opencv2/geometry/3d.hpp

#include <opencv2/core.hpp>
#include <opencv2/core/affine.hpp>
#include <opencv2/core/utils/logger.hpp>
#include <opencv2/geometry/segment.hpp>

Include dependency graph for 3d.hpp:

This graph shows which files directly or indirectly include 3d.hpp:

Classes

class cv::LevMarq

Levenberg-Marquadt solver. More…

struct cv::LevMarq::Report

Optimization report. More…

struct cv::LevMarq::Settings

Structure to keep LevMarq settings. More…

struct cv::UsacParams

Namespaces

namespace cv

namespace cv::fisheye

Enumerations

enum cv {
LMEDS = 4,
RANSAC = 8,
RHO = 16,
USAC_DEFAULT = 32,
USAC_PARALLEL = 33,
USAC_FM_8PTS = 34,
USAC_FAST = 35,
USAC_ACCURATE = 36,
USAC_PROSAC = 37,
USAC_MAGSAC = 38
}

type of the robust estimation algorithm More…

enum cv {
FM_7POINT = 1,
FM_8POINT = 2,
FM_LMEDS = 4,
FM_RANSAC = 8
}

the algorithm for finding fundamental matrix More…

enum cv::LocalOptimMethod {
LOCAL_OPTIM_NULL =0,
LOCAL_OPTIM_INNER_LO =1,
LOCAL_OPTIM_INNER_AND_ITER_LO =2,
LOCAL_OPTIM_GC =3,
LOCAL_OPTIM_SIGMA =4
}

enum cv::MatrixType {
AUTO = 0,
DENSE = 1,
SPARSE = 2
}

Type of matrix used in LevMarq solver. More…

enum cv::NeighborSearchMethod {
NEIGH_FLANN_KNN =0,
NEIGH_GRID =1,
NEIGH_FLANN_RADIUS =2
}

enum cv::PolishingMethod {
NONE_POLISHER =0,
LSQ_POLISHER =1,
MAGSAC =2,
COV_POLISHER =3
}

enum cv::SamplingMethod {
SAMPLING_UNIFORM =0,
SAMPLING_PROGRESSIVE_NAPSAC =1,
SAMPLING_NAPSAC =2,
SAMPLING_PROSAC =3
}

enum cv::ScoreMethod {
SCORE_METHOD_RANSAC =0,
SCORE_METHOD_MSAC =1,
SCORE_METHOD_MAGSAC =2,
SCORE_METHOD_LMEDS =3
}

enum cv::SolvePnPMethod {
SOLVEPNP_ITERATIVE = 0,
SOLVEPNP_EPNP = 1,
SOLVEPNP_P3P = 2,
SOLVEPNP_AP3P = 3,
SOLVEPNP_IPPE = 4,
SOLVEPNP_IPPE_SQUARE = 5,
SOLVEPNP_SQPNP = 6
}

enum cv::VariableType {
LINEAR = 0,
SO3 = 1,
SE3 = 2
}

Type of variables used in LevMarq solver. More…

Functions

void cv::calibrationMatrixValues (InputArray cameraMatrix, Size imageSize, double apertureWidth, double apertureHeight, double &fovx, double &fovy, double &focalLength, Point2d &principalPoint, double &aspectRatio)

Computes useful camera characteristics from the camera intrinsic matrix.

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())

Combines two rotation-and-shift transformations.

void cv::computeCorrespondEpilines (InputArray points, int whichImage, InputArray F, OutputArray lines)

For points in an image of a stereo pair, computes the corresponding epilines in the other image.

void cv::convertPointsFromHomogeneous (InputArray src, OutputArray dst, int dtype=-1)

Converts points from homogeneous to Euclidean space.

void cv::convertPointsHomogeneous (InputArray src, OutputArray dst)

Converts points to/from homogeneous coordinates.

void cv::convertPointsToHomogeneous (InputArray src, OutputArray dst, int dtype=-1)

Converts points from Euclidean to homogeneous space.

void cv::correctMatches (InputArray F, InputArray points1, InputArray points2, OutputArray newPoints1, OutputArray newPoints2)

Refines coordinates of corresponding points.

void cv::decomposeEssentialMat (InputArray E, OutputArray R1, OutputArray R2, OutputArray t)

Decompose an essential matrix to possible rotations and translation.

int cv::decomposeHomographyMat (InputArray H, InputArray K, OutputArrayOfArrays rotations, OutputArrayOfArrays translations, OutputArrayOfArrays normals)

Decompose a homography matrix to rotation(s), translation(s) and plane normal(s).

void cv::decomposeProjectionMatrix (InputArray projMatrix, OutputArray cameraMatrix, OutputArray rotMatrix, OutputArray transVect, OutputArray rotMatrixX=noArray(), OutputArray rotMatrixY=noArray(), OutputArray rotMatrixZ=noArray(), OutputArray eulerAngles=noArray())

Decomposes a projection matrix into a rotation matrix and a camera intrinsic matrix.

Mat cv::estimateAffine2D (InputArray from, InputArray to, OutputArray inliers=noArray(), int method=RANSAC, double ransacReprojThreshold=3, size_t maxIters=2000, double confidence=0.99, size_t refineIters=10)

Computes an optimal affine transformation between two 2D point sets.

Mat cv::estimateAffine2D (InputArray pts1, InputArray pts2, OutputArray inliers, const UsacParams &params)

cv::Mat cv::estimateAffine3D (InputArray src, InputArray dst, double *scale=nullptr, bool force_rotation=true)

Computes an optimal affine transformation between two 3D point sets.

bool cv::estimateAffine3D (InputArray src, InputArray dst, OutputArray out, OutputArray inliers, double ransacThreshold=3, double confidence=0.99)

Computes an optimal affine transformation between two 3D point sets.

cv::Mat cv::estimateAffinePartial2D (InputArray from, InputArray to, OutputArray inliers=noArray(), int method=RANSAC, double ransacReprojThreshold=3, size_t maxIters=2000, double confidence=0.99, size_t refineIters=10)

Computes an optimal limited affine transformation with 4 degrees of freedom between two 2D point sets.

cv::Vec2d cv::estimateTranslation2D (InputArray from, InputArray to, OutputArray inliers=noArray(), int method=RANSAC, double ransacReprojThreshold=3, size_t maxIters=2000, double confidence=0.99, size_t refineIters=0)

Computes a pure 2D translation between two 2D point sets.

bool cv::estimateTranslation3D (InputArray src, InputArray dst, OutputArray out, OutputArray inliers, double ransacThreshold=3, double confidence=0.99)

Computes an optimal translation between two 3D point sets.

void cv::filterHomographyDecompByVisibleRefpoints (InputArrayOfArrays rotations, InputArrayOfArrays normals, InputArray beforePoints, InputArray afterPoints, OutputArray possibleSolutions, InputArray pointsMask=noArray())

Filters homography decompositions based on additional information.

Mat cv::findEssentialMat (InputArray points1, InputArray points2, double focal=1.0, Point2d pp=Point2d(0, 0), int method=RANSAC, double prob=0.999, double threshold=1.0, int maxIters=1000, OutputArray mask=noArray())

Mat cv::findEssentialMat (InputArray points1, InputArray points2, InputArray cameraMatrix, int method=RANSAC, double prob=0.999, double threshold=1.0, int maxIters=1000, OutputArray mask=noArray())

Calculates an essential matrix from the corresponding points in two images.

Mat cv::findEssentialMat (InputArray points1, InputArray points2, InputArray cameraMatrix1, InputArray cameraMatrix2, InputArray dist_coeff1, InputArray dist_coeff2, OutputArray mask, const UsacParams &params)

Mat cv::findEssentialMat (InputArray points1, InputArray points2, InputArray cameraMatrix1, InputArray distCoeffs1, InputArray cameraMatrix2, InputArray distCoeffs2, int method=RANSAC, double prob=0.999, double threshold=1.0, OutputArray mask=noArray())

Calculates an essential matrix from the corresponding points in two images from potentially two different cameras.

Mat cv::findFundamentalMat (InputArray points1, InputArray points2, int method, double ransacReprojThreshold, double confidence, int maxIters, OutputArray mask=noArray())

Calculates a fundamental matrix from the corresponding points in two images.

Mat cv::findFundamentalMat (InputArray points1, InputArray points2, int method=FM_RANSAC, double ransacReprojThreshold=3., double confidence=0.99, OutputArray mask=noArray())

Mat cv::findFundamentalMat (InputArray points1, InputArray points2, OutputArray mask, const UsacParams &params)

Mat cv::findFundamentalMat (InputArray points1, InputArray points2, OutputArray mask, int method=FM_RANSAC, double ransacReprojThreshold=3., double confidence=0.99)

Mat cv::findHomography (InputArray srcPoints, InputArray dstPoints, int method=0, double ransacReprojThreshold=3, OutputArray mask=noArray(), const int maxIters=2000, const double confidence=0.995)

Finds a perspective transformation between two planes.

Mat cv::findHomography (InputArray srcPoints, InputArray dstPoints, OutputArray mask, const UsacParams &params)

Mat cv::findHomography (InputArray srcPoints, InputArray dstPoints, OutputArray mask, int method=0, double ransacReprojThreshold=3)

Mat cv::getDefaultNewCameraMatrix (InputArray cameraMatrix, Size imgsize=Size(), bool centerPrincipalPoint=false)

Returns the default new camera matrix.

Mat cv::getOptimalNewCameraMatrix (InputArray cameraMatrix, InputArray distCoeffs, Size imageSize, double alpha, Size newImgSize=Size(), Rect *validPixROI=0, bool centerPrincipalPoint=false)

Returns the new camera intrinsic matrix based on the free scaling parameter.

void cv::getUndistortRectangles (InputArray cameraMatrix, InputArray distCoeffs, InputArray R, InputArray newCameraMatrix, Size imgSize, Rect_< double > &inner, Rect_< double > &outer)

Returns the inscribed and bounding rectangles for the “undisorted” image plane.

void cv::matMulDeriv (InputArray A, InputArray B, OutputArray dABdA, OutputArray dABdB)

Computes partial derivatives of the matrix product for each multiplied matrix.

void cv::projectPoints (InputArray objectPoints, InputArray rvec, InputArray tvec, InputArray cameraMatrix, InputArray distCoeffs, OutputArray imagePoints, OutputArray dpdr, OutputArray dpdt, OutputArray dpdf=noArray(), OutputArray dpdc=noArray(), OutputArray dpdk=noArray(), OutputArray dpdo=noArray(), double aspectRatio=0.)

void cv::projectPoints (InputArray objectPoints, InputArray rvec, InputArray tvec, InputArray cameraMatrix, InputArray distCoeffs, OutputArray imagePoints, OutputArray jacobian=noArray(), double aspectRatio=0)

Projects 3D points to an image plane.

int cv::recoverPose (InputArray E, InputArray points1, InputArray points2, InputArray cameraMatrix, OutputArray R, OutputArray t, double distanceThresh, InputOutputArray mask=noArray(), OutputArray triangulatedPoints=noArray())

int cv::recoverPose (InputArray E, InputArray points1, InputArray points2, InputArray cameraMatrix, OutputArray R, OutputArray t, InputOutputArray mask=noArray())

Recovers the relative camera rotation and the translation from an estimated essential matrix and the corresponding points in two images, using chirality check. Returns the number of inliers that pass the check.

int cv::recoverPose (InputArray E, InputArray points1, InputArray points2, OutputArray R, OutputArray t, double focal=1.0, Point2d pp=Point2d(0, 0), InputOutputArray mask=noArray())

int cv::recoverPose (InputArray points1, InputArray points2, InputArray cameraMatrix1, InputArray distCoeffs1, InputArray cameraMatrix2, InputArray distCoeffs2, OutputArray E, OutputArray R, OutputArray t, int method=cv::RANSAC, double prob=0.999, double threshold=1.0, InputOutputArray mask=noArray())

Recovers the relative camera rotation and the translation from corresponding points in two images from two different cameras, using chirality check. Returns the number of inliers that pass the check.

void cv::Rodrigues (InputArray src, OutputArray dst, OutputArray jacobian=noArray())

Converts a rotation matrix to a rotation vector or vice versa.

Vec3d cv::RQDecomp3x3 (InputArray src, OutputArray mtxR, OutputArray mtxQ, OutputArray Qx=noArray(), OutputArray Qy=noArray(), OutputArray Qz=noArray())

Computes an RQ decomposition of 3x3 matrices.

double cv::sampsonDistance (InputArray pt1, InputArray pt2, InputArray F)

Calculates the Sampson Distance between two points.

int cv::solveP3P (InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags)

Finds an object pose \( {}^{c}\mathbf{T}_o \) from 3 3D-2D point correspondences.

bool cv::solvePnP (InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false, int flags=SOLVEPNP_ITERATIVE)

Finds an object pose \( {}^{c}\mathbf{T}_o \) from 3D-2D point correspondences:

int cv::solvePnPGeneric (InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, bool useExtrinsicGuess=false, int flags=SOLVEPNP_ITERATIVE, InputArray rvec=noArray(), InputArray tvec=noArray(), OutputArray reprojectionError=noArray())

Finds an object pose \( {}^{c}\mathbf{T}_o \) from 3D-2D point correspondences.

bool cv::solvePnPRansac (InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false, int iterationsCount=100, float reprojectionError=8.0, double confidence=0.99, OutputArray inliers=noArray(), int flags=SOLVEPNP_ITERATIVE)

Finds an object pose \( {}^{c}\mathbf{T}_o \) from 3D-2D point correspondences using the RANSAC scheme to deal with bad matches.

bool cv::solvePnPRansac (InputArray objectPoints, InputArray imagePoints, InputOutputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, OutputArray inliers, const UsacParams &params=UsacParams())

void cv::solvePnPRefineLM (InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, InputOutputArray rvec, InputOutputArray tvec, TermCriteria criteria=TermCriteria(TermCriteria::EPS+TermCriteria::COUNT, 20, FLT_EPSILON))

Refine a pose (the translation and the rotation that transform a 3D point expressed in the object coordinate frame to the camera coordinate frame) from a 3D-2D point correspondences and starting from an initial solution.

void cv::solvePnPRefineVVS (InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, InputOutputArray rvec, InputOutputArray tvec, TermCriteria criteria=TermCriteria(TermCriteria::EPS+TermCriteria::COUNT, 20, FLT_EPSILON), double VVSlambda=1)

Refine a pose (the translation and the rotation that transform a 3D point expressed in the object coordinate frame to the camera coordinate frame) from a 3D-2D point correspondences and starting from an initial solution.

void cv::triangulatePoints (InputArray projMatr1, InputArray projMatr2, InputArray projPoints1, InputArray projPoints2, OutputArray points4D)

This function reconstructs 3-dimensional points (in homogeneous coordinates) by using their observations with a stereo camera.

void cv::undistortImagePoints (InputArray src, OutputArray dst, InputArray cameraMatrix, InputArray distCoeffs, TermCriteria=TermCriteria(TermCriteria::MAX_ITER, 5, 0.01))

Compute undistorted image points position.

void cv::undistortPoints (InputArray src, OutputArray dst, InputArray cameraMatrix, InputArray distCoeffs, InputArray R=noArray(), InputArray P=noArray(), TermCriteria criteria=TermCriteria(TermCriteria::MAX_ITER, 5, 0.01))

Computes the ideal point coordinates from the observed point coordinates.