OpenCV  3.3.0-dev
Open Source Computer Vision
Classes | Macros | Typedefs | Enumerations | Functions
C API
Camera Calibration and 3D Reconstruction

Classes

struct  CvStereoBMState
 

Macros

#define CV_CALIB_CB_ADAPTIVE_THRESH   1
 
#define CV_CALIB_CB_FAST_CHECK   8
 
#define CV_CALIB_CB_FILTER_QUADS   4
 
#define CV_CALIB_CB_NORMALIZE_IMAGE   2
 
#define CV_CALIB_FIX_ASPECT_RATIO   2
 
#define CV_CALIB_FIX_FOCAL_LENGTH   16
 
#define CV_CALIB_FIX_INTRINSIC   256
 
#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_FIX_PRINCIPAL_POINT   4
 
#define CV_CALIB_FIX_S1_S2_S3_S4   65536
 
#define CV_CALIB_FIX_TANGENT_DIST   2097152
 
#define CV_CALIB_FIX_TAUX_TAUY   524288
 
#define CV_CALIB_NINTRINSIC   18
 
#define CV_CALIB_RATIONAL_MODEL   16384
 
#define CV_CALIB_SAME_FOCAL_LENGTH   512
 
#define CV_CALIB_THIN_PRISM_MODEL   32768
 
#define CV_CALIB_TILTED_MODEL   262144
 
#define CV_CALIB_USE_INTRINSIC_GUESS   1
 
#define CV_CALIB_ZERO_DISPARITY   1024
 
#define CV_CALIB_ZERO_TANGENT_DIST   8
 
#define CV_FM_7POINT   1
 
#define CV_FM_8POINT   2
 
#define CV_FM_LMEDS   CV_LMEDS
 
#define CV_FM_LMEDS_ONLY   CV_LMEDS
 
#define CV_FM_RANSAC   CV_RANSAC
 
#define CV_FM_RANSAC_ONLY   CV_RANSAC
 
#define CV_LMEDS   4
 
#define CV_RANSAC   8
 
#define CV_STEREO_BM_BASIC   0
 
#define CV_STEREO_BM_FISH_EYE   1
 
#define CV_STEREO_BM_NARROW   2
 
#define CV_STEREO_BM_NORMALIZED_RESPONSE   0
 
#define CV_STEREO_BM_XSOBEL   1
 

Typedefs

typedef struct CvPOSITObject CvPOSITObject
 

Enumerations

enum  {
  CV_ITERATIVE = 0,
  CV_EPNP = 1,
  CV_P3P = 2,
  CV_DLS = 3
}
 

Functions

void cvCalcMatMulDeriv (const CvMat *A, const CvMat *B, CvMat *dABdA, CvMat *dABdB)
 
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=NULL, CvMat *translation_vectors=NULL, int flags=0, CvTermCriteria term_crit=cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 30, DBL_EPSILON))
 
void cvCalibrationMatrixValues (const CvMat *camera_matrix, CvSize image_size, double aperture_width=0, double aperture_height=0, double *fovx=NULL, double *fovy=NULL, double *focal_length=NULL, CvPoint2D64f *principal_point=NULL, double *pixel_aspect_ratio=NULL)
 
int cvCheckChessboard (IplImage *src, CvSize size)
 
void cvComposeRT (const CvMat *_rvec1, const CvMat *_tvec1, const CvMat *_rvec2, const CvMat *_tvec2, CvMat *_rvec3, CvMat *_tvec3, CvMat *dr3dr1=0, CvMat *dr3dt1=0, CvMat *dr3dr2=0, CvMat *dr3dt2=0, CvMat *dt3dr1=0, CvMat *dt3dt1=0, CvMat *dt3dr2=0, CvMat *dt3dt2=0)
 
void cvComputeCorrespondEpilines (const CvMat *points, int which_image, const CvMat *fundamental_matrix, CvMat *correspondent_lines)
 
void cvConvertPointsHomogeneous (const CvMat *src, CvMat *dst)
 
void cvCorrectMatches (CvMat *F, CvMat *points1, CvMat *points2, CvMat *new_points1, CvMat *new_points2)
 
CvPOSITObject * cvCreatePOSITObject (CvPoint3D32f *points, int point_count)
 
CvStereoBMState * cvCreateStereoBMState (int preset=0, int numberOfDisparities=0)
 
void cvDecomposeProjectionMatrix (const CvMat *projMatr, CvMat *calibMatr, CvMat *rotMatr, CvMat *posVect, CvMat *rotMatrX=NULL, CvMat *rotMatrY=NULL, CvMat *rotMatrZ=NULL, CvPoint3D64f *eulerAngles=NULL)
 
void cvDrawChessboardCorners (CvArr *image, CvSize pattern_size, CvPoint2D32f *corners, int count, int pattern_was_found)
 
int cvFindChessboardCorners (const void *image, CvSize pattern_size, CvPoint2D32f *corners, int *corner_count=NULL, int flags=1+2)
 
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=0)
 
int cvFindFundamentalMat (const CvMat *points1, const CvMat *points2, CvMat *fundamental_matrix, int method=8, double param1=3., double param2=0.99, CvMat *status=NULL)
 
int cvFindHomography (const CvMat *src_points, const CvMat *dst_points, CvMat *homography, int method=0, double ransacReprojThreshold=3, CvMat *mask=0, int maxIters=2000, double confidence=0.995)
 
void cvFindStereoCorrespondenceBM (const CvArr *left, const CvArr *right, CvArr *disparity, CvStereoBMState *state)
 
void cvGetOptimalNewCameraMatrix (const CvMat *camera_matrix, const CvMat *dist_coeffs, CvSize image_size, double alpha, CvMat *new_camera_matrix, CvSize new_imag_size=cvSize(0, 0), CvRect *valid_pixel_ROI=0, int center_principal_point=0)
 
CvRect cvGetValidDisparityROI (CvRect roi1, CvRect roi2, int minDisparity, int numberOfDisparities, int SADWindowSize)
 
void cvInitIntrinsicParams2D (const CvMat *object_points, const CvMat *image_points, const CvMat *npoints, CvSize image_size, CvMat *camera_matrix, double aspect_ratio=1.)
 
void cvPOSIT (CvPOSITObject *posit_object, CvPoint2D32f *image_points, double focal_length, CvTermCriteria criteria, float *rotation_matrix, float *translation_vector)
 
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=NULL, CvMat *dpdt=NULL, CvMat *dpdf=NULL, CvMat *dpdc=NULL, CvMat *dpddist=NULL, double aspect_ratio=0)
 
int cvRANSACUpdateNumIters (double p, double err_prob, int model_points, int max_iters)
 
void cvReleasePOSITObject (CvPOSITObject **posit_object)
 
void cvReleaseStereoBMState (CvStereoBMState **state)
 
void cvReprojectImageTo3D (const CvArr *disparityImage, CvArr *_3dImage, const CvMat *Q, int handleMissingValues=0)
 
int cvRodrigues2 (const CvMat *src, CvMat *dst, CvMat *jacobian=0)
 
void cvRQDecomp3x3 (const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ, CvMat *matrixQx=NULL, CvMat *matrixQy=NULL, CvMat *matrixQz=NULL, CvPoint3D64f *eulerAngles=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=0, CvMat *F=0, int flags=256, CvTermCriteria term_crit=cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 30, 1e-6))
 
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=0, int flags=1024, double alpha=-1, CvSize new_image_size=cvSize(0, 0), CvRect *valid_pix_ROI1=0, CvRect *valid_pix_ROI2=0)
 
int cvStereoRectifyUncalibrated (const CvMat *points1, const CvMat *points2, const CvMat *F, CvSize img_size, CvMat *H1, CvMat *H2, double threshold=5)
 
void cvTriangulatePoints (CvMat *projMatr1, CvMat *projMatr2, CvMat *projPoints1, CvMat *projPoints2, CvMat *points4D)
 
void cvValidateDisparity (CvArr *disparity, const CvArr *cost, int minDisparity, int numberOfDisparities, int disp12MaxDiff=1)
 

Detailed Description

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_FIX_S1_S2_S3_S4

#define CV_CALIB_FIX_S1_S2_S3_S4   65536

◆ CV_CALIB_FIX_TANGENT_DIST

#define CV_CALIB_FIX_TANGENT_DIST   2097152

◆ CV_CALIB_FIX_TAUX_TAUY

#define CV_CALIB_FIX_TAUX_TAUY   524288

◆ CV_CALIB_NINTRINSIC

#define CV_CALIB_NINTRINSIC   18

◆ CV_CALIB_RATIONAL_MODEL

#define CV_CALIB_RATIONAL_MODEL   16384

◆ CV_CALIB_SAME_FOCAL_LENGTH

#define CV_CALIB_SAME_FOCAL_LENGTH   512

◆ CV_CALIB_THIN_PRISM_MODEL

#define CV_CALIB_THIN_PRISM_MODEL   32768

◆ CV_CALIB_TILTED_MODEL

#define CV_CALIB_TILTED_MODEL   262144

◆ 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 
CV_DLS 

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 = NULL,
CvMat *  translation_vectors = NULL,
int  flags = 0,
CvTermCriteria  term_crit = cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 30, DBL_EPSILON) 
)

◆ cvCalibrationMatrixValues()

void cvCalibrationMatrixValues ( const CvMat *  camera_matrix,
CvSize  image_size,
double  aperture_width = 0,
double  aperture_height = 0,
double *  fovx = NULL,
double *  fovy = NULL,
double *  focal_length = NULL,
CvPoint2D64f *  principal_point = NULL,
double *  pixel_aspect_ratio = NULL 
)

◆ 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 = 0,
CvMat *  dr3dt1 = 0,
CvMat *  dr3dr2 = 0,
CvMat *  dr3dt2 = 0,
CvMat *  dt3dr1 = 0,
CvMat *  dt3dt1 = 0,
CvMat *  dt3dr2 = 0,
CvMat *  dt3dt2 = 0 
)

◆ 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 = 0,
int  numberOfDisparities = 0 
)

◆ cvDecomposeProjectionMatrix()

void cvDecomposeProjectionMatrix ( const CvMat *  projMatr,
CvMat *  calibMatr,
CvMat *  rotMatr,
CvMat *  posVect,
CvMat *  rotMatrX = NULL,
CvMat *  rotMatrY = NULL,
CvMat *  rotMatrZ = NULL,
CvPoint3D64f *  eulerAngles = NULL 
)

◆ 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 = NULL,
int  flags = 1+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 = 0 
)

◆ cvFindFundamentalMat()

int cvFindFundamentalMat ( const CvMat *  points1,
const CvMat *  points2,
CvMat *  fundamental_matrix,
int  method = 8,
double  param1 = 3.,
double  param2 = 0.99,
CvMat *  status = NULL 
)

◆ cvFindHomography()

int cvFindHomography ( const CvMat *  src_points,
const CvMat *  dst_points,
CvMat *  homography,
int  method = 0,
double  ransacReprojThreshold = 3,
CvMat *  mask = 0,
int  maxIters = 2000,
double  confidence = 0.995 
)

◆ 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 = cvSize(0, 0),
CvRect *  valid_pixel_ROI = 0,
int  center_principal_point = 0 
)

◆ 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 = 1. 
)

◆ 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 = NULL,
CvMat *  dpdt = NULL,
CvMat *  dpdf = NULL,
CvMat *  dpdc = NULL,
CvMat *  dpddist = NULL,
double  aspect_ratio = 0 
)

◆ 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 = 0 
)

◆ cvRodrigues2()

int cvRodrigues2 ( const CvMat *  src,
CvMat *  dst,
CvMat *  jacobian = 0 
)

◆ cvRQDecomp3x3()

void cvRQDecomp3x3 ( const CvMat *  matrixM,
CvMat *  matrixR,
CvMat *  matrixQ,
CvMat *  matrixQx = NULL,
CvMat *  matrixQy = NULL,
CvMat *  matrixQz = NULL,
CvPoint3D64f *  eulerAngles = NULL 
)

◆ 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 = 0,
CvMat *  F = 0,
int  flags = 256,
CvTermCriteria  term_crit = cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 30, 1e-6) 
)

◆ 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 = 0,
int  flags = 1024,
double  alpha = -1,
CvSize  new_image_size = cvSize(0, 0),
CvRect *  valid_pix_ROI1 = 0,
CvRect *  valid_pix_ROI2 = 0 
)

◆ cvStereoRectifyUncalibrated()

int cvStereoRectifyUncalibrated ( const CvMat *  points1,
const CvMat *  points2,
const CvMat *  F,
CvSize  img_size,
CvMat *  H1,
CvMat *  H2,
double  threshold = 5 
)

◆ 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 = 1 
)
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