43 #ifndef __OPENCV_CALIB3D_HPP__
44 #define __OPENCV_CALIB3D_HPP__
79 #define CV_FM_7POINT 1
80 #define CV_FM_8POINT 2
85 #define CV_FM_LMEDS_ONLY CV_LMEDS
86 #define CV_FM_RANSAC_ONLY CV_RANSAC
87 #define CV_FM_LMEDS CV_LMEDS
88 #define CV_FM_RANSAC CV_RANSAC
106 CVAPI(
void) cvComputeCorrespondEpilines( const
CvMat* points,
108 const
CvMat* fundamental_matrix,
130 CvRect* valid_pixel_ROI CV_DEFAULT(0),
131 int center_principal_point CV_DEFAULT(0));
135 CvMat* jacobian CV_DEFAULT(0) );
138 CVAPI(
int) cvFindHomography( const
CvMat* src_points,
142 double ransacReprojThreshold CV_DEFAULT(3),
147 CvMat *matrixQx CV_DEFAULT(NULL),
148 CvMat *matrixQy CV_DEFAULT(NULL),
149 CvMat *matrixQz CV_DEFAULT(NULL),
155 CvMat *rotMatrX CV_DEFAULT(NULL),
156 CvMat *rotMatrY CV_DEFAULT(NULL),
157 CvMat *rotMatrZ CV_DEFAULT(NULL),
168 CvMat* dr3dr1 CV_DEFAULT(0),
CvMat* dr3dt1 CV_DEFAULT(0),
169 CvMat* dr3dr2 CV_DEFAULT(0),
CvMat* dr3dt2 CV_DEFAULT(0),
170 CvMat* dt3dr1 CV_DEFAULT(0),
CvMat* dt3dt1 CV_DEFAULT(0),
171 CvMat* dt3dr2 CV_DEFAULT(0),
CvMat* dt3dt2 CV_DEFAULT(0) );
176 const
CvMat* translation_vector, const
CvMat* camera_matrix,
178 CvMat* dpdrot CV_DEFAULT(NULL),
CvMat* dpdt CV_DEFAULT(NULL),
179 CvMat* dpdf CV_DEFAULT(NULL),
CvMat* dpdc CV_DEFAULT(NULL),
180 CvMat* dpddist CV_DEFAULT(NULL),
181 double aspect_ratio CV_DEFAULT(0));
185 CVAPI(
void) cvFindExtrinsicCameraParams2( const
CvMat* object_points,
186 const
CvMat* image_points,
187 const
CvMat* camera_matrix,
188 const
CvMat* distortion_coeffs,
189 CvMat* rotation_vector,
190 CvMat* translation_vector,
191 int use_extrinsic_guess CV_DEFAULT(0) );
195 CVAPI(
void) cvInitIntrinsicParams2D( const
CvMat* object_points,
198 CvMat* camera_matrix,
199 double aspect_ratio CV_DEFAULT(1.) );
201 #define CV_CALIB_CB_ADAPTIVE_THRESH 1
202 #define CV_CALIB_CB_NORMALIZE_IMAGE 2
203 #define CV_CALIB_CB_FILTER_QUADS 4
204 #define CV_CALIB_CB_FAST_CHECK 8
218 int flags CV_DEFAULT(CV_CALIB_CB_ADAPTIVE_THRESH+CV_CALIB_CB_NORMALIZE_IMAGE) );
225 #define CV_CALIB_USE_INTRINSIC_GUESS 1
226 #define CV_CALIB_FIX_ASPECT_RATIO 2
227 #define CV_CALIB_FIX_PRINCIPAL_POINT 4
228 #define CV_CALIB_ZERO_TANGENT_DIST 8
229 #define CV_CALIB_FIX_FOCAL_LENGTH 16
230 #define CV_CALIB_FIX_K1 32
231 #define CV_CALIB_FIX_K2 64
232 #define CV_CALIB_FIX_K3 128
233 #define CV_CALIB_FIX_K4 2048
234 #define CV_CALIB_FIX_K5 4096
235 #define CV_CALIB_FIX_K6 8192
236 #define CV_CALIB_RATIONAL_MODEL 16384
240 CVAPI(
double) cvCalibrateCamera2( const
CvMat* object_points,
244 CvMat* camera_matrix,
245 CvMat* distortion_coeffs,
246 CvMat* rotation_vectors CV_DEFAULT(NULL),
247 CvMat* translation_vectors CV_DEFAULT(NULL),
248 int flags CV_DEFAULT(0),
250 CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,DBL_EPSILON)) );
254 CVAPI(
void) cvCalibrationMatrixValues( const
CvMat *camera_matrix,
256 double aperture_width CV_DEFAULT(0),
257 double aperture_height CV_DEFAULT(0),
258 double *fovx CV_DEFAULT(NULL),
259 double *fovy CV_DEFAULT(NULL),
260 double *focal_length CV_DEFAULT(NULL),
262 double *pixel_aspect_ratio CV_DEFAULT(NULL));
264 #define CV_CALIB_FIX_INTRINSIC 256
265 #define CV_CALIB_SAME_FOCAL_LENGTH 512
275 CvMat* E CV_DEFAULT(0),
CvMat* F CV_DEFAULT(0),
277 CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,1e-6)),
278 int flags CV_DEFAULT(CV_CALIB_FIX_INTRINSIC));
280 #define CV_CALIB_ZERO_DISPARITY 1024
284 CVAPI(
void) cvStereoRectify( const
CvMat* camera_matrix1, const
CvMat* camera_matrix2,
285 const
CvMat* dist_coeffs1, const
CvMat* dist_coeffs2,
289 int flags CV_DEFAULT(CV_CALIB_ZERO_DISPARITY),
290 double alpha CV_DEFAULT(-1),
291 CvSize new_image_size CV_DEFAULT(cvSize(0,0)),
292 CvRect* valid_pix_ROI1 CV_DEFAULT(0),
293 CvRect* valid_pix_ROI2 CV_DEFAULT(0));
306 #define CV_STEREO_BM_NORMALIZED_RESPONSE 0
307 #define CV_STEREO_BM_XSOBEL 1
344 #define CV_STEREO_BM_BASIC 0
345 #define CV_STEREO_BM_FISH_EYE 1
346 #define CV_STEREO_BM_NARROW 2
360 int minDisparity,
int numberOfDisparities,
361 int disp12MaxDiff CV_DEFAULT(1) );
364 CVAPI(
void) cvReprojectImageTo3D( const
CvArr* disparityImage,
366 int handleMissingValues CV_DEFAULT(0) );
379 bool completeSymmFlag=
false );
383 bool completeSymmFlag=
false );
385 bool updateAlt(
const CvMat*& param,
CvMat*& JtJ,
CvMat*& JtErr,
double*& errNorm );
389 enum { DONE=0, STARTED=1, CALC_J=2, CHECK_ERR=3 };
423 int method=0,
double ransacReprojThreshold=3,
464 double aspectRatio=0 );
485 bool useExtrinsicGuess =
false,
486 int iterationsCount = 100,
487 float reprojectionError = 8.0,
488 int minInliersCount = 100,
518 const Ptr<FeatureDetector> &blobDetector =
new SimpleBlobDetector());
551 int flags=0, TermCriteria criteria = TermCriteria(
557 double apertureWidth,
558 double apertureHeight,
561 CV_OUT
double& focalLength,
562 CV_OUT
Point2d& principalPoint,
563 CV_OUT
double& aspectRatio );
586 double alpha=-1,
Size newImageSize=
Size(),
587 CV_OUT
Rect* validPixROI1=0, CV_OUT
Rect* validPixROI2=0 );
610 CV_OUT
Rect* validPixROI=0,
bool centerPrincipalPoint=
false);
663 enum { PREFILTER_NORMALIZED_RESPONSE = 0, PREFILTER_XSOBEL = 1,
664 BASIC_PRESET=0, FISH_EYE_PRESET=1, NARROW_PRESET=2 };
671 void init(
int preset,
int ndisparities=0,
int SADWindowSize=21);
692 CV_WRAP StereoSGBM();
696 int P1=0,
int P2=0,
int disp12MaxDiff=0,
697 int preFilterCap=0,
int uniquenessRatio=0,
698 int speckleWindowSize=0,
int speckleRange=0,
701 virtual ~StereoSGBM();
707 CV_PROP_RW
int minDisparity;
709 CV_PROP_RW
int SADWindowSize;
710 CV_PROP_RW
int preFilterCap;
711 CV_PROP_RW
int uniquenessRatio;
714 CV_PROP_RW
int speckleWindowSize;
715 CV_PROP_RW
int speckleRange;
716 CV_PROP_RW
int disp12MaxDiff;
717 CV_PROP_RW
bool fullDP;
729 int minDisparity,
int numberOfDisparities,
734 int minDisparity,
int numberOfDisparities,
735 int disp12MaxDisp=1 );
740 bool handleMissingValues=
false,
745 double ransacThreshold=3,
double confidence=0.99);
const CvMat const CvMat const CvMat CvMat CvMat CvMat * camera_matrix2
Definition: calib3d.hpp:270
Definition: calib3d.hpp:93
Definition: calib3d.hpp:92
Definition: calib3d.hpp:471
const CvArr CvArr CvArr const CvPoint2D32f CvPoint2D32f int CvSize int char * status
Definition: tracking.hpp:73
const CvMat const CvMat CvSize CvMat CvMat * H2
Definition: calib3d.hpp:297
const _OutputArray & OutputArray
Definition: core.hpp:1449
const CvMat CvMat CvMat * dABdB
Definition: calib3d.hpp:161
const CvMat const CvMat const CvMat CvSize const CvMat const CvMat CvMat CvMat * R2
Definition: calib3d.hpp:284
CvMat * projMatr2
Definition: calib3d.hpp:113
Definition: calib3d.hpp:373
CV_EXPORTS_W Rect 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::st...
CvMat CvMat * projPoints1
Definition: calib3d.hpp:113
least-median algorithm
Definition: calib3d.hpp:626
int preFilterCap
Definition: calib3d.hpp:315
Definition: calib3d.hpp:94
CV_EXPORTS_W Mat findHomography(InputArray srcPoints, InputArray dstPoints, int method=0, double ransacReprojThreshold=3, OutputArray mask=noArray())
computes the best-fit perspective transformation mapping srcPoints to dstPoints.
int lambdaLg10
Definition: calib3d.hpp:402
CV_EXPORTS_W bool 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 void 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 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 th...
CvMat CvMat CvMat * new_points1
Definition: calib3d.hpp:117
const CvMat CvMat int method CV_DEFAULT(CV_FM_RANSAC)
void delete_obj()
deletes the object. Override if needed
Definition: operations.hpp:2612
Definition: calib3d.hpp:534
CV_EXPORTS_W void computeCorrespondEpilines(InputArray points, int whichImage, InputArray F, OutputArray lines)
finds coordinates of epipolar lines corresponding the specified points
CvArr * _3dImage
Definition: calib3d.hpp:365
CvRect roi1
Definition: calib3d.hpp:333
Size2i Size
Definition: core.hpp:896
CvMat * calibMatr
Definition: calib3d.hpp:153
Block Matching Stereo Correspondence Algorithm.
Definition: calib3d.hpp:660
const CvMat const CvMat const CvMat CvMat CvMat * _tvec3
Definition: calib3d.hpp:165
CV_EXPORTS_W void drawChessboardCorners(InputOutputArray image, Size patternSize, InputArray corners, bool patternWasFound)
draws the checkerboard pattern (found or partly found) in the image
Definition: types_c.h:951
Definition: types_c.h:1138
const CvMat const CvMat const CvMat CvMat * camera_matrix1
Definition: calib3d.hpp:270
InputArray InputArrayOfArrays
Definition: core.hpp:1448
cv::Ptr< CvMat > JtJN
Definition: calib3d.hpp:397
RANSAC algorithm.
Definition: calib3d.hpp:627
GLuint src
Definition: core_c.h:1650
Definition: calib3d.hpp:538
CV_EXPORTS_W Mat 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
int int int flags
Definition: highgui_c.h:186
const CvMat const CvMat const CvMat CvMat * _rvec3
Definition: calib3d.hpp:165
CvMat * disp
Definition: calib3d.hpp:341
int preFilterSize
Definition: calib3d.hpp:314
Definition: calib3d.hpp:539
const CvMat CvMat * fundamental_matrix
Definition: calib3d.hpp:97
const CvMat * _tvec1
Definition: calib3d.hpp:165
int trySmallerWindows
Definition: calib3d.hpp:331
Definition: calib3d.hpp:689
cv::Ptr< CvMat > JtJW
Definition: calib3d.hpp:400
const CvMat const CvMat const CvMat CvMat CvMat CvMat CvMat CvSize CvMat CvMat * T
Definition: calib3d.hpp:270
Definition: calib3d.hpp:512
CvMat CvMat CvMat * projPoints2
Definition: calib3d.hpp:113
int CvSize CvPoint2D32f CvPoint2D32f * imagePoints2
Definition: legacy.hpp:581
CV_EXPORTS_W void Rodrigues(InputArray src, OutputArray dst, OutputArray jacobian=noArray())
converts rotation vector to rotation matrix or vice versa using Rodrigues transformation ...
GLenum GLsizei GLenum GLenum const GLvoid * image
Definition: highgui_c.h:230
CV_INLINE CvSize cvSize(int width, int height)
Definition: types_c.h:1145
void int step
Definition: core_c.h:403
const CvArr CvArr int method
Definition: imgproc_c.h:281
CV_EXPORTS_W float 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 lin...
Semi-Global Block Matching Stereo Correspondence Algorithm.
Definition: calib3d.hpp:686
void clear(const ColorA &color=ColorA::black(), bool clearDepthBuffer=true)
const CvMat const CvMat const CvMat CvSize const CvMat const CvMat CvMat * R1
Definition: calib3d.hpp:284
int uniquenessRatio
Definition: calib3d.hpp:325
typedef void(CV_CDECL *CvMouseCallback)(int event
const CvMat const CvMat const CvMat CvMat CvMat * dist_coeffs1
Definition: calib3d.hpp:270
Definition: calib3d.hpp:530
CV_EXPORTS_W void convertPointsFromHomogeneous(InputArray src, OutputArray dst)
converts point coordinates from homogeneous to normal pixel coordinates ((x,y,z)->(x/z, y/z))
CV_INLINE CvTermCriteria cvTermCriteria(int type, int max_iter, double epsilon)
Definition: types_c.h:1007
int state
Definition: calib3d.hpp:404
CvPoint2D32f double CvTermCriteria criteria
Definition: calib3d.hpp:65
CvMat * slidingSumBuf
Definition: calib3d.hpp:339
CvPoint2D32f * image_points
Definition: calib3d.hpp:65
int preFilterType
Definition: calib3d.hpp:313
GLint GLvoid * img
Definition: legacy.hpp:1150
const CvMat * points2
Definition: calib3d.hpp:97
CvMat * cost
Definition: calib3d.hpp:340
int which_image
Definition: calib3d.hpp:107
const CvMat * dist_coeffs
Definition: calib3d.hpp:126
double int int max_iters
Definition: calib3d.hpp:73
bool completeSymmFlag
Definition: calib3d.hpp:406
const CvMat const CvMat * image_points2
Definition: calib3d.hpp:270
CV_EXPORTS_W int estimateAffine3D(InputArray src, InputArray dst, OutputArray out, OutputArray inliers, double ransacThreshold=3, double confidence=0.99)
Definition: calib3d.hpp:310
int disp12MaxDiff
Definition: calib3d.hpp:334
Definition: calib3d.hpp:498
const _InputArray & InputArray
Definition: core.hpp:1447
cv::Ptr< CvMat > param
Definition: calib3d.hpp:393
least-median algorithm
Definition: calib3d.hpp:417
struct CvStereoBMState CvStereoBMState
CV_EXPORTS_W void 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 void convertPointsHomogeneous(InputArray src, OutputArray dst)
for backward compatibility
the desired accuracy or change in parameters at which the iterative algorithm stops ...
Definition: core.hpp:2098
int const CvMat CvMat * correspondent_lines
Definition: calib3d.hpp:107
Definition: calib3d.hpp:526
CvArr const CvMat * Q
Definition: calib3d.hpp:365
const CvMat * rotation_vector
Definition: calib3d.hpp:175
Definition: calib3d.hpp:497
CvMat CvMat * matrixQ
Definition: calib3d.hpp:146
GLclampf GLclampf GLclampf alpha
Definition: core_c.h:687
CV_EXPORTS_W bool findCirclesGridDefault(InputArray image, Size patternSize, OutputArray centers, int flags=CALIB_CB_SYMMETRIC_GRID)
the deprecated function. Use findCirclesGrid() instead of it.
const CvMat const CvMat const CvMat CvMat CvMat CvMat CvMat CvSize CvMat * R
Definition: calib3d.hpp:270
CvMat CvMat CvMat * posVect
Definition: calib3d.hpp:153
double int model_points
Definition: calib3d.hpp:73
cv::Ptr< CvMat > mask
Definition: calib3d.hpp:391
CVAPI(CvPOSITObject *) cvCreatePOSITObject(CvPoint3D32f *points
CV_EXPORTS_W void 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...
const CvMat const CvMat const CvMat CvSize const CvMat const CvMat CvMat CvMat CvMat * P1
Definition: calib3d.hpp:284
CvArr int CvScalar param1
Definition: core_c.h:649
const CvMat const CvMat * point_counts
Definition: calib3d.hpp:241
cv::Ptr< CvMat > JtJV
Definition: calib3d.hpp:399
int minDisparity
Definition: calib3d.hpp:319
cv::Ptr< CvMat > JtJ
Definition: calib3d.hpp:396
void CvArr
Definition: types_c.h:196
GLuint GLuint GLsizei count
Definition: core_c.h:973
const CvMat CvSize double CvMat * new_camera_matrix
Definition: calib3d.hpp:126
CvRect int int numberOfDisparities
Definition: calib3d.hpp:356
Definition: calib3d.hpp:470
CV_EXPORTS_W void 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 co...
cv::Ptr< CvMat > J
Definition: calib3d.hpp:394
const CvMat const CvMat const CvMat const CvMat * distortion_coeffs
Definition: calib3d.hpp:175
int numberOfDisparities
Definition: calib3d.hpp:320
CV_EXPORTS_W bool 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 assum...
const CvMat * image_points1
Definition: calib3d.hpp:270
CV_EXPORTS_W bool solvePnP(InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false, int flags=ITERATIVE)
CV_EXPORTS_W void 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 pos...
const CvMat CvMat * dABdA
Definition: calib3d.hpp:161
OutputArray OutputArrayOfArrays
Definition: core.hpp:1450
Definition: types_c.h:645
CvRect int int int SADWindowSize
Definition: calib3d.hpp:356
CV_EXPORTS_W double threshold(InputArray src, OutputArray dst, double thresh, double maxval, int type)
applies fixed threshold to the image
int CvSize CvPoint2D32f * imagePoints1
Definition: legacy.hpp:581
Definition: calib3d.hpp:512
the maximum number of iterations or elements to compute
Definition: core.hpp:2096
const CvMat CvMat * homography
Definition: calib3d.hpp:139
The n-dimensional matrix class.
Definition: core.hpp:1688
Definition: calib3d.hpp:541
CV_EXPORTS_W Mat 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
CvPoint2D32f double CvTermCriteria float float * translation_vector
Definition: calib3d.hpp:65
GLint GLenum GLsizei GLsizei GLsizei GLint GLsizei imageSize
Definition: legacy.hpp:631
Definition: types_c.h:465
Definition: calib3d.hpp:528
Definition: types_c.h:997
OutputArray InputOutputArray
Definition: core.hpp:1451
Definition: calib3d.hpp:535
int CvSize CvPoint2D32f CvPoint2D32f CvPoint3D32f * objectPoints
Definition: legacy.hpp:581
struct CvPOSITObject CvPOSITObject
Definition: calib3d.hpp:57
CvSize CvPoint2D32f * corners
Definition: calib3d.hpp:215
int SADWindowSize
Definition: calib3d.hpp:318
Definition: calib3d.hpp:536
int point_count
Definition: calib3d.hpp:60
CV_EXPORTS_W double 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
CvMat * preFilteredImg1
Definition: calib3d.hpp:338
CV_EXPORTS bool find4QuadCornerSubpix(InputArray img, InputOutputArray corners, Size region_size)
finds subpixel-accurate positions of the chessboard corners
CvSize pattern_size
Definition: calib3d.hpp:215
CV_EXPORTS_W void 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 vecto...
const CvMat const CvMat * _rvec2
Definition: calib3d.hpp:165
CvMat * matrixR
Definition: calib3d.hpp:146
CV_EXPORTS_W void convertPointsToHomogeneous(InputArray src, OutputArray dst)
converts point coordinates from normal pixel coordinates to homogeneous coordinates ((x...
double threshold
Definition: imgproc_c.h:463
int speckleWindowSize
Definition: calib3d.hpp:328
CvPoint2D32f double focal_length
Definition: calib3d.hpp:65
Definition: calib3d.hpp:531
const CvMat * dst_points
Definition: calib3d.hpp:139
Definition: calib3d.hpp:533
const CvMat const CvMat * F
Definition: calib3d.hpp:297
double prevErrNorm
Definition: calib3d.hpp:401
const CvArr CvArr * disparity
Definition: calib3d.hpp:353
CvMat CvMat CvMat CvMat * new_points2
Definition: calib3d.hpp:117
CvArr int CvScalar CvScalar param2
Definition: core_c.h:649
const CvMat CvSize image_size
Definition: calib3d.hpp:126
CV_EXPORTS_W void 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 parame...
CvRect int minDisparity
Definition: calib3d.hpp:356
7-point algorithm
Definition: calib3d.hpp:624
CV_EXPORTS_W void 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 o...
GLuint dst
Definition: calib3d.hpp:134
Definition: calib3d.hpp:532
const CvMat const CvMat CvSize img_size
Definition: calib3d.hpp:297
false
Definition: color.hpp:230
CvPoint2D32f double CvTermCriteria float * rotation_matrix
Definition: calib3d.hpp:65
cv::Ptr< CvMat > prevParam
Definition: calib3d.hpp:392
const CvMat const CvMat const CvMat * _tvec2
Definition: calib3d.hpp:165
GLsizei const GLfloat * points
int iters
Definition: calib3d.hpp:405
int textureThreshold
Definition: calib3d.hpp:323
Definition: types_c.h:1075
CV_EXPORTS_W void correctMatches(InputArray F, InputArray points1, InputArray points2, OutputArray newPoints1, OutputArray newPoints2)
const CvArr CvArr CvStereoBMState * state
Definition: calib3d.hpp:353
const CvArr * cost
Definition: calib3d.hpp:359
const CvMat * B
Definition: calib3d.hpp:161
CvMat * points1
Definition: calib3d.hpp:117
CvRect roi2
Definition: calib3d.hpp:333
CV_EXPORTS_W bool 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
int speckleRange
Definition: calib3d.hpp:329
CvSize CvPoint2D32f int int pattern_was_found
Definition: calib3d.hpp:221
CV_EXPORTS_W double 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...
Definition: calib3d.hpp:513
cv::Ptr< CvMat > err
Definition: calib3d.hpp:395
Definition: types_c.h:1040
CV_EXPORTS OutputArray noArray()
CV_EXPORTS_W Mat initCameraMatrix2D(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size imageSize, double aspectRatio=1.)
initializes camera matrix from a few 3D points and the corresponding projections. ...
8-point algorithm
Definition: calib3d.hpp:625
const CvMat const CvMat const CvMat CvMat CvMat CvMat CvMat * dist_coeffs2
Definition: calib3d.hpp:270
const CvMat const CvMat const CvMat CvSize const CvMat const CvMat CvMat CvMat CvMat CvMat * P2
Definition: calib3d.hpp:284
Definition: calib3d.hpp:525
CvMat * preFilteredImg0
Definition: calib3d.hpp:337
double err_prob
Definition: calib3d.hpp:73
GLenum GLint GLuint mask
Definition: tracking.hpp:132
cv::Ptr< CvMat > JtErr
Definition: calib3d.hpp:398
CvPoint3D64f double double * transVect
Definition: legacy.hpp:570
const CvMat const CvMat const CvMat * camera_matrix
Definition: calib3d.hpp:175
const CvMat const CvMat CvSize CvMat * H1
Definition: calib3d.hpp:297
const CvMat const CvMat * npoints
Definition: calib3d.hpp:196
CvMat CvMat CvMat CvMat * points4D
Definition: calib3d.hpp:113
RANSAC algorithm.
Definition: calib3d.hpp:418
CvMat CvMat * rotMatr
Definition: calib3d.hpp:153
Point_< double > Point2d
Definition: core.hpp:899
GLsizeiptr size
Definition: core_c.h:939
Definition: calib3d.hpp:527
Proxy datatype for passing Mat's and vector<>'s as input parameters.
Definition: core.hpp:1400
CvTermCriteria criteria
Definition: calib3d.hpp:403
Definition: types_c.h:1115
Definition: calib3d.hpp:529
Rect_< int > Rect
Definition: core.hpp:897
CV_EXPORTS_W Vec3d 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 triangulatePoints(InputArray projMatr1, InputArray projMatr2, InputArray projPoints1, InputArray projPoints2, OutputArray points4D)
Definition: calib3d.hpp:497
Definition: calib3d.hpp:469
CV_EXPORTS_W void filterSpeckles(InputOutputArray img, double newVal, int maxSpeckleSize, double maxDiff, InputOutputArray buf=noArray())
filters off speckles (small regions of incorrectly computed disparity)
Definition: calib3d.hpp:498
CvRect roi2
Definition: calib3d.hpp:356
Definition: types_c.h:1096
CvArr CvArr CvPoint2D32f int * corner_count
Definition: imgproc_c.h:587