Classes | Namespaces | Typedefs | Enumerations | Functions | Variables
include/opencv2/calib3d/calib3d.hpp File Reference

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Classes

struct  CvStereoBMState
struct  CvStereoGCState
class  CvLevMarq
class  cv::StereoBM
 Block Matching Stereo Correspondence Algorithm. More...
class  cv::StereoSGBM
 Semi-Global Block Matching Stereo Correspondence Algorithm. More...

Namespaces

namespace  cv
 Namespace where all the C++ OpenCV functionality resides.

Typedefs

typedef struct CvPOSITObject CvPOSITObject
typedef struct CvStereoBMState CvStereoBMState
typedef struct CvStereoGCState CvStereoGCState

Enumerations

enum  { cv::LMEDS = CV_LMEDS, cv::RANSAC = CV_RANSAC }
 type of the robust estimation algorithm 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 = CV_CALIB_USE_INTRINSIC_GUESS, cv::CALIB_FIX_ASPECT_RATIO = CV_CALIB_FIX_ASPECT_RATIO, cv::CALIB_FIX_PRINCIPAL_POINT = CV_CALIB_FIX_PRINCIPAL_POINT, cv::CALIB_ZERO_TANGENT_DIST = CV_CALIB_ZERO_TANGENT_DIST,
  cv::CALIB_FIX_FOCAL_LENGTH = CV_CALIB_FIX_FOCAL_LENGTH, cv::CALIB_FIX_K1 = CV_CALIB_FIX_K1, cv::CALIB_FIX_K2 = CV_CALIB_FIX_K2, cv::CALIB_FIX_K3 = CV_CALIB_FIX_K3,
  cv::CALIB_FIX_K4 = CV_CALIB_FIX_K4, cv::CALIB_FIX_K5 = CV_CALIB_FIX_K5, cv::CALIB_FIX_K6 = CV_CALIB_FIX_K6, cv::CALIB_RATIONAL_MODEL = CV_CALIB_RATIONAL_MODEL,
  cv::CALIB_FIX_INTRINSIC = CV_CALIB_FIX_INTRINSIC, cv::CALIB_SAME_FOCAL_LENGTH = CV_CALIB_SAME_FOCAL_LENGTH, cv::CALIB_ZERO_DISPARITY = CV_CALIB_ZERO_DISPARITY
}
enum  { cv::FM_7POINT = CV_FM_7POINT, cv::FM_8POINT = CV_FM_8POINT, cv::FM_LMEDS = CV_FM_LMEDS, cv::FM_RANSAC = CV_FM_RANSAC }
 the algorithm for finding fundamental matrix More...

Functions

 CVAPI (CvPOSITObject *) cvCreatePOSITObject(CvPoint3D32f *points
 CVAPI (void) cvPOSIT(CvPOSITObject *posit_object
 CVAPI (int) cvRANSACUpdateNumIters(double p
const CvMat CvMat int method CV_DEFAULT (CV_FM_RANSAC)
const CvMat CvMat int method
double param1 
CV_DEFAULT (3.)
const CvMat CvMat int method
double param1 double param2 
CV_DEFAULT (0.99)
const CvMat CvMat int method
double param1 double param2
CvMat *status 
CV_DEFAULT (NULL))
const CvMat CvSize double
CvMat CvSize new_imag_size 
CV_DEFAULT (cvSize(0, 0))
const CvMat CvSize double
CvMat CvSize new_imag_size
CvRect *valid_pixel_ROI 
CV_DEFAULT (0))
const CvMat CvMat int method
double ransacReprojThreshold 
CV_DEFAULT (3)
const CvMat const CvMat CvSize
CvMat double aspect_ratio 
CV_DEFAULT (1.))
CvSize CvPoint2D32f int
*corner_count int flags 
CV_DEFAULT (CV_CALIB_CB_ADAPTIVE_THRESH+CV_CALIB_CB_NORMALIZE_IMAGE))
 CVAPI (double) cvCalibrateCamera2(const CvMat *object_points
const CvMat const CvMat const
CvMat CvMat CvMat CvMat CvMat
CvSize CvMat CvMat CvMat *E
CvMat *F CvTermCriteria
term_crit 
CV_DEFAULT (cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 30, 1e-6))
const CvMat const CvMat const
CvMat CvMat CvMat CvMat CvMat
CvSize CvMat CvMat CvMat *E
CvMat *F CvTermCriteria
term_crit int flags 
CV_DEFAULT (CV_CALIB_FIX_INTRINSIC))
const CvMat const CvMat const
CvMat CvSize const CvMat const
CvMat CvMat CvMat CvMat CvMat
CvMat *Q int flags 
CV_DEFAULT (CV_CALIB_ZERO_DISPARITY)
const CvMat const CvMat const
CvMat CvSize const CvMat const
CvMat CvMat CvMat CvMat CvMat
CvMat *Q int flags double
alpha 
CV_DEFAULT (-1)
const CvMat const CvMat CvSize
CvMat CvMat double threshold 
CV_DEFAULT (5))
 CVAPI (CvStereoBMState *) cvCreateStereoBMState(int preset CV_DEFAULT(CV_STEREO_BM_BASIC)
 CVAPI (CvRect) cvGetValidDisparityROI(CvRect roi1
const CvArr int int int
disp12MaxDiff 
CV_DEFAULT (1))
 CVAPI (CvStereoGCState *) cvCreateStereoGCState(int numberOfDisparities
CV_EXPORTS_W void cv::Rodrigues (InputArray src, OutputArray dst, OutputArray jacobian=noArray())
 converts rotation vector to rotation matrix or vice versa using Rodrigues transformation
CV_EXPORTS_W 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.
CV_EXPORTS Mat cv::findHomography (InputArray srcPoints, InputArray dstPoints, OutputArray mask, int method=0, double ransacReprojThreshold=3)
 variant of findHomography for backward compatibility
CV_EXPORTS_W Vec3d cv::RQDecomp3x3 (InputArray src, OutputArray mtxR, OutputArray mtxQ, OutputArray Qx=noArray(), OutputArray Qy=noArray(), OutputArray Qz=noArray())
 Computes RQ decomposition of 3x3 matrix.
CV_EXPORTS_W 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.
CV_EXPORTS_W 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
CV_EXPORTS_W 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
CV_EXPORTS_W 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
CV_EXPORTS_W void cv::solvePnP (InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false)
 computes the camera pose from a few 3D points and the corresponding projections. The outliers are not handled.
CV_EXPORTS_W 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())
 computes the camera pose from a few 3D points and the corresponding projections. The outliers are possible.
CV_EXPORTS_W Mat cv::initCameraMatrix2D (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size imageSize, double aspectRatio=1.)
 initializes camera matrix from a few 3D points and the corresponding projections.
CV_EXPORTS_W 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
CV_EXPORTS bool cv::find4QuadCornerSubpix (InputArray img, InputOutputArray corners, Size region_size)
 finds subpixel-accurate positions of the chessboard corners
CV_EXPORTS_W void cv::drawChessboardCorners (InputOutputArray image, Size patternSize, InputArray corners, bool patternWasFound)
 draws the checkerboard pattern (found or partly found) in the image
CV_EXPORTS 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
CV_EXPORTS_W double cv::calibrateCamera (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size imageSize, CV_IN_OUT InputOutputArray cameraMatrix, CV_IN_OUT InputOutputArray distCoeffs, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags=0)
 finds intrinsic and extrinsic camera parameters from several fews of a known calibration pattern.
CV_EXPORTS_W 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.
CV_EXPORTS_W double cv::stereoCalibrate (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, CV_IN_OUT InputOutputArray cameraMatrix1, CV_IN_OUT InputOutputArray distCoeffs1, CV_IN_OUT InputOutputArray cameraMatrix2, CV_IN_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
CV_EXPORTS 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
CV_EXPORTS_W 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)
CV_EXPORTS_W 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.
CV_EXPORTS_W Mat cv::getOptimalNewCameraMatrix (InputArray cameraMatrix, InputArray distCoeffs, Size imageSize, double alpha, Size newImgSize=Size(), CV_OUT Rect *validPixROI=0)
 returns the optimal new camera matrix
CV_EXPORTS_W void cv::convertPointsToHomogeneous (InputArray src, OutputArray dst)
 converts point coordinates from normal pixel coordinates to homogeneous coordinates ((x,y)->(x,y,1))
CV_EXPORTS_W void cv::convertPointsFromHomogeneous (InputArray src, OutputArray dst)
 converts point coordinates from homogeneous to normal pixel coordinates ((x,y,z)->(x/z, y/z))
CV_EXPORTS void cv::convertPointsHomogeneous (InputArray src, OutputArray dst)
 for backward compatibility
CV_EXPORTS_W 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
CV_EXPORTS 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
CV_EXPORTS void cv::computeCorrespondEpilines (InputArray points1, int whichImage, InputArray F, OutputArray lines)
 finds coordinates of epipolar lines corresponding the specified points
CV_EXPORTS_W void cv::filterSpeckles (InputOutputArray img, double newVal, int maxSpeckleSize, double maxDiff, InputOutputArray buf=noArray())
 filters off speckles (small regions of incorrectly computed disparity)
CV_EXPORTS_W 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())
CV_EXPORTS_W 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
CV_EXPORTS_W 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
CV_EXPORTS_W int cv::estimateAffine3D (InputArray _from, InputArray _to, OutputArray _out, OutputArray _inliers, double param1=3, double param2=0.99)

Variables

int point_count
CvPoint2D32fimage_points
CvPoint2D32f double focal_length
CvPoint2D32f double CvTermCriteria criteria
CvPoint2D32f double
CvTermCriteria float * 
rotation_matrix
CvPoint2D32f double
CvTermCriteria float float * 
translation_vector
double err_prob
double int model_points
double int int max_iters
CvMatdst
const CvMatpoints2
const CvMat CvMatfundamental_matrix
int which_image
int const CvMat CvMatcorrespondent_lines
CvMatprojMatr2
CvMat CvMatprojPoints1
CvMat CvMat CvMatprojPoints2
CvMat CvMat CvMat CvMatpoints4D
CvMatpoints1
CvMat CvMat CvMatnew_points1
CvMat CvMat CvMat CvMatnew_points2
const CvMatdist_coeffs
const CvMat CvSize image_size
const CvMat CvSize double alpha
const CvMat CvSize double CvMatnew_camera_matrix
const CvMatdst_points
const CvMat CvMathomography
CvMatmatrixR
CvMat CvMatmatrixQ
CvMatcalibMatr
CvMat CvMatrotMatr
CvMat CvMat CvMatposVect
const CvMatB
const CvMat CvMatdABdA
const CvMat CvMat CvMatdABdB
const CvMat_tvec1
const CvMat const CvMat_rvec2
const CvMat const CvMat const
CvMat
_tvec2
const CvMat const CvMat const
CvMat CvMat
_rvec3
const CvMat const CvMat const
CvMat CvMat CvMat
_tvec3
const CvMatrotation_vector
const CvMat const CvMat const
CvMat
camera_matrix
const CvMat const CvMat const
CvMat const CvMat
distortion_coeffs
const CvMat const CvMatnpoints
CvSize size
CvSize pattern_size
CvSize CvPoint2D32fcorners
CvSize CvPoint2D32f int count
CvSize CvPoint2D32f int int pattern_was_found
const CvMat const CvMatpoint_counts
const CvMatimage_points1
const CvMat const CvMatimage_points2
const CvMat const CvMat const
CvMat CvMat
camera_matrix1
const CvMat const CvMat const
CvMat CvMat CvMat
dist_coeffs1
const CvMat const CvMat const
CvMat CvMat CvMat CvMat
camera_matrix2
const CvMat const CvMat const
CvMat CvMat CvMat CvMat CvMat
dist_coeffs2
const CvMat const CvMat const
CvMat CvMat CvMat CvMat CvMat
CvSize CvMat
R
const CvMat const CvMat const
CvMat CvMat CvMat CvMat CvMat
CvSize CvMat CvMat
T
const CvMat const CvMat const
CvMat CvSize const CvMat const
CvMat CvMat
R1
const CvMat const CvMat const
CvMat CvSize const CvMat const
CvMat CvMat CvMat
R2
const CvMat const CvMat const
CvMat CvSize const CvMat const
CvMat CvMat CvMat CvMat
P1
const CvMat const CvMat const
CvMat CvSize const CvMat const
CvMat CvMat CvMat CvMat CvMat
P2
const CvMat const CvMatF
const CvMat const CvMat CvSize img_size
const CvMat const CvMat CvSize
CvMat
H1
const CvMat const CvMat CvSize
CvMat CvMat
H2
const CvArrright
const CvArr CvArrdisparity
const CvArr CvArr CvStereoBMStatestate
CvRect roi2
CvRect int minDisparity
CvRect int int numberOfDisparities
CvRect int int int SADWindowSize
const CvArrcost
int maxIters
const CvArr CvArrdisparityLeft
const CvArr CvArr CvArrdisparityRight
CvArr_3dImage
CvArr const CvMatQ

Typedef Documentation

typedef struct CvPOSITObject CvPOSITObject

Function Documentation

CVAPI ( void  )
  • Finds selected eigen values and vectors of a symmetric matrix */
CVAPI ( int  )
const CvMat CvMat int method CV_DEFAULT ( CV_FM_RANSAC  )
const CvMat CvMat int method double param1 CV_DEFAULT ( 3.  )
CvArr CvArr CvPoint2D32f int double double const CvArr *mask int block_size int use_harris double k CV_DEFAULT ( 0.  99)
const CvMat *control CV_DEFAULT ( NULL  )
CvHaarClassifierCascade CvMemStorage double scale_factor int min_neighbors int flags CvSize min_size CvSize max_size CV_DEFAULT ( cvSize(0, 0)  )
int poly1Hull0 float perimScale CvMemStorage *storage CV_DEFAULT ( )
CvArr CvArr CvPoint2D32f int double double const CvArr *mask int block_size CV_DEFAULT ( )
CvArr double a CV_DEFAULT ( 1.  )
CvSize CvPoint2D32f int* corner_count int flags CV_DEFAULT ( CV_CALIB_CB_ADAPTIVE_THRESH+  CV_CALIB_CB_NORMALIZE_IMAGE)
CVAPI ( double  ) const
const CvMat const CvMat const CvMat CvMat CvMat CvMat CvMat CvSize CvMat CvMat CvMat* E CvMat* F CvTermCriteria term_crit CV_DEFAULT ( cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 30, 1e-6)  )
const CvMat const CvMat const CvMat CvMat CvMat CvMat CvMat CvSize CvMat CvMat CvMat* E CvMat* F CvTermCriteria term_crit int flags CV_DEFAULT ( CV_CALIB_FIX_INTRINSIC  )
const CvMat const CvMat const CvMat CvSize const CvMat const CvMat CvMat CvMat CvMat CvMat CvMat* Q int flags CV_DEFAULT ( CV_CALIB_ZERO_DISPARITY  )
int int L int k int type double r int64 seed CV_DEFAULT ( 1)
const CvMat const CvMat CvSize CvMat CvMat double threshold CV_DEFAULT ( )
CVAPI ( CvRect  )
int CvHistogram float float **ranges int uniform CV_DEFAULT ( )

Variable Documentation

double err_prob
double int model_points
double int int max_iters
const CvMat * points2
CvMat const CvMat const CvMat * dist_coeffs
const CvMat const CvMat const CvMat CvSize image_size
uchar int uchar int uchar int float alpha
const CvMat* dst_points
double double * rotMatr
const CvMat* B
const CvMat CvMat* dABdA
const CvMat* _tvec1
const CvMat const CvMat* _rvec2
const CvMat const CvMat const CvMat* _tvec2
const CvMat const CvMat const CvMat CvMat* _rvec3
const CvMat const CvMat const CvMat CvMat CvMat* _tvec3
const CvMat const CvMat const CvMat CvMat * rotation_vector
const CvMat const CvMat const CvMat * npoints
int CvSeq float CvSize2D32f size
const CvMat const CvMat* point_counts
const CvMat const CvMat* image_points2
const CvMat const CvMat const CvMat CvMat* camera_matrix1
const CvMat const CvMat * dist_coeffs1
const CvMat const CvMat const CvMat * dist_coeffs2
const CvMat const CvMat const CvMat CvSize const CvMat * R
const CvMat const CvMat const CvMat CvSize const CvMat const CvMat * T
const CvMat const CvMat const CvMat CvSize const CvMat const CvMat CvMat* R1
const CvMat const CvMat const CvMat CvSize const CvMat const CvMat CvMat CvMat* R2
const CvMat const CvMat const CvMat CvSize const CvMat const CvMat CvMat CvMat CvMat* P1
const CvMat const CvMat const CvMat CvSize const CvMat const CvMat CvMat CvMat CvMat CvMat* P2
const CvMat const CvMat* F
const CvMat const CvMat CvSize img_size
const CvMat const CvMat CvSize CvMat* H1
const CvMat const CvMat CvSize CvMat CvMat* H2
const CvArr * right
const CvArr int minDisparity
const CvArr int int numberOfDisparities
CvRect int int int SADWindowSize
const CvArr* cost
int maxIters
CvArr const CvMat* Q