#include "opencv2/core/core.hpp"
#include "opencv2/features2d/features2d.hpp"
#include "opencv2/core/affine.hpp"

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
CvPOSITObject *	cvCreatePOSITObject (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))

CvStereoBMState *	cvCreateStereoBMState (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

§ CV_CALIB_CB_ADAPTIVE_THRESH

#define CV_CALIB_CB_ADAPTIVE_THRESH 1

§ CV_CALIB_CB_FAST_CHECK

#define CV_CALIB_CB_FAST_CHECK 8

§ CV_CALIB_CB_FILTER_QUADS

#define CV_CALIB_CB_FILTER_QUADS 4

§ CV_CALIB_CB_NORMALIZE_IMAGE

#define CV_CALIB_CB_NORMALIZE_IMAGE 2

§ CV_CALIB_FIX_ASPECT_RATIO

#define CV_CALIB_FIX_ASPECT_RATIO 2

§ CV_CALIB_FIX_FOCAL_LENGTH

#define CV_CALIB_FIX_FOCAL_LENGTH 16

§ CV_CALIB_FIX_INTRINSIC

#define CV_CALIB_FIX_INTRINSIC 256

§ CV_CALIB_FIX_K1

#define CV_CALIB_FIX_K1 32

§ CV_CALIB_FIX_K2

#define CV_CALIB_FIX_K2 64

§ CV_CALIB_FIX_K3

#define CV_CALIB_FIX_K3 128

§ CV_CALIB_FIX_K4

#define CV_CALIB_FIX_K4 2048

§ CV_CALIB_FIX_K5

#define CV_CALIB_FIX_K5 4096

§ CV_CALIB_FIX_K6

#define CV_CALIB_FIX_K6 8192

§ CV_CALIB_FIX_PRINCIPAL_POINT

#define CV_CALIB_FIX_PRINCIPAL_POINT 4

§ CV_CALIB_RATIONAL_MODEL

#define CV_CALIB_RATIONAL_MODEL 16384

§ CV_CALIB_SAME_FOCAL_LENGTH

#define CV_CALIB_SAME_FOCAL_LENGTH 512

§ CV_CALIB_USE_INTRINSIC_GUESS

#define CV_CALIB_USE_INTRINSIC_GUESS 1

§ CV_CALIB_ZERO_DISPARITY

#define CV_CALIB_ZERO_DISPARITY 1024

§ CV_CALIB_ZERO_TANGENT_DIST

#define CV_CALIB_ZERO_TANGENT_DIST 8

§ CV_FM_7POINT

#define CV_FM_7POINT 1

§ CV_FM_8POINT

#define CV_FM_8POINT 2

§ CV_FM_LMEDS

#define CV_FM_LMEDS CV_LMEDS

§ CV_FM_LMEDS_ONLY

#define CV_FM_LMEDS_ONLY CV_LMEDS

§ CV_FM_RANSAC

#define CV_FM_RANSAC CV_RANSAC

§ CV_FM_RANSAC_ONLY

#define CV_FM_RANSAC_ONLY CV_RANSAC

§ CV_LMEDS

#define CV_LMEDS 4

§ CV_RANSAC

#define CV_RANSAC 8

§ CV_STEREO_BM_BASIC

#define CV_STEREO_BM_BASIC 0

§ CV_STEREO_BM_FISH_EYE

#define CV_STEREO_BM_FISH_EYE 1

§ CV_STEREO_BM_NARROW

#define CV_STEREO_BM_NARROW 2

§ CV_STEREO_BM_NORMALIZED_RESPONSE

#define CV_STEREO_BM_NORMALIZED_RESPONSE 0

§ CV_STEREO_BM_XSOBEL

#define CV_STEREO_BM_XSOBEL 1

Typedef Documentation

§ CvPOSITObject

typedef struct CvPOSITObject CvPOSITObject

Enumeration Type Documentation

§ anonymous enum

anonymous enum

Enumerator
CV_ITERATIVE
CV_EPNP
CV_P3P

Function Documentation

§ cvCalcMatMulDeriv()

void cvCalcMatMulDeriv	(	const CvMat *	A,
		const CvMat *	B,
		CvMat *	dABdA,
		CvMat *	dABdB
	)

§ cvCalibrateCamera2()

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)
	)

§ cvCalibrationMatrixValues()

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
	)

§ cvCheckChessboard()

int cvCheckChessboard	(	IplImage *	src,
		CvSize	size
	)

§ cvComposeRT()

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_DEFAULT0
	)

§ cvComputeCorrespondEpilines()

void cvComputeCorrespondEpilines	(	const CvMat *	points,
		int	which_image,
		const CvMat *	fundamental_matrix,
		CvMat *	correspondent_lines
	)

§ cvConvertPointsHomogeneous()

void cvConvertPointsHomogeneous	(	const CvMat *	src,
		CvMat *	dst
	)

§ cvCorrectMatches()

void cvCorrectMatches	(	CvMat *	F,
		CvMat *	points1,
		CvMat *	points2,
		CvMat *	new_points1,
		CvMat *	new_points2
	)

§ cvCreatePOSITObject()

CvPOSITObject* cvCreatePOSITObject	(	CvPoint3D32f *	points,
		int	point_count
	)

§ cvCreateStereoBMState()

CvStereoBMState* cvCreateStereoBMState	(	int preset	CV_DEFAULT0,
		int numberOfDisparities	CV_DEFAULT0
	)

§ cvDecomposeProjectionMatrix()

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
	)

§ cvDrawChessboardCorners()

void cvDrawChessboardCorners	(	CvArr *	image,
		CvSize	pattern_size,
		CvPoint2D32f *	corners,
		int	count,
		int	pattern_was_found
	)

§ cvFindChessboardCorners()

int cvFindChessboardCorners	(	const void *	image,
		CvSize	pattern_size,
		CvPoint2D32f *	corners,
		int *corner_count	CV_DEFAULTNULL,
		int flags	CV_DEFAULT1+2
	)

§ cvFindExtrinsicCameraParams2()

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_DEFAULT0
	)

§ cvFindFundamentalMat()

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
	)

§ cvFindHomography()

int cvFindHomography	(	const CvMat *	src_points,
		const CvMat *	dst_points,
		CvMat *	homography,
		int method	CV_DEFAULT0,
		double ransacReprojThreshold	CV_DEFAULT3,
		CvMat *mask	CV_DEFAULT0
	)

§ cvFindStereoCorrespondenceBM()

void cvFindStereoCorrespondenceBM	(	const CvArr *	left,
		const CvArr *	right,
		CvArr *	disparity,
		CvStereoBMState *	state
	)

§ cvGetOptimalNewCameraMatrix()

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_DEFAULT0
	)

§ cvGetValidDisparityROI()

CvRect cvGetValidDisparityROI	(	CvRect	roi1,
		CvRect	roi2,
		int	minDisparity,
		int	numberOfDisparities,
		int	SADWindowSize
	)

§ cvInitIntrinsicParams2D()

void cvInitIntrinsicParams2D	(	const CvMat *	object_points,
		const CvMat *	image_points,
		const CvMat *	npoints,
		CvSize	image_size,
		CvMat *	camera_matrix,
		double aspect_ratio	CV_DEFAULT1.
	)

§ cvPOSIT()

void cvPOSIT	(	CvPOSITObject *	posit_object,
		CvPoint2D32f *	image_points,
		double	focal_length,
		CvTermCriteria	criteria,
		float *	rotation_matrix,
		float *	translation_vector
	)

§ cvProjectPoints2()

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_DEFAULT0
	)

§ cvRANSACUpdateNumIters()

int cvRANSACUpdateNumIters	(	double	p,
		double	err_prob,
		int	model_points,
		int	max_iters
	)

§ cvReleasePOSITObject()

void cvReleasePOSITObject ( CvPOSITObject ** posit_object )

§ cvReleaseStereoBMState()

void cvReleaseStereoBMState ( CvStereoBMState ** state )

§ cvReprojectImageTo3D()

void cvReprojectImageTo3D	(	const CvArr *	disparityImage,
		CvArr *	_3dImage,
		const CvMat *	Q,
		int handleMissingValues	CV_DEFAULT0
	)

§ cvRodrigues2()

int cvRodrigues2	(	const CvMat *	src,
		CvMat *	dst,
		CvMat *jacobian	CV_DEFAULT0
	)

§ cvRQDecomp3x3()

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
	)

§ cvStereoCalibrate()

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
	)

§ cvStereoRectify()

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_DEFAULT0
	)

§ cvStereoRectifyUncalibrated()

int cvStereoRectifyUncalibrated	(	const CvMat *	points1,
		const CvMat *	points2,
		const CvMat *	F,
		CvSize	img_size,
		CvMat *	H1,
		CvMat *	H2,
		double threshold	CV_DEFAULT5
	)

§ cvTriangulatePoints()

void cvTriangulatePoints	(	CvMat *	projMatr1,
		CvMat *	projMatr2,
		CvMat *	projPoints1,
		CvMat *	projPoints2,
		CvMat *	points4D
	)

§ cvValidateDisparity()

void cvValidateDisparity	(	CvArr *	disparity,
		const CvArr *	cost,
		int	minDisparity,
		int	numberOfDisparities,
		int disp12MaxDiff	CV_DEFAULT1
	)

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