OpenCV  5.0.0-pre
Open Source Computer Vision
Classes | Namespaces | Typedefs | Enumerations | Functions
calib.hpp File Reference
#include "opencv2/core.hpp"
#include "opencv2/features2d.hpp"
#include "opencv2/core/affine.hpp"

Classes

struct  cv::CirclesGridFinderParameters
 

Namespaces

 cv
 "black box" representation of the file storage associated with a file on disk.
 
 cv::fisheye
 The methods in this namespace use a so-called fisheye camera model.
 

Typedefs

typedef CirclesGridFinderParameters cv::CirclesGridFinderParameters2
 

Enumerations

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,
  cv::CALIB_CB_EXHAUSTIVE = 16,
  cv::CALIB_CB_ACCURACY = 32,
  cv::CALIB_CB_LARGER = 64,
  cv::CALIB_CB_MARKER = 128
}
 
enum  {
  cv::CALIB_CB_SYMMETRIC_GRID = 1,
  cv::CALIB_CB_ASYMMETRIC_GRID = 2,
  cv::CALIB_CB_CLUSTERING = 4
}
 
enum  {
  cv::CALIB_NINTRINSIC = 18,
  cv::CALIB_USE_INTRINSIC_GUESS = 0x00001,
  cv::CALIB_FIX_ASPECT_RATIO = 0x00002,
  cv::CALIB_FIX_PRINCIPAL_POINT = 0x00004,
  cv::CALIB_ZERO_TANGENT_DIST = 0x00008,
  cv::CALIB_FIX_FOCAL_LENGTH = 0x00010,
  cv::CALIB_FIX_K1 = 0x00020,
  cv::CALIB_FIX_K2 = 0x00040,
  cv::CALIB_FIX_K3 = 0x00080,
  cv::CALIB_FIX_K4 = 0x00800,
  cv::CALIB_FIX_K5 = 0x01000,
  cv::CALIB_FIX_K6 = 0x02000,
  cv::CALIB_RATIONAL_MODEL = 0x04000,
  cv::CALIB_THIN_PRISM_MODEL = 0x08000,
  cv::CALIB_FIX_S1_S2_S3_S4 = 0x10000,
  cv::CALIB_TILTED_MODEL = 0x40000,
  cv::CALIB_FIX_TAUX_TAUY = 0x80000,
  cv::CALIB_USE_QR = 0x100000,
  cv::CALIB_FIX_TANGENT_DIST = 0x200000,
  cv::CALIB_FIX_INTRINSIC = 0x00100,
  cv::CALIB_SAME_FOCAL_LENGTH = 0x00200,
  cv::CALIB_ZERO_DISPARITY = 0x00400,
  cv::CALIB_USE_LU = (1 << 17),
  cv::CALIB_USE_EXTRINSIC_GUESS = (1 << 22)
}
 
enum  {
  cv::fisheye::CALIB_USE_INTRINSIC_GUESS = 1 << 0,
  cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC = 1 << 1,
  cv::fisheye::CALIB_CHECK_COND = 1 << 2,
  cv::fisheye::CALIB_FIX_SKEW = 1 << 3,
  cv::fisheye::CALIB_FIX_K1 = 1 << 4,
  cv::fisheye::CALIB_FIX_K2 = 1 << 5,
  cv::fisheye::CALIB_FIX_K3 = 1 << 6,
  cv::fisheye::CALIB_FIX_K4 = 1 << 7,
  cv::fisheye::CALIB_FIX_INTRINSIC = 1 << 8,
  cv::fisheye::CALIB_FIX_PRINCIPAL_POINT = 1 << 9,
  cv::fisheye::CALIB_ZERO_DISPARITY = 1 << 10,
  cv::fisheye::CALIB_FIX_FOCAL_LENGTH = 1 << 11
}
 
enum  cv::HandEyeCalibrationMethod {
  cv::CALIB_HAND_EYE_TSAI = 0,
  cv::CALIB_HAND_EYE_PARK = 1,
  cv::CALIB_HAND_EYE_HORAUD = 2,
  cv::CALIB_HAND_EYE_ANDREFF = 3,
  cv::CALIB_HAND_EYE_DANIILIDIS = 4
}
 
enum  cv::RobotWorldHandEyeCalibrationMethod {
  cv::CALIB_ROBOT_WORLD_HAND_EYE_SHAH = 0,
  cv::CALIB_ROBOT_WORLD_HAND_EYE_LI = 1
}
 

Functions

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...
 
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, 100, DBL_EPSILON))
 Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern. More...
 
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, 100, 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, 100, DBL_EPSILON))
 Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern. More...
 
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, 100, DBL_EPSILON))
 
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: \(_{}^{g}\textrm{T}_c\). More...
 
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 \(_{}^{c}\textrm{T}_g\). More...
 
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. More...
 
bool cv::checkChessboard (InputArray img, Size size)
 
void cv::fisheye::distortPoints (InputArray undistorted, OutputArray distorted, InputArray K, InputArray D, double alpha=0)
 Distorts 2D points using fisheye model. More...
 
void cv::drawChessboardCorners (InputOutputArray image, Size patternSize, InputArray corners, bool patternWasFound)
 Renders the detected chessboard corners. More...
 
Scalar cv::estimateChessboardSharpness (InputArray image, Size patternSize, InputArray corners, float rise_distance=0.8F, bool vertical=false, OutputArray sharpness=noArray())
 Estimates the sharpness of a detected chessboard. 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 intrinsic matrix for undistortion or rectification. More...
 
bool cv::find4QuadCornerSubpix (InputArray img, InputOutputArray corners, Size region_size)
 finds subpixel-accurate positions of the chessboard corners More...
 
bool cv::findChessboardCorners (InputArray image, Size patternSize, OutputArray corners, int flags=CALIB_CB_ADAPTIVE_THRESH+CALIB_CB_NORMALIZE_IMAGE)
 Finds the positions of internal corners of the chessboard. More...
 
bool cv::findChessboardCornersSB (InputArray image, Size patternSize, OutputArray corners, int flags, OutputArray meta)
 Finds the positions of internal corners of the chessboard using a sector based approach. More...
 
bool cv::findChessboardCornersSB (InputArray image, Size patternSize, OutputArray corners, int flags=0)
 
bool cv::findCirclesGrid (InputArray image, Size patternSize, OutputArray centers, int flags, const Ptr< FeatureDetector > &blobDetector, const CirclesGridFinderParameters &parameters)
 Finds centers in the grid of circles. More...
 
bool cv::findCirclesGrid (InputArray image, Size patternSize, OutputArray centers, int flags=CALIB_CB_SYMMETRIC_GRID, const Ptr< FeatureDetector > &blobDetector=SimpleBlobDetector::create())
 
Mat cv::initCameraMatrix2D (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size imageSize, double aspectRatio=1.0)
 Finds an initial camera intrinsic matrix from 3D-2D point correspondences. More...
 
void cv::fisheye::initUndistortRectifyMap (InputArray K, InputArray D, InputArray R, InputArray P, const cv::Size &size, int m1type, OutputArray map1, OutputArray map2)
 Computes undistortion and rectification maps for image transform by cv::remap(). If D is empty zero distortion is used, if R or P is empty identity matrixes are used. More...
 
void cv::fisheye::projectPoints (InputArray objectPoints, OutputArray imagePoints, const Affine3d &affine, InputArray K, InputArray D, double alpha=0, OutputArray jacobian=noArray())
 Projects 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())
 
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, 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. More...
 
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))
 
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=fisheye::CALIB_FIX_INTRINSIC, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, DBL_EPSILON))
 Performs stereo calibration. 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 for fisheye camera model. More...
 
void cv::fisheye::undistortImage (InputArray distorted, OutputArray undistorted, InputArray K, InputArray D, InputArray Knew=cv::noArray(), const Size &new_size=Size())
 Transforms an image to compensate for fisheye lens distortion. 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...