, InputOutputArray xi, InputOutputArray D, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags, TermCriteria criteria, OutputArray idx=noArray())

Perform omnidirectional camera calibration, the default depth of outputs is CV_64F.

void cv::omnidir::initUndistortRectifyMap (InputArray K, InputArray D, InputArray xi, InputArray R, InputArray P, const cv::Size &size, int m1type, OutputArray map1, OutputArray map2, int flags)

Computes undistortion and rectification maps for omnidirectional camera image transform by a rotation R. It output two maps that are used for cv::remap(). If D is empty then zero distortion is used, if R or P is empty then identity matrices are used.

void cv::omnidir::projectPoints (InputArray objectPoints, OutputArray imagePoints, const Affine3d &affine, InputArray K, double xi, InputArray D, OutputArray jacobian=noArray())

void cv::omnidir::projectPoints (InputArray objectPoints, OutputArray imagePoints, InputArray rvec, InputArray tvec, InputArray K, double xi, InputArray D, OutputArray jacobian=noArray())

Projects points for omnidirectional camera using CMei’s model.

double cv::omnidir::stereoCalibrate (InputOutputArrayOfArrays objectPoints, InputOutputArrayOfArrays imagePoints1, InputOutputArrayOfArrays imagePoints2, const Size &imageSize1, const Size &imageSize2, InputOutputArray K1, InputOutputArray xi1, InputOutputArray D1, InputOutputArray K2, InputOutputArray xi2, InputOutputArray D2, OutputArray rvec, OutputArray tvec, OutputArrayOfArrays rvecsL, OutputArrayOfArrays tvecsL, int flags, TermCriteria criteria, OutputArray idx=noArray())

Stereo calibration for omnidirectional camera model. It computes the intrinsic parameters for two cameras and the extrinsic parameters between two cameras. The default depth of outputs is CV_64F.

void cv::omnidir::stereoReconstruct (InputArray image1, InputArray image2, InputArray K1, InputArray D1, InputArray xi1, InputArray K2, InputArray D2, InputArray xi2, InputArray R, InputArray T, int flag, int numDisparities, int SADWindowSize, OutputArray disparity, OutputArray image1Rec, OutputArray image2Rec, const Size &newSize=Size(), InputArray Knew=cv::noArray(), OutputArray pointCloud=cv::noArray(), int pointType=XYZRGB)

Stereo 3D reconstruction from a pair of images.

void cv::omnidir::stereoRectify (InputArray R, InputArray T, OutputArray R1, OutputArray R2)

Stereo rectification for omnidirectional camera model. It computes the rectification rotations for two cameras.

void cv::omnidir::undistortImage (InputArray distorted, OutputArray undistorted, InputArray K, InputArray D, InputArray xi, int flags, InputArray Knew=cv::noArray(), const Size &new_size=Size(), InputArray R=Mat::eye(3, 3, CV_64F))

Undistort omnidirectional images to perspective images.

void cv::omnidir::undistortPoints (InputArray distorted, OutputArray undistorted, InputArray K, InputArray D, InputArray xi, InputArray R)

Undistort 2D image points for omnidirectional camera using CMei’s model.