opencv2/calib.hpp

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

Include dependency graph for calib.hpp:

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Namespaces

namespace cv

namespace cv::fisheye

Enumerations

enum cv {
CALIB_USE_INTRINSIC_GUESS = 0x00001,
CALIB_FIX_ASPECT_RATIO = 0x00002,
CALIB_FIX_PRINCIPAL_POINT = 0x00004,
CALIB_ZERO_TANGENT_DIST = 0x00008,
CALIB_FIX_FOCAL_LENGTH = 0x00010,
CALIB_FIX_K1 = 0x00020,
CALIB_FIX_K2 = 0x00040,
CALIB_FIX_K3 = 0x00080,
CALIB_FIX_K4 = 0x00800,
CALIB_FIX_K5 = 0x01000,
CALIB_FIX_K6 = 0x02000,
CALIB_RATIONAL_MODEL = 0x04000,
CALIB_THIN_PRISM_MODEL = 0x08000,
CALIB_FIX_S1_S2_S3_S4 = 0x10000,
CALIB_TILTED_MODEL = 0x40000,
CALIB_FIX_TAUX_TAUY = 0x80000,
CALIB_USE_QR = 0x100000,
CALIB_FIX_TANGENT_DIST = 0x200000,
CALIB_FIX_INTRINSIC = 0x00100,
CALIB_SAME_FOCAL_LENGTH = 0x00200,
CALIB_ZERO_DISPARITY = 0x00400,
CALIB_USE_LU = (1 << 17),
CALIB_DISABLE_SCHUR_COMPLEMENT = (1 << 18),
CALIB_USE_EXTRINSIC_GUESS = (1 << 22),
CALIB_RECOMPUTE_EXTRINSIC = (1 << 23),
CALIB_CHECK_COND = (1 << 24),
CALIB_FIX_SKEW = (1 << 25),
CALIB_STEREO_REGISTRATION = (1 << 26)
}

enum cv::CameraModel {
CALIB_MODEL_PINHOLE = 0,
CALIB_MODEL_FISHEYE = 1
}

enum cv::HandEyeCalibrationMethod {
CALIB_HAND_EYE_TSAI = 0,
CALIB_HAND_EYE_PARK = 1,
CALIB_HAND_EYE_HORAUD = 2,
CALIB_HAND_EYE_ANDREFF = 3,
CALIB_HAND_EYE_DANIILIDIS = 4
}

enum cv::RobotWorldHandEyeCalibrationMethod {
CALIB_ROBOT_WORLD_HAND_EYE_SHAH = 0,
CALIB_ROBOT_WORLD_HAND_EYE_LI = 1
}

Functions

double cv::calibrateCamera (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags=0, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 500, DBL_EPSILON))

double cv::calibrateCamera (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, OutputArray stdDeviationsIntrinsics, OutputArray stdDeviationsExtrinsics, OutputArray perViewErrors, int flags=0, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 500, DBL_EPSILON))

Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern.

double cv::calibrateCameraRO (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size imageSize, int iFixedPoint, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, OutputArray newObjPoints, int flags=0, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 500, DBL_EPSILON))

double cv::calibrateCameraRO (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size imageSize, int iFixedPoint, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, OutputArray newObjPoints, OutputArray stdDeviationsIntrinsics, OutputArray stdDeviationsExtrinsics, OutputArray stdDeviationsObjPoints, OutputArray perViewErrors, int flags=0, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 500, DBL_EPSILON))

Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern.

void cv::calibrateHandEye (InputArrayOfArrays R_gripper2base, InputArrayOfArrays t_gripper2base, InputArrayOfArrays R_target2cam, InputArrayOfArrays t_target2cam, OutputArray R_cam2gripper, OutputArray t_cam2gripper, HandEyeCalibrationMethod method=CALIB_HAND_EYE_TSAI)

Computes Hand-Eye calibration: \(_{}^{g}\textrm{T}_c\).

double cv::calibrateMultiview (InputArrayOfArrays objPoints, const std::vector< std::vector< Mat > > &imagePoints, const std::vector< cv::Size > &imageSize, InputArray detectionMask, InputArray models, InputOutputArrayOfArrays Ks, InputOutputArrayOfArrays distortions, InputOutputArrayOfArrays Rs, InputOutputArrayOfArrays Ts, InputArray flagsForIntrinsics=noArray(), int flags=0, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, DBL_EPSILON))

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

double cv::calibrateMultiview (InputArrayOfArrays objPoints, const std::vector< std::vector< Mat > > &imagePoints, const std::vector< cv::Size > &imageSize, InputArray detectionMask, InputArray models, InputOutputArrayOfArrays Ks, InputOutputArrayOfArrays distortions, InputOutputArrayOfArrays Rs, InputOutputArrayOfArrays Ts, OutputArray initializationPairs, OutputArrayOfArrays rvecs0, OutputArrayOfArrays tvecs0, OutputArray perFrameErrors, InputArray flagsForIntrinsics=noArray(), int flags=0, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, DBL_EPSILON))

Estimates intrinsics and extrinsics (camera pose) for multi-camera system a.k.a multiview calibration.

void cv::calibrateRobotWorldHandEye (InputArrayOfArrays R_world2cam, InputArrayOfArrays t_world2cam, InputArrayOfArrays R_base2gripper, InputArrayOfArrays t_base2gripper, OutputArray R_base2world, OutputArray t_base2world, OutputArray R_gripper2cam, OutputArray t_gripper2cam, RobotWorldHandEyeCalibrationMethod method=CALIB_ROBOT_WORLD_HAND_EYE_SHAH)

Computes Robot-World/Hand-Eye calibration: \(_{}^{w}\textrm{T}_b\) and \(_{}^{c}\textrm{T}_g\).

Mat cv::initCameraMatrix2D (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size imageSize, double aspectRatio=1.0)

Finds an initial camera intrinsic matrix from 3D-2D point correspondences.

double cv::registerCameras (InputArrayOfArrays objectPoints1, InputArrayOfArrays objectPoints2, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputArray cameraMatrix1, InputArray distCoeffs1, CameraModel cameraModel1, InputArray cameraMatrix2, InputArray distCoeffs2, CameraModel cameraModel2, InputOutputArray R, InputOutputArray T, OutputArray E, OutputArray F, OutputArray perViewErrors, int flags=0, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, 1e-6))

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

double cv::registerCameras (InputArrayOfArrays objectPoints1, InputArrayOfArrays objectPoints2, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputArray cameraMatrix1, InputArray distCoeffs1, CameraModel cameraModel1, InputArray cameraMatrix2, InputArray distCoeffs2, CameraModel cameraModel2, InputOutputArray R, InputOutputArray T, OutputArray E, OutputArray F, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, OutputArray perViewErrors, int flags=0, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, 1e-6))

Calibrates a camera pair set up. This function finds the extrinsic parameters between the two cameras.

double cv::stereoCalibrate (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputOutputArray cameraMatrix1, InputOutputArray distCoeffs1, InputOutputArray cameraMatrix2, InputOutputArray distCoeffs2, Size imageSize, InputOutputArray R, InputOutputArray T, OutputArray E, OutputArray F, OutputArray perViewErrors, int flags=CALIB_FIX_INTRINSIC, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 1e-6))

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

double cv::stereoCalibrate (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputOutputArray cameraMatrix1, InputOutputArray distCoeffs1, InputOutputArray cameraMatrix2, InputOutputArray distCoeffs2, Size imageSize, InputOutputArray R, InputOutputArray T, OutputArray E, OutputArray F, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, OutputArray perViewErrors, int flags=CALIB_FIX_INTRINSIC, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, 1e-6))

Calibrates a stereo camera set up. This function finds the intrinsic parameters for each of the two cameras and the extrinsic parameters between the two cameras.

double cv::stereoCalibrate (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputOutputArray cameraMatrix1, InputOutputArray distCoeffs1, InputOutputArray cameraMatrix2, InputOutputArray distCoeffs2, Size imageSize, OutputArray R, OutputArray T, OutputArray E, OutputArray F, int flags=CALIB_FIX_INTRINSIC, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, 1e-6))

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

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 calibration.

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))

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

double cv::fisheye::stereoCalibrate (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize, OutputArray R, OutputArray T, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags=CALIB_FIX_INTRINSIC, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, DBL_EPSILON))

Performs stereo calibration.