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- <pre>public class <span class="typeNameLabel">Calib3d</span>
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- <td class="colFirst"><code>static int</code></td>
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- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_CB_ADAPTIVE_THRESH">CALIB_CB_ADAPTIVE_THRESH</a></span></code> </td>
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- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_CB_ASYMMETRIC_GRID">CALIB_CB_ASYMMETRIC_GRID</a></span></code> </td>
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- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_CB_CLUSTERING">CALIB_CB_CLUSTERING</a></span></code> </td>
- </tr>
- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_CB_EXHAUSTIVE">CALIB_CB_EXHAUSTIVE</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_CB_FAST_CHECK">CALIB_CB_FAST_CHECK</a></span></code> </td>
- </tr>
- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_CB_FILTER_QUADS">CALIB_CB_FILTER_QUADS</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_CB_LARGER">CALIB_CB_LARGER</a></span></code> </td>
- </tr>
- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_CB_MARKER">CALIB_CB_MARKER</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_CB_NORMALIZE_IMAGE">CALIB_CB_NORMALIZE_IMAGE</a></span></code> </td>
- </tr>
- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_CB_SYMMETRIC_GRID">CALIB_CB_SYMMETRIC_GRID</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_FIX_ASPECT_RATIO">CALIB_FIX_ASPECT_RATIO</a></span></code> </td>
- </tr>
- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_FIX_FOCAL_LENGTH">CALIB_FIX_FOCAL_LENGTH</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_FIX_INTRINSIC">CALIB_FIX_INTRINSIC</a></span></code> </td>
- </tr>
- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_FIX_K1">CALIB_FIX_K1</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_FIX_K2">CALIB_FIX_K2</a></span></code> </td>
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- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_FIX_K3">CALIB_FIX_K3</a></span></code> </td>
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- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_FIX_K4">CALIB_FIX_K4</a></span></code> </td>
- </tr>
- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_FIX_K5">CALIB_FIX_K5</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_FIX_K6">CALIB_FIX_K6</a></span></code> </td>
- </tr>
- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_FIX_PRINCIPAL_POINT">CALIB_FIX_PRINCIPAL_POINT</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_FIX_S1_S2_S3_S4">CALIB_FIX_S1_S2_S3_S4</a></span></code> </td>
- </tr>
- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_FIX_TANGENT_DIST">CALIB_FIX_TANGENT_DIST</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_FIX_TAUX_TAUY">CALIB_FIX_TAUX_TAUY</a></span></code> </td>
- </tr>
- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_HAND_EYE_ANDREFF">CALIB_HAND_EYE_ANDREFF</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_HAND_EYE_DANIILIDIS">CALIB_HAND_EYE_DANIILIDIS</a></span></code> </td>
- </tr>
- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_HAND_EYE_HORAUD">CALIB_HAND_EYE_HORAUD</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_HAND_EYE_PARK">CALIB_HAND_EYE_PARK</a></span></code> </td>
- </tr>
- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_HAND_EYE_TSAI">CALIB_HAND_EYE_TSAI</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_NINTRINSIC">CALIB_NINTRINSIC</a></span></code> </td>
- </tr>
- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_RATIONAL_MODEL">CALIB_RATIONAL_MODEL</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_ROBOT_WORLD_HAND_EYE_LI">CALIB_ROBOT_WORLD_HAND_EYE_LI</a></span></code> </td>
- </tr>
- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_ROBOT_WORLD_HAND_EYE_SHAH">CALIB_ROBOT_WORLD_HAND_EYE_SHAH</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_SAME_FOCAL_LENGTH">CALIB_SAME_FOCAL_LENGTH</a></span></code> </td>
- </tr>
- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_THIN_PRISM_MODEL">CALIB_THIN_PRISM_MODEL</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_TILTED_MODEL">CALIB_TILTED_MODEL</a></span></code> </td>
- </tr>
- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_USE_EXTRINSIC_GUESS">CALIB_USE_EXTRINSIC_GUESS</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_USE_INTRINSIC_GUESS">CALIB_USE_INTRINSIC_GUESS</a></span></code> </td>
- </tr>
- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_USE_LU">CALIB_USE_LU</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_USE_QR">CALIB_USE_QR</a></span></code> </td>
- </tr>
- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_ZERO_DISPARITY">CALIB_ZERO_DISPARITY</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CALIB_ZERO_TANGENT_DIST">CALIB_ZERO_TANGENT_DIST</a></span></code> </td>
- </tr>
- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CirclesGridFinderParameters_ASYMMETRIC_GRID">CirclesGridFinderParameters_ASYMMETRIC_GRID</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CirclesGridFinderParameters_SYMMETRIC_GRID">CirclesGridFinderParameters_SYMMETRIC_GRID</a></span></code> </td>
- </tr>
- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#COV_POLISHER">COV_POLISHER</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CV_DLS">CV_DLS</a></span></code> </td>
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- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CV_EPNP">CV_EPNP</a></span></code> </td>
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- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CV_ITERATIVE">CV_ITERATIVE</a></span></code> </td>
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- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CV_P3P">CV_P3P</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CvLevMarq_CALC_J">CvLevMarq_CALC_J</a></span></code> </td>
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- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CvLevMarq_CHECK_ERR">CvLevMarq_CHECK_ERR</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CvLevMarq_DONE">CvLevMarq_DONE</a></span></code> </td>
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- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#CvLevMarq_STARTED">CvLevMarq_STARTED</a></span></code> </td>
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- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_CALIB_CHECK_COND">fisheye_CALIB_CHECK_COND</a></span></code> </td>
- </tr>
- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_CALIB_FIX_FOCAL_LENGTH">fisheye_CALIB_FIX_FOCAL_LENGTH</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_CALIB_FIX_INTRINSIC">fisheye_CALIB_FIX_INTRINSIC</a></span></code> </td>
- </tr>
- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_CALIB_FIX_K1">fisheye_CALIB_FIX_K1</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_CALIB_FIX_K2">fisheye_CALIB_FIX_K2</a></span></code> </td>
- </tr>
- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_CALIB_FIX_K3">fisheye_CALIB_FIX_K3</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_CALIB_FIX_K4">fisheye_CALIB_FIX_K4</a></span></code> </td>
- </tr>
- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_CALIB_FIX_PRINCIPAL_POINT">fisheye_CALIB_FIX_PRINCIPAL_POINT</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_CALIB_FIX_SKEW">fisheye_CALIB_FIX_SKEW</a></span></code> </td>
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- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_CALIB_RECOMPUTE_EXTRINSIC">fisheye_CALIB_RECOMPUTE_EXTRINSIC</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_CALIB_USE_INTRINSIC_GUESS">fisheye_CALIB_USE_INTRINSIC_GUESS</a></span></code> </td>
- </tr>
- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_CALIB_ZERO_DISPARITY">fisheye_CALIB_ZERO_DISPARITY</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#FM_7POINT">FM_7POINT</a></span></code> </td>
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- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#FM_8POINT">FM_8POINT</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#FM_LMEDS">FM_LMEDS</a></span></code> </td>
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- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#FM_RANSAC">FM_RANSAC</a></span></code> </td>
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- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#LMEDS">LMEDS</a></span></code> </td>
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- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#LOCAL_OPTIM_GC">LOCAL_OPTIM_GC</a></span></code> </td>
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- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#LOCAL_OPTIM_INNER_AND_ITER_LO">LOCAL_OPTIM_INNER_AND_ITER_LO</a></span></code> </td>
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- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#LOCAL_OPTIM_INNER_LO">LOCAL_OPTIM_INNER_LO</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#LOCAL_OPTIM_NULL">LOCAL_OPTIM_NULL</a></span></code> </td>
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- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#LOCAL_OPTIM_SIGMA">LOCAL_OPTIM_SIGMA</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#LSQ_POLISHER">LSQ_POLISHER</a></span></code> </td>
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- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#MAGSAC">MAGSAC</a></span></code> </td>
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- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#NEIGH_FLANN_KNN">NEIGH_FLANN_KNN</a></span></code> </td>
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- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#NEIGH_FLANN_RADIUS">NEIGH_FLANN_RADIUS</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#NEIGH_GRID">NEIGH_GRID</a></span></code> </td>
- </tr>
- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#NONE_POLISHER">NONE_POLISHER</a></span></code> </td>
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- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#PROJ_SPHERICAL_EQRECT">PROJ_SPHERICAL_EQRECT</a></span></code> </td>
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- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#PROJ_SPHERICAL_ORTHO">PROJ_SPHERICAL_ORTHO</a></span></code> </td>
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- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#RANSAC">RANSAC</a></span></code> </td>
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- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#RHO">RHO</a></span></code> </td>
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- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#SAMPLING_NAPSAC">SAMPLING_NAPSAC</a></span></code> </td>
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- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#SAMPLING_PROGRESSIVE_NAPSAC">SAMPLING_PROGRESSIVE_NAPSAC</a></span></code> </td>
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- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#SAMPLING_PROSAC">SAMPLING_PROSAC</a></span></code> </td>
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- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#SAMPLING_UNIFORM">SAMPLING_UNIFORM</a></span></code> </td>
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- <td class="colFirst"><code>static int</code></td>
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- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#SCORE_METHOD_MAGSAC">SCORE_METHOD_MAGSAC</a></span></code> </td>
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- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#SCORE_METHOD_MSAC">SCORE_METHOD_MSAC</a></span></code> </td>
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- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#SCORE_METHOD_RANSAC">SCORE_METHOD_RANSAC</a></span></code> </td>
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- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#SOLVEPNP_AP3P">SOLVEPNP_AP3P</a></span></code> </td>
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- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#SOLVEPNP_DLS">SOLVEPNP_DLS</a></span></code> </td>
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- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#SOLVEPNP_EPNP">SOLVEPNP_EPNP</a></span></code> </td>
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- <tr class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#SOLVEPNP_IPPE">SOLVEPNP_IPPE</a></span></code> </td>
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- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#SOLVEPNP_IPPE_SQUARE">SOLVEPNP_IPPE_SQUARE</a></span></code> </td>
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- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#SOLVEPNP_ITERATIVE">SOLVEPNP_ITERATIVE</a></span></code> </td>
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- <td class="colFirst"><code>static int</code></td>
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- <td class="colFirst"><code>static int</code></td>
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- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#SOLVEPNP_SQPNP">SOLVEPNP_SQPNP</a></span></code> </td>
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- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#SOLVEPNP_UPNP">SOLVEPNP_UPNP</a></span></code> </td>
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- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#USAC_ACCURATE">USAC_ACCURATE</a></span></code> </td>
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- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#USAC_DEFAULT">USAC_DEFAULT</a></span></code> </td>
- </tr>
- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#USAC_FAST">USAC_FAST</a></span></code> </td>
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- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#USAC_FM_8PTS">USAC_FM_8PTS</a></span></code> </td>
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- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#USAC_MAGSAC">USAC_MAGSAC</a></span></code> </td>
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- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#USAC_PARALLEL">USAC_PARALLEL</a></span></code> </td>
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- <tr class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#USAC_PROSAC">USAC_PROSAC</a></span></code> </td>
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- <h3>Constructor Summary</h3>
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- <caption><span>Constructors</span><span class="tabEnd"> </span></caption>
- <tr>
- <th class="colOne" scope="col">Constructor and Description</th>
- </tr>
- <tr class="altColor">
- <td class="colOne"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#Calib3d--">Calib3d</a></span>()</code> </td>
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- <caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
- <tr>
- <th class="colFirst" scope="col">Modifier and Type</th>
- <th class="colLast" scope="col">Method and Description</th>
- </tr>
- <tr id="i0" class="altColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#calibrateCamera-java.util.List-java.util.List-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-">calibrateCamera</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
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- <tr id="i1" class="rowColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#calibrateCamera-java.util.List-java.util.List-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-int-">calibrateCamera</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- int flags)</code> </td>
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- <tr id="i2" class="altColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#calibrateCamera-java.util.List-java.util.List-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-int-org.opencv.core.TermCriteria-">calibrateCamera</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- int flags,
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- </tr>
- <tr id="i3" class="rowColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#calibrateCameraExtended-java.util.List-java.util.List-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">calibrateCameraExtended</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
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- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsIntrinsics,
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- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> perViewErrors)</code>
- <div class="block">Finds the camera intrinsic and extrinsic parameters from several views of a calibration
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- </td>
- </tr>
- <tr id="i4" class="altColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#calibrateCameraExtended-java.util.List-java.util.List-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-">calibrateCameraExtended</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsIntrinsics,
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- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> perViewErrors,
- int flags)</code>
- <div class="block">Finds the camera intrinsic and extrinsic parameters from several views of a calibration
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- </tr>
- <tr id="i5" class="rowColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#calibrateCameraExtended-java.util.List-java.util.List-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-org.opencv.core.TermCriteria-">calibrateCameraExtended</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsIntrinsics,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsExtrinsics,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> perViewErrors,
- int flags,
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- <div class="block">Finds the camera intrinsic and extrinsic parameters from several views of a calibration
- pattern.</div>
- </td>
- </tr>
- <tr id="i6" class="altColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#calibrateCameraRO-java.util.List-java.util.List-org.opencv.core.Size-int-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-org.opencv.core.Mat-">calibrateCameraRO</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- int iFixedPoint,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> newObjPoints)</code> </td>
- </tr>
- <tr id="i7" class="rowColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#calibrateCameraRO-java.util.List-java.util.List-org.opencv.core.Size-int-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-org.opencv.core.Mat-int-">calibrateCameraRO</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
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- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- int iFixedPoint,
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- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> newObjPoints,
- int flags)</code> </td>
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- <tr id="i8" class="altColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#calibrateCameraRO-java.util.List-java.util.List-org.opencv.core.Size-int-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-org.opencv.core.Mat-int-org.opencv.core.TermCriteria-">calibrateCameraRO</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- int iFixedPoint,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> newObjPoints,
- int flags,
- <a href="../../../org/opencv/core/TermCriteria.html" title="class in org.opencv.core">TermCriteria</a> criteria)</code> </td>
- </tr>
- <tr id="i9" class="rowColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#calibrateCameraROExtended-java.util.List-java.util.List-org.opencv.core.Size-int-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">calibrateCameraROExtended</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- int iFixedPoint,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> newObjPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsIntrinsics,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsExtrinsics,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsObjPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> perViewErrors)</code>
- <div class="block">Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern.</div>
- </td>
- </tr>
- <tr id="i10" class="altColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#calibrateCameraROExtended-java.util.List-java.util.List-org.opencv.core.Size-int-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-">calibrateCameraROExtended</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- int iFixedPoint,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> newObjPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsIntrinsics,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsExtrinsics,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsObjPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> perViewErrors,
- int flags)</code>
- <div class="block">Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern.</div>
- </td>
- </tr>
- <tr id="i11" class="rowColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#calibrateCameraROExtended-java.util.List-java.util.List-org.opencv.core.Size-int-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-org.opencv.core.TermCriteria-">calibrateCameraROExtended</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- int iFixedPoint,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> newObjPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsIntrinsics,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsExtrinsics,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsObjPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> perViewErrors,
- int flags,
- <a href="../../../org/opencv/core/TermCriteria.html" title="class in org.opencv.core">TermCriteria</a> criteria)</code>
- <div class="block">Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern.</div>
- </td>
- </tr>
- <tr id="i12" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#calibrateHandEye-java.util.List-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-">calibrateHandEye</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> R_gripper2base,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> t_gripper2base,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> R_target2cam,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> t_target2cam,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R_cam2gripper,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t_cam2gripper)</code>
- <div class="block">Computes Hand-Eye calibration: \(_{}^{g}\textrm{T}_c\)</div>
- </td>
- </tr>
- <tr id="i13" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#calibrateHandEye-java.util.List-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-int-">calibrateHandEye</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> R_gripper2base,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> t_gripper2base,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> R_target2cam,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> t_target2cam,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R_cam2gripper,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t_cam2gripper,
- int method)</code>
- <div class="block">Computes Hand-Eye calibration: \(_{}^{g}\textrm{T}_c\)</div>
- </td>
- </tr>
- <tr id="i14" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#calibrateRobotWorldHandEye-java.util.List-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">calibrateRobotWorldHandEye</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> R_world2cam,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> t_world2cam,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> R_base2gripper,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> t_base2gripper,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R_base2world,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t_base2world,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R_gripper2cam,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t_gripper2cam)</code>
- <div class="block">Computes Robot-World/Hand-Eye calibration: \(_{}^{w}\textrm{T}_b\) and \(_{}^{c}\textrm{T}_g\)</div>
- </td>
- </tr>
- <tr id="i15" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#calibrateRobotWorldHandEye-java.util.List-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-">calibrateRobotWorldHandEye</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> R_world2cam,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> t_world2cam,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> R_base2gripper,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> t_base2gripper,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R_base2world,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t_base2world,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R_gripper2cam,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t_gripper2cam,
- int method)</code>
- <div class="block">Computes Robot-World/Hand-Eye calibration: \(_{}^{w}\textrm{T}_b\) and \(_{}^{c}\textrm{T}_g\)</div>
- </td>
- </tr>
- <tr id="i16" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#calibrationMatrixValues-org.opencv.core.Mat-org.opencv.core.Size-double-double-double:A-double:A-double:A-org.opencv.core.Point-double:A-">calibrationMatrixValues</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- double apertureWidth,
- double apertureHeight,
- double[] fovx,
- double[] fovy,
- double[] focalLength,
- <a href="../../../org/opencv/core/Point.html" title="class in org.opencv.core">Point</a> principalPoint,
- double[] aspectRatio)</code>
- <div class="block">Computes useful camera characteristics from the camera intrinsic matrix.</div>
- </td>
- </tr>
- <tr id="i17" class="rowColor">
- <td class="colFirst"><code>static boolean</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#checkChessboard-org.opencv.core.Mat-org.opencv.core.Size-">checkChessboard</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> img,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> size)</code> </td>
- </tr>
- <tr id="i18" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#composeRT-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">composeRT</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec3)</code>
- <div class="block">Combines two rotation-and-shift transformations.</div>
- </td>
- </tr>
- <tr id="i19" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#composeRT-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">composeRT</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr1)</code>
- <div class="block">Combines two rotation-and-shift transformations.</div>
- </td>
- </tr>
- <tr id="i20" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#composeRT-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">composeRT</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dt1)</code>
- <div class="block">Combines two rotation-and-shift transformations.</div>
- </td>
- </tr>
- <tr id="i21" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#composeRT-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">composeRT</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dt1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr2)</code>
- <div class="block">Combines two rotation-and-shift transformations.</div>
- </td>
- </tr>
- <tr id="i22" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#composeRT-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">composeRT</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dt1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dt2)</code>
- <div class="block">Combines two rotation-and-shift transformations.</div>
- </td>
- </tr>
- <tr id="i23" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#composeRT-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">composeRT</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dt1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dt2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dt3dr1)</code>
- <div class="block">Combines two rotation-and-shift transformations.</div>
- </td>
- </tr>
- <tr id="i24" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#composeRT-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">composeRT</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dt1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dt2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dt3dr1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dt3dt1)</code>
- <div class="block">Combines two rotation-and-shift transformations.</div>
- </td>
- </tr>
- <tr id="i25" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#composeRT-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">composeRT</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dt1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dt2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dt3dr1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dt3dt1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dt3dr2)</code>
- <div class="block">Combines two rotation-and-shift transformations.</div>
- </td>
- </tr>
- <tr id="i26" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#composeRT-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">composeRT</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dt1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dt2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dt3dr1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dt3dt1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dt3dr2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dt3dt2)</code>
- <div class="block">Combines two rotation-and-shift transformations.</div>
- </td>
- </tr>
- <tr id="i27" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#computeCorrespondEpilines-org.opencv.core.Mat-int-org.opencv.core.Mat-org.opencv.core.Mat-">computeCorrespondEpilines</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points,
- int whichImage,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> lines)</code>
- <div class="block">For points in an image of a stereo pair, computes the corresponding epilines in the other image.</div>
- </td>
- </tr>
- <tr id="i28" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#convertPointsFromHomogeneous-org.opencv.core.Mat-org.opencv.core.Mat-">convertPointsFromHomogeneous</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst)</code>
- <div class="block">Converts points from homogeneous to Euclidean space.</div>
- </td>
- </tr>
- <tr id="i29" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#convertPointsToHomogeneous-org.opencv.core.Mat-org.opencv.core.Mat-">convertPointsToHomogeneous</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst)</code>
- <div class="block">Converts points from Euclidean to homogeneous space.</div>
- </td>
- </tr>
- <tr id="i30" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#correctMatches-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">correctMatches</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> newPoints1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> newPoints2)</code>
- <div class="block">Refines coordinates of corresponding points.</div>
- </td>
- </tr>
- <tr id="i31" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#decomposeEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">decomposeEssentialMat</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t)</code>
- <div class="block">Decompose an essential matrix to possible rotations and translation.</div>
- </td>
- </tr>
- <tr id="i32" class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#decomposeHomographyMat-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-java.util.List-">decomposeHomographyMat</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> H,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rotations,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> translations,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> normals)</code>
- <div class="block">Decompose a homography matrix to rotation(s), translation(s) and plane normal(s).</div>
- </td>
- </tr>
- <tr id="i33" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#decomposeProjectionMatrix-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">decomposeProjectionMatrix</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> projMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> transVect)</code>
- <div class="block">Decomposes a projection matrix into a rotation matrix and a camera intrinsic matrix.</div>
- </td>
- </tr>
- <tr id="i34" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#decomposeProjectionMatrix-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">decomposeProjectionMatrix</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> projMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> transVect,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrixX)</code>
- <div class="block">Decomposes a projection matrix into a rotation matrix and a camera intrinsic matrix.</div>
- </td>
- </tr>
- <tr id="i35" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#decomposeProjectionMatrix-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">decomposeProjectionMatrix</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> projMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> transVect,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrixX,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrixY)</code>
- <div class="block">Decomposes a projection matrix into a rotation matrix and a camera intrinsic matrix.</div>
- </td>
- </tr>
- <tr id="i36" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#decomposeProjectionMatrix-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">decomposeProjectionMatrix</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> projMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> transVect,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrixX,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrixY,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrixZ)</code>
- <div class="block">Decomposes a projection matrix into a rotation matrix and a camera intrinsic matrix.</div>
- </td>
- </tr>
- <tr id="i37" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#decomposeProjectionMatrix-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">decomposeProjectionMatrix</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> projMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> transVect,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrixX,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrixY,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrixZ,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> eulerAngles)</code>
- <div class="block">Decomposes a projection matrix into a rotation matrix and a camera intrinsic matrix.</div>
- </td>
- </tr>
- <tr id="i38" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#drawChessboardCorners-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.MatOfPoint2f-boolean-">drawChessboardCorners</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> patternSize,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> corners,
- boolean patternWasFound)</code>
- <div class="block">Renders the detected chessboard corners.</div>
- </td>
- </tr>
- <tr id="i39" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#drawFrameAxes-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-float-">drawFrameAxes</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- float length)</code>
- <div class="block">Draw axes of the world/object coordinate system from pose estimation.</div>
- </td>
- </tr>
- <tr id="i40" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#drawFrameAxes-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-float-int-">drawFrameAxes</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- float length,
- int thickness)</code>
- <div class="block">Draw axes of the world/object coordinate system from pose estimation.</div>
- </td>
- </tr>
- <tr id="i41" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateAffine2D-org.opencv.core.Mat-org.opencv.core.Mat-">estimateAffine2D</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to)</code>
- <div class="block">Computes an optimal affine transformation between two 2D point sets.</div>
- </td>
- </tr>
- <tr id="i42" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateAffine2D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">estimateAffine2D</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers)</code>
- <div class="block">Computes an optimal affine transformation between two 2D point sets.</div>
- </td>
- </tr>
- <tr id="i43" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateAffine2D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-">estimateAffine2D</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- int method)</code>
- <div class="block">Computes an optimal affine transformation between two 2D point sets.</div>
- </td>
- </tr>
- <tr id="i44" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateAffine2D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-">estimateAffine2D</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- int method,
- double ransacReprojThreshold)</code>
- <div class="block">Computes an optimal affine transformation between two 2D point sets.</div>
- </td>
- </tr>
- <tr id="i45" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateAffine2D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-long-">estimateAffine2D</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- int method,
- double ransacReprojThreshold,
- long maxIters)</code>
- <div class="block">Computes an optimal affine transformation between two 2D point sets.</div>
- </td>
- </tr>
- <tr id="i46" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateAffine2D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-long-double-">estimateAffine2D</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- int method,
- double ransacReprojThreshold,
- long maxIters,
- double confidence)</code>
- <div class="block">Computes an optimal affine transformation between two 2D point sets.</div>
- </td>
- </tr>
- <tr id="i47" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateAffine2D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-long-double-long-">estimateAffine2D</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- int method,
- double ransacReprojThreshold,
- long maxIters,
- double confidence,
- long refineIters)</code>
- <div class="block">Computes an optimal affine transformation between two 2D point sets.</div>
- </td>
- </tr>
- <tr id="i48" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateAffine2D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.calib3d.UsacParams-">estimateAffine2D</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> pts1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> pts2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- <a href="../../../org/opencv/calib3d/UsacParams.html" title="class in org.opencv.calib3d">UsacParams</a> params)</code> </td>
- </tr>
- <tr id="i49" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateAffine3D-org.opencv.core.Mat-org.opencv.core.Mat-">estimateAffine3D</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst)</code>
- <div class="block">Computes an optimal affine transformation between two 3D point sets.</div>
- </td>
- </tr>
- <tr id="i50" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateAffine3D-org.opencv.core.Mat-org.opencv.core.Mat-double:A-">estimateAffine3D</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst,
- double[] scale)</code>
- <div class="block">Computes an optimal affine transformation between two 3D point sets.</div>
- </td>
- </tr>
- <tr id="i51" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateAffine3D-org.opencv.core.Mat-org.opencv.core.Mat-double:A-boolean-">estimateAffine3D</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst,
- double[] scale,
- boolean force_rotation)</code>
- <div class="block">Computes an optimal affine transformation between two 3D point sets.</div>
- </td>
- </tr>
- <tr id="i52" class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateAffine3D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">estimateAffine3D</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> out,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers)</code>
- <div class="block">Computes an optimal affine transformation between two 3D point sets.</div>
- </td>
- </tr>
- <tr id="i53" class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateAffine3D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-double-">estimateAffine3D</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> out,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- double ransacThreshold)</code>
- <div class="block">Computes an optimal affine transformation between two 3D point sets.</div>
- </td>
- </tr>
- <tr id="i54" class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateAffine3D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-double-double-">estimateAffine3D</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> out,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- double ransacThreshold,
- double confidence)</code>
- <div class="block">Computes an optimal affine transformation between two 3D point sets.</div>
- </td>
- </tr>
- <tr id="i55" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateAffinePartial2D-org.opencv.core.Mat-org.opencv.core.Mat-">estimateAffinePartial2D</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to)</code>
- <div class="block">Computes an optimal limited affine transformation with 4 degrees of freedom between
- two 2D point sets.</div>
- </td>
- </tr>
- <tr id="i56" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateAffinePartial2D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">estimateAffinePartial2D</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers)</code>
- <div class="block">Computes an optimal limited affine transformation with 4 degrees of freedom between
- two 2D point sets.</div>
- </td>
- </tr>
- <tr id="i57" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateAffinePartial2D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-">estimateAffinePartial2D</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- int method)</code>
- <div class="block">Computes an optimal limited affine transformation with 4 degrees of freedom between
- two 2D point sets.</div>
- </td>
- </tr>
- <tr id="i58" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateAffinePartial2D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-">estimateAffinePartial2D</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- int method,
- double ransacReprojThreshold)</code>
- <div class="block">Computes an optimal limited affine transformation with 4 degrees of freedom between
- two 2D point sets.</div>
- </td>
- </tr>
- <tr id="i59" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateAffinePartial2D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-long-">estimateAffinePartial2D</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- int method,
- double ransacReprojThreshold,
- long maxIters)</code>
- <div class="block">Computes an optimal limited affine transformation with 4 degrees of freedom between
- two 2D point sets.</div>
- </td>
- </tr>
- <tr id="i60" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateAffinePartial2D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-long-double-">estimateAffinePartial2D</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- int method,
- double ransacReprojThreshold,
- long maxIters,
- double confidence)</code>
- <div class="block">Computes an optimal limited affine transformation with 4 degrees of freedom between
- two 2D point sets.</div>
- </td>
- </tr>
- <tr id="i61" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateAffinePartial2D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-long-double-long-">estimateAffinePartial2D</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- int method,
- double ransacReprojThreshold,
- long maxIters,
- double confidence,
- long refineIters)</code>
- <div class="block">Computes an optimal limited affine transformation with 4 degrees of freedom between
- two 2D point sets.</div>
- </td>
- </tr>
- <tr id="i62" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Scalar.html" title="class in org.opencv.core">Scalar</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateChessboardSharpness-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-">estimateChessboardSharpness</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> patternSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> corners)</code>
- <div class="block">Estimates the sharpness of a detected chessboard.</div>
- </td>
- </tr>
- <tr id="i63" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Scalar.html" title="class in org.opencv.core">Scalar</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateChessboardSharpness-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-float-">estimateChessboardSharpness</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> patternSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> corners,
- float rise_distance)</code>
- <div class="block">Estimates the sharpness of a detected chessboard.</div>
- </td>
- </tr>
- <tr id="i64" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Scalar.html" title="class in org.opencv.core">Scalar</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateChessboardSharpness-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-float-boolean-">estimateChessboardSharpness</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> patternSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> corners,
- float rise_distance,
- boolean vertical)</code>
- <div class="block">Estimates the sharpness of a detected chessboard.</div>
- </td>
- </tr>
- <tr id="i65" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Scalar.html" title="class in org.opencv.core">Scalar</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateChessboardSharpness-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-float-boolean-org.opencv.core.Mat-">estimateChessboardSharpness</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> patternSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> corners,
- float rise_distance,
- boolean vertical,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> sharpness)</code>
- <div class="block">Estimates the sharpness of a detected chessboard.</div>
- </td>
- </tr>
- <tr id="i66" class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateTranslation3D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">estimateTranslation3D</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> out,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers)</code>
- <div class="block">Computes an optimal translation between two 3D point sets.</div>
- </td>
- </tr>
- <tr id="i67" class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateTranslation3D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-double-">estimateTranslation3D</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> out,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- double ransacThreshold)</code>
- <div class="block">Computes an optimal translation between two 3D point sets.</div>
- </td>
- </tr>
- <tr id="i68" class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#estimateTranslation3D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-double-double-">estimateTranslation3D</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> out,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- double ransacThreshold,
- double confidence)</code>
- <div class="block">Computes an optimal translation between two 3D point sets.</div>
- </td>
- </tr>
- <tr id="i69" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#filterHomographyDecompByVisibleRefpoints-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">filterHomographyDecompByVisibleRefpoints</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rotations,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> normals,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> beforePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> afterPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> possibleSolutions)</code>
- <div class="block">Filters homography decompositions based on additional information.</div>
- </td>
- </tr>
- <tr id="i70" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#filterHomographyDecompByVisibleRefpoints-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">filterHomographyDecompByVisibleRefpoints</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rotations,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> normals,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> beforePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> afterPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> possibleSolutions,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> pointsMask)</code>
- <div class="block">Filters homography decompositions based on additional information.</div>
- </td>
- </tr>
- <tr id="i71" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#filterSpeckles-org.opencv.core.Mat-double-int-double-">filterSpeckles</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> img,
- double newVal,
- int maxSpeckleSize,
- double maxDiff)</code>
- <div class="block">Filters off small noise blobs (speckles) in the disparity map</div>
- </td>
- </tr>
- <tr id="i72" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#filterSpeckles-org.opencv.core.Mat-double-int-double-org.opencv.core.Mat-">filterSpeckles</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> img,
- double newVal,
- int maxSpeckleSize,
- double maxDiff,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> buf)</code>
- <div class="block">Filters off small noise blobs (speckles) in the disparity map</div>
- </td>
- </tr>
- <tr id="i73" class="rowColor">
- <td class="colFirst"><code>static boolean</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#find4QuadCornerSubpix-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-">find4QuadCornerSubpix</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> img,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> corners,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> region_size)</code> </td>
- </tr>
- <tr id="i74" class="altColor">
- <td class="colFirst"><code>static boolean</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findChessboardCorners-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.MatOfPoint2f-">findChessboardCorners</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> patternSize,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> corners)</code>
- <div class="block">Finds the positions of internal corners of the chessboard.</div>
- </td>
- </tr>
- <tr id="i75" class="rowColor">
- <td class="colFirst"><code>static boolean</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findChessboardCorners-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.MatOfPoint2f-int-">findChessboardCorners</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> patternSize,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> corners,
- int flags)</code>
- <div class="block">Finds the positions of internal corners of the chessboard.</div>
- </td>
- </tr>
- <tr id="i76" class="altColor">
- <td class="colFirst"><code>static boolean</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findChessboardCornersSB-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-">findChessboardCornersSB</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> patternSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> corners)</code> </td>
- </tr>
- <tr id="i77" class="rowColor">
- <td class="colFirst"><code>static boolean</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findChessboardCornersSB-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-int-">findChessboardCornersSB</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> patternSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> corners,
- int flags)</code> </td>
- </tr>
- <tr id="i78" class="altColor">
- <td class="colFirst"><code>static boolean</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findChessboardCornersSBWithMeta-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-int-org.opencv.core.Mat-">findChessboardCornersSBWithMeta</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> patternSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> corners,
- int flags,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> meta)</code>
- <div class="block">Finds the positions of internal corners of the chessboard using a sector based approach.</div>
- </td>
- </tr>
- <tr id="i79" class="rowColor">
- <td class="colFirst"><code>static boolean</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findCirclesGrid-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-">findCirclesGrid</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> patternSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> centers)</code> </td>
- </tr>
- <tr id="i80" class="altColor">
- <td class="colFirst"><code>static boolean</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findCirclesGrid-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-int-">findCirclesGrid</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> patternSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> centers,
- int flags)</code> </td>
- </tr>
- <tr id="i81" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-">findEssentialMat</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2)</code> </td>
- </tr>
- <tr id="i82" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-double-">findEssentialMat</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- double focal)</code> </td>
- </tr>
- <tr id="i83" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Point-">findEssentialMat</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- double focal,
- <a href="../../../org/opencv/core/Point.html" title="class in org.opencv.core">Point</a> pp)</code> </td>
- </tr>
- <tr id="i84" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Point-int-">findEssentialMat</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- double focal,
- <a href="../../../org/opencv/core/Point.html" title="class in org.opencv.core">Point</a> pp,
- int method)</code> </td>
- </tr>
- <tr id="i85" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Point-int-double-">findEssentialMat</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- double focal,
- <a href="../../../org/opencv/core/Point.html" title="class in org.opencv.core">Point</a> pp,
- int method,
- double prob)</code> </td>
- </tr>
- <tr id="i86" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Point-int-double-double-">findEssentialMat</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- double focal,
- <a href="../../../org/opencv/core/Point.html" title="class in org.opencv.core">Point</a> pp,
- int method,
- double prob,
- double threshold)</code> </td>
- </tr>
- <tr id="i87" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Point-int-double-double-int-">findEssentialMat</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- double focal,
- <a href="../../../org/opencv/core/Point.html" title="class in org.opencv.core">Point</a> pp,
- int method,
- double prob,
- double threshold,
- int maxIters)</code> </td>
- </tr>
- <tr id="i88" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Point-int-double-double-int-org.opencv.core.Mat-">findEssentialMat</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- double focal,
- <a href="../../../org/opencv/core/Point.html" title="class in org.opencv.core">Point</a> pp,
- int method,
- double prob,
- double threshold,
- int maxIters,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask)</code> </td>
- </tr>
- <tr id="i89" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">findEssentialMat</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix)</code>
- <div class="block">Calculates an essential matrix from the corresponding points in two images.</div>
- </td>
- </tr>
- <tr id="i90" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-">findEssentialMat</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- int method)</code>
- <div class="block">Calculates an essential matrix from the corresponding points in two images.</div>
- </td>
- </tr>
- <tr id="i91" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-">findEssentialMat</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- int method,
- double prob)</code>
- <div class="block">Calculates an essential matrix from the corresponding points in two images.</div>
- </td>
- </tr>
- <tr id="i92" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-double-">findEssentialMat</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- int method,
- double prob,
- double threshold)</code>
- <div class="block">Calculates an essential matrix from the corresponding points in two images.</div>
- </td>
- </tr>
- <tr id="i93" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-double-int-">findEssentialMat</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- int method,
- double prob,
- double threshold,
- int maxIters)</code>
- <div class="block">Calculates an essential matrix from the corresponding points in two images.</div>
- </td>
- </tr>
- <tr id="i94" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-double-int-org.opencv.core.Mat-">findEssentialMat</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- int method,
- double prob,
- double threshold,
- int maxIters,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask)</code>
- <div class="block">Calculates an essential matrix from the corresponding points in two images.</div>
- </td>
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- <tr id="i95" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">findEssentialMat</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2)</code>
- <div class="block">Calculates an essential matrix from the corresponding points in two images from potentially two different cameras.</div>
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- <tr id="i96" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-">findEssentialMat</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- int method)</code>
- <div class="block">Calculates an essential matrix from the corresponding points in two images from potentially two different cameras.</div>
- </td>
- </tr>
- <tr id="i97" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-">findEssentialMat</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- int method,
- double prob)</code>
- <div class="block">Calculates an essential matrix from the corresponding points in two images from potentially two different cameras.</div>
- </td>
- </tr>
- <tr id="i98" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-double-">findEssentialMat</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- int method,
- double prob,
- double threshold)</code>
- <div class="block">Calculates an essential matrix from the corresponding points in two images from potentially two different cameras.</div>
- </td>
- </tr>
- <tr id="i99" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-double-org.opencv.core.Mat-">findEssentialMat</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- int method,
- double prob,
- double threshold,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask)</code>
- <div class="block">Calculates an essential matrix from the corresponding points in two images from potentially two different cameras.</div>
- </td>
- </tr>
- <tr id="i100" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.calib3d.UsacParams-">findEssentialMat</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dist_coeff1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dist_coeff2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask,
- <a href="../../../org/opencv/calib3d/UsacParams.html" title="class in org.opencv.calib3d">UsacParams</a> params)</code> </td>
- </tr>
- <tr id="i101" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findFundamentalMat-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-">findFundamentalMat</a></span>(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points1,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points2)</code> </td>
- </tr>
- <tr id="i102" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findFundamentalMat-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-int-">findFundamentalMat</a></span>(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points1,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points2,
- int method)</code> </td>
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- <tr id="i103" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findFundamentalMat-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-int-double-">findFundamentalMat</a></span>(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points1,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points2,
- int method,
- double ransacReprojThreshold)</code> </td>
- </tr>
- <tr id="i104" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findFundamentalMat-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-int-double-double-">findFundamentalMat</a></span>(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points1,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points2,
- int method,
- double ransacReprojThreshold,
- double confidence)</code> </td>
- </tr>
- <tr id="i105" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findFundamentalMat-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-int-double-double-int-">findFundamentalMat</a></span>(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points1,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points2,
- int method,
- double ransacReprojThreshold,
- double confidence,
- int maxIters)</code>
- <div class="block">Calculates a fundamental matrix from the corresponding points in two images.</div>
- </td>
- </tr>
- <tr id="i106" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findFundamentalMat-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-int-double-double-int-org.opencv.core.Mat-">findFundamentalMat</a></span>(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points1,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points2,
- int method,
- double ransacReprojThreshold,
- double confidence,
- int maxIters,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask)</code>
- <div class="block">Calculates a fundamental matrix from the corresponding points in two images.</div>
- </td>
- </tr>
- <tr id="i107" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findFundamentalMat-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-int-double-double-org.opencv.core.Mat-">findFundamentalMat</a></span>(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points1,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points2,
- int method,
- double ransacReprojThreshold,
- double confidence,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask)</code> </td>
- </tr>
- <tr id="i108" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findFundamentalMat-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-org.opencv.core.Mat-org.opencv.calib3d.UsacParams-">findFundamentalMat</a></span>(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points1,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask,
- <a href="../../../org/opencv/calib3d/UsacParams.html" title="class in org.opencv.calib3d">UsacParams</a> params)</code> </td>
- </tr>
- <tr id="i109" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findHomography-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-">findHomography</a></span>(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> srcPoints,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> dstPoints)</code>
- <div class="block">Finds a perspective transformation between two planes.</div>
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- <tr id="i110" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findHomography-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-int-">findHomography</a></span>(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> srcPoints,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> dstPoints,
- int method)</code>
- <div class="block">Finds a perspective transformation between two planes.</div>
- </td>
- </tr>
- <tr id="i111" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findHomography-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-int-double-">findHomography</a></span>(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> srcPoints,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> dstPoints,
- int method,
- double ransacReprojThreshold)</code>
- <div class="block">Finds a perspective transformation between two planes.</div>
- </td>
- </tr>
- <tr id="i112" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findHomography-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-int-double-org.opencv.core.Mat-">findHomography</a></span>(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> srcPoints,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> dstPoints,
- int method,
- double ransacReprojThreshold,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask)</code>
- <div class="block">Finds a perspective transformation between two planes.</div>
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- <tr id="i113" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findHomography-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-int-double-org.opencv.core.Mat-int-">findHomography</a></span>(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> srcPoints,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> dstPoints,
- int method,
- double ransacReprojThreshold,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask,
- int maxIters)</code>
- <div class="block">Finds a perspective transformation between two planes.</div>
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- </tr>
- <tr id="i114" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findHomography-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-int-double-org.opencv.core.Mat-int-double-">findHomography</a></span>(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> srcPoints,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> dstPoints,
- int method,
- double ransacReprojThreshold,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask,
- int maxIters,
- double confidence)</code>
- <div class="block">Finds a perspective transformation between two planes.</div>
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- </tr>
- <tr id="i115" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#findHomography-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-org.opencv.core.Mat-org.opencv.calib3d.UsacParams-">findHomography</a></span>(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> srcPoints,
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- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask,
- <a href="../../../org/opencv/calib3d/UsacParams.html" title="class in org.opencv.calib3d">UsacParams</a> params)</code> </td>
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- <tr id="i116" class="altColor">
- <td class="colFirst"><code>static double</code></td>
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- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> image_size,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
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- </td>
- </tr>
- <tr id="i117" class="rowColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_calibrate-java.util.List-java.util.List-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-int-">fisheye_calibrate</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> image_size,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- int flags)</code>
- <div class="block">Performs camera calibration</div>
- </td>
- </tr>
- <tr id="i118" class="altColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_calibrate-java.util.List-java.util.List-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-int-org.opencv.core.TermCriteria-">fisheye_calibrate</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> image_size,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- int flags,
- <a href="../../../org/opencv/core/TermCriteria.html" title="class in org.opencv.core">TermCriteria</a> criteria)</code>
- <div class="block">Performs camera calibration</div>
- </td>
- </tr>
- <tr id="i119" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_distortPoints-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">fisheye_distortPoints</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> undistorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D)</code>
- <div class="block">Distorts 2D points using fisheye model.</div>
- </td>
- </tr>
- <tr id="i120" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_distortPoints-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-double-">fisheye_distortPoints</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> undistorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- double alpha)</code>
- <div class="block">Distorts 2D points using fisheye model.</div>
- </td>
- </tr>
- <tr id="i121" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_estimateNewCameraMatrixForUndistortRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-">fisheye_estimateNewCameraMatrixForUndistortRectify</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> image_size,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P)</code>
- <div class="block">Estimates new camera intrinsic matrix for undistortion or rectification.</div>
- </td>
- </tr>
- <tr id="i122" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_estimateNewCameraMatrixForUndistortRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-double-">fisheye_estimateNewCameraMatrixForUndistortRectify</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> image_size,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P,
- double balance)</code>
- <div class="block">Estimates new camera intrinsic matrix for undistortion or rectification.</div>
- </td>
- </tr>
- <tr id="i123" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_estimateNewCameraMatrixForUndistortRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Size-">fisheye_estimateNewCameraMatrixForUndistortRectify</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> image_size,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P,
- double balance,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> new_size)</code>
- <div class="block">Estimates new camera intrinsic matrix for undistortion or rectification.</div>
- </td>
- </tr>
- <tr id="i124" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_estimateNewCameraMatrixForUndistortRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Size-double-">fisheye_estimateNewCameraMatrixForUndistortRectify</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> image_size,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P,
- double balance,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> new_size,
- double fov_scale)</code>
- <div class="block">Estimates new camera intrinsic matrix for undistortion or rectification.</div>
- </td>
- </tr>
- <tr id="i125" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_initUndistortRectifyMap-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-int-org.opencv.core.Mat-org.opencv.core.Mat-">fisheye_initUndistortRectifyMap</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> size,
- int m1type,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> map1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> map2)</code>
- <div class="block">Computes undistortion and rectification maps for image transform by #remap.</div>
- </td>
- </tr>
- <tr id="i126" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_projectPoints-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">fisheye_projectPoints</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D)</code> </td>
- </tr>
- <tr id="i127" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_projectPoints-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-double-">fisheye_projectPoints</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- double alpha)</code> </td>
- </tr>
- <tr id="i128" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_projectPoints-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Mat-">fisheye_projectPoints</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- double alpha,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> jacobian)</code> </td>
- </tr>
- <tr id="i129" class="rowColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_stereoCalibrate-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-">fisheye_stereoCalibrate</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T)</code> </td>
- </tr>
- <tr id="i130" class="altColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_stereoCalibrate-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-int-">fisheye_stereoCalibrate</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- int flags)</code> </td>
- </tr>
- <tr id="i131" class="rowColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_stereoCalibrate-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-int-org.opencv.core.TermCriteria-">fisheye_stereoCalibrate</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- int flags,
- <a href="../../../org/opencv/core/TermCriteria.html" title="class in org.opencv.core">TermCriteria</a> criteria)</code> </td>
- </tr>
- <tr id="i132" class="altColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_stereoCalibrate-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-">fisheye_stereoCalibrate</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs)</code>
- <div class="block">Performs stereo calibration</div>
- </td>
- </tr>
- <tr id="i133" class="rowColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_stereoCalibrate-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-int-">fisheye_stereoCalibrate</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- int flags)</code>
- <div class="block">Performs stereo calibration</div>
- </td>
- </tr>
- <tr id="i134" class="altColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_stereoCalibrate-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-int-org.opencv.core.TermCriteria-">fisheye_stereoCalibrate</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- int flags,
- <a href="../../../org/opencv/core/TermCriteria.html" title="class in org.opencv.core">TermCriteria</a> criteria)</code>
- <div class="block">Performs stereo calibration</div>
- </td>
- </tr>
- <tr id="i135" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_stereoRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-">fisheye_stereoRectify</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q,
- int flags)</code>
- <div class="block">Stereo rectification for fisheye camera model</div>
- </td>
- </tr>
- <tr id="i136" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_stereoRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-org.opencv.core.Size-">fisheye_stereoRectify</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q,
- int flags,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> newImageSize)</code>
- <div class="block">Stereo rectification for fisheye camera model</div>
- </td>
- </tr>
- <tr id="i137" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_stereoRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-org.opencv.core.Size-double-">fisheye_stereoRectify</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q,
- int flags,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> newImageSize,
- double balance)</code>
- <div class="block">Stereo rectification for fisheye camera model</div>
- </td>
- </tr>
- <tr id="i138" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_stereoRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-org.opencv.core.Size-double-double-">fisheye_stereoRectify</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q,
- int flags,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> newImageSize,
- double balance,
- double fov_scale)</code>
- <div class="block">Stereo rectification for fisheye camera model</div>
- </td>
- </tr>
- <tr id="i139" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_undistortImage-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">fisheye_undistortImage</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> undistorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D)</code>
- <div class="block">Transforms an image to compensate for fisheye lens distortion.</div>
- </td>
- </tr>
- <tr id="i140" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_undistortImage-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">fisheye_undistortImage</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> undistorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Knew)</code>
- <div class="block">Transforms an image to compensate for fisheye lens distortion.</div>
- </td>
- </tr>
- <tr id="i141" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_undistortImage-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-">fisheye_undistortImage</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> undistorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Knew,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> new_size)</code>
- <div class="block">Transforms an image to compensate for fisheye lens distortion.</div>
- </td>
- </tr>
- <tr id="i142" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_undistortPoints-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">fisheye_undistortPoints</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> undistorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D)</code>
- <div class="block">Undistorts 2D points using fisheye model</div>
- </td>
- </tr>
- <tr id="i143" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_undistortPoints-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">fisheye_undistortPoints</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> undistorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R)</code>
- <div class="block">Undistorts 2D points using fisheye model</div>
- </td>
- </tr>
- <tr id="i144" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_undistortPoints-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">fisheye_undistortPoints</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> undistorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P)</code>
- <div class="block">Undistorts 2D points using fisheye model</div>
- </td>
- </tr>
- <tr id="i145" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#fisheye_undistortPoints-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.TermCriteria-">fisheye_undistortPoints</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> undistorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P,
- <a href="../../../org/opencv/core/TermCriteria.html" title="class in org.opencv.core">TermCriteria</a> criteria)</code>
- <div class="block">Undistorts 2D points using fisheye model</div>
- </td>
- </tr>
- <tr id="i146" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#getDefaultNewCameraMatrix-org.opencv.core.Mat-">getDefaultNewCameraMatrix</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix)</code>
- <div class="block">Returns the default new camera matrix.</div>
- </td>
- </tr>
- <tr id="i147" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#getDefaultNewCameraMatrix-org.opencv.core.Mat-org.opencv.core.Size-">getDefaultNewCameraMatrix</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imgsize)</code>
- <div class="block">Returns the default new camera matrix.</div>
- </td>
- </tr>
- <tr id="i148" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#getDefaultNewCameraMatrix-org.opencv.core.Mat-org.opencv.core.Size-boolean-">getDefaultNewCameraMatrix</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imgsize,
- boolean centerPrincipalPoint)</code>
- <div class="block">Returns the default new camera matrix.</div>
- </td>
- </tr>
- <tr id="i149" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#getOptimalNewCameraMatrix-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-double-">getOptimalNewCameraMatrix</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- double alpha)</code>
- <div class="block">Returns the new camera intrinsic matrix based on the free scaling parameter.</div>
- </td>
- </tr>
- <tr id="i150" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#getOptimalNewCameraMatrix-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-double-org.opencv.core.Size-">getOptimalNewCameraMatrix</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- double alpha,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> newImgSize)</code>
- <div class="block">Returns the new camera intrinsic matrix based on the free scaling parameter.</div>
- </td>
- </tr>
- <tr id="i151" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#getOptimalNewCameraMatrix-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-double-org.opencv.core.Size-org.opencv.core.Rect-">getOptimalNewCameraMatrix</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- double alpha,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> newImgSize,
- <a href="../../../org/opencv/core/Rect.html" title="class in org.opencv.core">Rect</a> validPixROI)</code>
- <div class="block">Returns the new camera intrinsic matrix based on the free scaling parameter.</div>
- </td>
- </tr>
- <tr id="i152" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#getOptimalNewCameraMatrix-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-double-org.opencv.core.Size-org.opencv.core.Rect-boolean-">getOptimalNewCameraMatrix</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- double alpha,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> newImgSize,
- <a href="../../../org/opencv/core/Rect.html" title="class in org.opencv.core">Rect</a> validPixROI,
- boolean centerPrincipalPoint)</code>
- <div class="block">Returns the new camera intrinsic matrix based on the free scaling parameter.</div>
- </td>
- </tr>
- <tr id="i153" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Rect.html" title="class in org.opencv.core">Rect</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#getValidDisparityROI-org.opencv.core.Rect-org.opencv.core.Rect-int-int-int-">getValidDisparityROI</a></span>(<a href="../../../org/opencv/core/Rect.html" title="class in org.opencv.core">Rect</a> roi1,
- <a href="../../../org/opencv/core/Rect.html" title="class in org.opencv.core">Rect</a> roi2,
- int minDisparity,
- int numberOfDisparities,
- int blockSize)</code> </td>
- </tr>
- <tr id="i154" class="altColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#initCameraMatrix2D-java.util.List-java.util.List-org.opencv.core.Size-">initCameraMatrix2D</a></span>(java.util.List<<a href="../../../org/opencv/core/MatOfPoint3f.html" title="class in org.opencv.core">MatOfPoint3f</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize)</code>
- <div class="block">Finds an initial camera intrinsic matrix from 3D-2D point correspondences.</div>
- </td>
- </tr>
- <tr id="i155" class="rowColor">
- <td class="colFirst"><code>static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a></code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#initCameraMatrix2D-java.util.List-java.util.List-org.opencv.core.Size-double-">initCameraMatrix2D</a></span>(java.util.List<<a href="../../../org/opencv/core/MatOfPoint3f.html" title="class in org.opencv.core">MatOfPoint3f</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- double aspectRatio)</code>
- <div class="block">Finds an initial camera intrinsic matrix from 3D-2D point correspondences.</div>
- </td>
- </tr>
- <tr id="i156" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#initInverseRectificationMap-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-int-org.opencv.core.Mat-org.opencv.core.Mat-">initInverseRectificationMap</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> newCameraMatrix,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> size,
- int m1type,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> map1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> map2)</code>
- <div class="block">Computes the projection and inverse-rectification transformation map.</div>
- </td>
- </tr>
- <tr id="i157" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#initUndistortRectifyMap-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-int-org.opencv.core.Mat-org.opencv.core.Mat-">initUndistortRectifyMap</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> newCameraMatrix,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> size,
- int m1type,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> map1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> map2)</code>
- <div class="block">Computes the undistortion and rectification transformation map.</div>
- </td>
- </tr>
- <tr id="i158" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#matMulDeriv-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">matMulDeriv</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> A,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> B,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dABdA,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dABdB)</code>
- <div class="block">Computes partial derivatives of the matrix product for each multiplied matrix.</div>
- </td>
- </tr>
- <tr id="i159" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#projectPoints-org.opencv.core.MatOfPoint3f-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.MatOfDouble-org.opencv.core.MatOfPoint2f-">projectPoints</a></span>(<a href="../../../org/opencv/core/MatOfPoint3f.html" title="class in org.opencv.core">MatOfPoint3f</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/MatOfDouble.html" title="class in org.opencv.core">MatOfDouble</a> distCoeffs,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> imagePoints)</code>
- <div class="block">Projects 3D points to an image plane.</div>
- </td>
- </tr>
- <tr id="i160" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#projectPoints-org.opencv.core.MatOfPoint3f-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.MatOfDouble-org.opencv.core.MatOfPoint2f-org.opencv.core.Mat-">projectPoints</a></span>(<a href="../../../org/opencv/core/MatOfPoint3f.html" title="class in org.opencv.core">MatOfPoint3f</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/MatOfDouble.html" title="class in org.opencv.core">MatOfDouble</a> distCoeffs,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> jacobian)</code>
- <div class="block">Projects 3D points to an image plane.</div>
- </td>
- </tr>
- <tr id="i161" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#projectPoints-org.opencv.core.MatOfPoint3f-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.MatOfDouble-org.opencv.core.MatOfPoint2f-org.opencv.core.Mat-double-">projectPoints</a></span>(<a href="../../../org/opencv/core/MatOfPoint3f.html" title="class in org.opencv.core">MatOfPoint3f</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/MatOfDouble.html" title="class in org.opencv.core">MatOfDouble</a> distCoeffs,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> jacobian,
- double aspectRatio)</code>
- <div class="block">Projects 3D points to an image plane.</div>
- </td>
- </tr>
- <tr id="i162" class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">recoverPose</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t)</code> </td>
- </tr>
- <tr id="i163" class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-double-">recoverPose</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t,
- double focal)</code> </td>
- </tr>
- <tr id="i164" class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Point-">recoverPose</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t,
- double focal,
- <a href="../../../org/opencv/core/Point.html" title="class in org.opencv.core">Point</a> pp)</code> </td>
- </tr>
- <tr id="i165" class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Point-org.opencv.core.Mat-">recoverPose</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t,
- double focal,
- <a href="../../../org/opencv/core/Point.html" title="class in org.opencv.core">Point</a> pp,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask)</code> </td>
- </tr>
- <tr id="i166" class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">recoverPose</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t)</code>
- <div class="block">Recovers the relative camera rotation and the translation from an estimated essential
- matrix and the corresponding points in two images, using chirality check.</div>
- </td>
- </tr>
- <tr id="i167" class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-double-">recoverPose</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t,
- double distanceThresh)</code> </td>
- </tr>
- <tr id="i168" class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Mat-">recoverPose</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t,
- double distanceThresh,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask)</code> </td>
- </tr>
- <tr id="i169" class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Mat-org.opencv.core.Mat-">recoverPose</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t,
- double distanceThresh,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> triangulatedPoints)</code> </td>
- </tr>
- <tr id="i170" class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">recoverPose</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask)</code>
- <div class="block">Recovers the relative camera rotation and the translation from an estimated essential
- matrix and the corresponding points in two images, using chirality check.</div>
- </td>
- </tr>
- <tr id="i171" class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">recoverPose</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t)</code>
- <div class="block">Recovers the relative camera rotation and the translation from corresponding points in two images from two different cameras, using cheirality check.</div>
- </td>
- </tr>
- <tr id="i172" class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-">recoverPose</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t,
- int method)</code>
- <div class="block">Recovers the relative camera rotation and the translation from corresponding points in two images from two different cameras, using cheirality check.</div>
- </td>
- </tr>
- <tr id="i173" class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-">recoverPose</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t,
- int method,
- double prob)</code>
- <div class="block">Recovers the relative camera rotation and the translation from corresponding points in two images from two different cameras, using cheirality check.</div>
- </td>
- </tr>
- <tr id="i174" class="altColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-double-">recoverPose</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t,
- int method,
- double prob,
- double threshold)</code>
- <div class="block">Recovers the relative camera rotation and the translation from corresponding points in two images from two different cameras, using cheirality check.</div>
- </td>
- </tr>
- <tr id="i175" class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-double-org.opencv.core.Mat-">recoverPose</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t,
- int method,
- double prob,
- double threshold,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask)</code>
- <div class="block">Recovers the relative camera rotation and the translation from corresponding points in two images from two different cameras, using cheirality check.</div>
- </td>
- </tr>
- <tr id="i176" class="altColor">
- <td class="colFirst"><code>static float</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#rectify3Collinear-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Size-org.opencv.core.Rect-org.opencv.core.Rect-int-">rectify3Collinear</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs3,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imgpt1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imgpt3,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R12,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T12,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R13,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T13,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q,
- double alpha,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> newImgSize,
- <a href="../../../org/opencv/core/Rect.html" title="class in org.opencv.core">Rect</a> roi1,
- <a href="../../../org/opencv/core/Rect.html" title="class in org.opencv.core">Rect</a> roi2,
- int flags)</code> </td>
- </tr>
- <tr id="i177" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#reprojectImageTo3D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">reprojectImageTo3D</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> disparity,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> _3dImage,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q)</code>
- <div class="block">Reprojects a disparity image to 3D space.</div>
- </td>
- </tr>
- <tr id="i178" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#reprojectImageTo3D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-boolean-">reprojectImageTo3D</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> disparity,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> _3dImage,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q,
- boolean handleMissingValues)</code>
- <div class="block">Reprojects a disparity image to 3D space.</div>
- </td>
- </tr>
- <tr id="i179" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#reprojectImageTo3D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-boolean-int-">reprojectImageTo3D</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> disparity,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> _3dImage,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q,
- boolean handleMissingValues,
- int ddepth)</code>
- <div class="block">Reprojects a disparity image to 3D space.</div>
- </td>
- </tr>
- <tr id="i180" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#Rodrigues-org.opencv.core.Mat-org.opencv.core.Mat-">Rodrigues</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst)</code>
- <div class="block">Converts a rotation matrix to a rotation vector or vice versa.</div>
- </td>
- </tr>
- <tr id="i181" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#Rodrigues-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">Rodrigues</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> jacobian)</code>
- <div class="block">Converts a rotation matrix to a rotation vector or vice versa.</div>
- </td>
- </tr>
- <tr id="i182" class="altColor">
- <td class="colFirst"><code>static double[]</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#RQDecomp3x3-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">RQDecomp3x3</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mtxR,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mtxQ)</code>
- <div class="block">Computes an RQ decomposition of 3x3 matrices.</div>
- </td>
- </tr>
- <tr id="i183" class="rowColor">
- <td class="colFirst"><code>static double[]</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#RQDecomp3x3-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">RQDecomp3x3</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mtxR,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mtxQ,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Qx)</code>
- <div class="block">Computes an RQ decomposition of 3x3 matrices.</div>
- </td>
- </tr>
- <tr id="i184" class="altColor">
- <td class="colFirst"><code>static double[]</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#RQDecomp3x3-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">RQDecomp3x3</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mtxR,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mtxQ,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Qx,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Qy)</code>
- <div class="block">Computes an RQ decomposition of 3x3 matrices.</div>
- </td>
- </tr>
- <tr id="i185" class="rowColor">
- <td class="colFirst"><code>static double[]</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#RQDecomp3x3-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">RQDecomp3x3</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mtxR,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mtxQ,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Qx,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Qy,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Qz)</code>
- <div class="block">Computes an RQ decomposition of 3x3 matrices.</div>
- </td>
- </tr>
- <tr id="i186" class="altColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#sampsonDistance-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">sampsonDistance</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> pt1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> pt2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F)</code>
- <div class="block">Calculates the Sampson Distance between two points.</div>
- </td>
- </tr>
- <tr id="i187" class="rowColor">
- <td class="colFirst"><code>static int</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#solveP3P-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-int-">solveP3P</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- int flags)</code>
- <div class="block">Finds an object pose from 3 3D-2D point correspondences.</div>
- </td>
- </tr>
- <tr id="i188" class="altColor">
- <td class="colFirst"><code>static boolean</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#solvePnP-org.opencv.core.MatOfPoint3f-org.opencv.core.MatOfPoint2f-org.opencv.core.Mat-org.opencv.core.MatOfDouble-org.opencv.core.Mat-org.opencv.core.Mat-">solvePnP</a></span>(<a href="../../../org/opencv/core/MatOfPoint3f.html" title="class in org.opencv.core">MatOfPoint3f</a> objectPoints,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/MatOfDouble.html" title="class in org.opencv.core">MatOfDouble</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec)</code>
- <div class="block">Finds an object pose from 3D-2D point correspondences.</div>
- </td>
- </tr>
- <tr id="i189" class="rowColor">
- <td class="colFirst"><code>static boolean</code></td>
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- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
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- <td class="colFirst"><code>static boolean</code></td>
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- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- boolean useExtrinsicGuess,
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- <td class="colFirst"><code>static int</code></td>
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- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
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- <div class="block">Finds an object pose from 3D-2D point correspondences.</div>
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- <td class="colFirst"><code>static int</code></td>
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- <td class="colFirst"><code>static int</code></td>
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- <td class="colFirst"><code>static int</code></td>
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- boolean useExtrinsicGuess,
- int flags,
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- <td class="colFirst"><code>static int</code></td>
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- <div class="block">Finds an object pose from 3D-2D point correspondences.</div>
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- <td class="colFirst"><code>static int</code></td>
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- <div class="block">Finds an object pose from 3D-2D point correspondences.</div>
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- <td class="colFirst"><code>static boolean</code></td>
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- <td class="colFirst"><code>static boolean</code></td>
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- <td class="colFirst"><code>static boolean</code></td>
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- <td class="colFirst"><code>static boolean</code></td>
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- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/MatOfDouble.html" title="class in org.opencv.core">MatOfDouble</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- <a href="../../../org/opencv/calib3d/UsacParams.html" title="class in org.opencv.calib3d">UsacParams</a> params)</code> </td>
- </tr>
- <tr id="i206" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#solvePnPRefineLM-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">solvePnPRefineLM</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec)</code>
- <div class="block">Refine a pose (the translation and the rotation that transform a 3D point expressed in the object coordinate frame
- to the camera coordinate frame) from a 3D-2D point correspondences and starting from an initial solution.</div>
- </td>
- </tr>
- <tr id="i207" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#solvePnPRefineLM-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.TermCriteria-">solvePnPRefineLM</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/TermCriteria.html" title="class in org.opencv.core">TermCriteria</a> criteria)</code>
- <div class="block">Refine a pose (the translation and the rotation that transform a 3D point expressed in the object coordinate frame
- to the camera coordinate frame) from a 3D-2D point correspondences and starting from an initial solution.</div>
- </td>
- </tr>
- <tr id="i208" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#solvePnPRefineVVS-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">solvePnPRefineVVS</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec)</code>
- <div class="block">Refine a pose (the translation and the rotation that transform a 3D point expressed in the object coordinate frame
- to the camera coordinate frame) from a 3D-2D point correspondences and starting from an initial solution.</div>
- </td>
- </tr>
- <tr id="i209" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#solvePnPRefineVVS-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.TermCriteria-">solvePnPRefineVVS</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/TermCriteria.html" title="class in org.opencv.core">TermCriteria</a> criteria)</code>
- <div class="block">Refine a pose (the translation and the rotation that transform a 3D point expressed in the object coordinate frame
- to the camera coordinate frame) from a 3D-2D point correspondences and starting from an initial solution.</div>
- </td>
- </tr>
- <tr id="i210" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#solvePnPRefineVVS-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.TermCriteria-double-">solvePnPRefineVVS</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/TermCriteria.html" title="class in org.opencv.core">TermCriteria</a> criteria,
- double VVSlambda)</code>
- <div class="block">Refine a pose (the translation and the rotation that transform a 3D point expressed in the object coordinate frame
- to the camera coordinate frame) from a 3D-2D point correspondences and starting from an initial solution.</div>
- </td>
- </tr>
- <tr id="i211" class="rowColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#stereoCalibrate-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">stereoCalibrate</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F)</code> </td>
- </tr>
- <tr id="i212" class="altColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#stereoCalibrate-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-">stereoCalibrate</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F,
- int flags)</code> </td>
- </tr>
- <tr id="i213" class="rowColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#stereoCalibrate-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-org.opencv.core.TermCriteria-">stereoCalibrate</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F,
- int flags,
- <a href="../../../org/opencv/core/TermCriteria.html" title="class in org.opencv.core">TermCriteria</a> criteria)</code> </td>
- </tr>
- <tr id="i214" class="altColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#stereoCalibrate-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">stereoCalibrate</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> perViewErrors)</code> </td>
- </tr>
- <tr id="i215" class="rowColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#stereoCalibrate-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-">stereoCalibrate</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> perViewErrors,
- int flags)</code> </td>
- </tr>
- <tr id="i216" class="altColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#stereoCalibrate-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-org.opencv.core.TermCriteria-">stereoCalibrate</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> perViewErrors,
- int flags,
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- </tr>
- <tr id="i217" class="rowColor">
- <td class="colFirst"><code>static double</code></td>
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- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
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- <div class="block">Calibrates a stereo camera set up.</div>
- </td>
- </tr>
- <tr id="i218" class="altColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#stereoCalibrateExtended-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-org.opencv.core.Mat-int-">stereoCalibrateExtended</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> perViewErrors,
- int flags)</code>
- <div class="block">Calibrates a stereo camera set up.</div>
- </td>
- </tr>
- <tr id="i219" class="rowColor">
- <td class="colFirst"><code>static double</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#stereoCalibrateExtended-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-org.opencv.core.Mat-int-org.opencv.core.TermCriteria-">stereoCalibrateExtended</a></span>(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> perViewErrors,
- int flags,
- <a href="../../../org/opencv/core/TermCriteria.html" title="class in org.opencv.core">TermCriteria</a> criteria)</code>
- <div class="block">Calibrates a stereo camera set up.</div>
- </td>
- </tr>
- <tr id="i220" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#stereoRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">stereoRectify</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q)</code>
- <div class="block">Computes rectification transforms for each head of a calibrated stereo camera.</div>
- </td>
- </tr>
- <tr id="i221" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#stereoRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-">stereoRectify</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q,
- int flags)</code>
- <div class="block">Computes rectification transforms for each head of a calibrated stereo camera.</div>
- </td>
- </tr>
- <tr id="i222" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#stereoRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-">stereoRectify</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q,
- int flags,
- double alpha)</code>
- <div class="block">Computes rectification transforms for each head of a calibrated stereo camera.</div>
- </td>
- </tr>
- <tr id="i223" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#stereoRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-org.opencv.core.Size-">stereoRectify</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q,
- int flags,
- double alpha,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> newImageSize)</code>
- <div class="block">Computes rectification transforms for each head of a calibrated stereo camera.</div>
- </td>
- </tr>
- <tr id="i224" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#stereoRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-org.opencv.core.Size-org.opencv.core.Rect-">stereoRectify</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q,
- int flags,
- double alpha,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> newImageSize,
- <a href="../../../org/opencv/core/Rect.html" title="class in org.opencv.core">Rect</a> validPixROI1)</code>
- <div class="block">Computes rectification transforms for each head of a calibrated stereo camera.</div>
- </td>
- </tr>
- <tr id="i225" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#stereoRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-org.opencv.core.Size-org.opencv.core.Rect-org.opencv.core.Rect-">stereoRectify</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q,
- int flags,
- double alpha,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> newImageSize,
- <a href="../../../org/opencv/core/Rect.html" title="class in org.opencv.core">Rect</a> validPixROI1,
- <a href="../../../org/opencv/core/Rect.html" title="class in org.opencv.core">Rect</a> validPixROI2)</code>
- <div class="block">Computes rectification transforms for each head of a calibrated stereo camera.</div>
- </td>
- </tr>
- <tr id="i226" class="altColor">
- <td class="colFirst"><code>static boolean</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#stereoRectifyUncalibrated-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-">stereoRectifyUncalibrated</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imgSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> H1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> H2)</code>
- <div class="block">Computes a rectification transform for an uncalibrated stereo camera.</div>
- </td>
- </tr>
- <tr id="i227" class="rowColor">
- <td class="colFirst"><code>static boolean</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#stereoRectifyUncalibrated-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-double-">stereoRectifyUncalibrated</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imgSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> H1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> H2,
- double threshold)</code>
- <div class="block">Computes a rectification transform for an uncalibrated stereo camera.</div>
- </td>
- </tr>
- <tr id="i228" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#triangulatePoints-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">triangulatePoints</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> projMatr1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> projMatr2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> projPoints1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> projPoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points4D)</code>
- <div class="block">This function reconstructs 3-dimensional points (in homogeneous coordinates) by using
- their observations with a stereo camera.</div>
- </td>
- </tr>
- <tr id="i229" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#undistort-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">undistort</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs)</code>
- <div class="block">Transforms an image to compensate for lens distortion.</div>
- </td>
- </tr>
- <tr id="i230" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#undistort-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">undistort</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst,
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- <div class="block">Transforms an image to compensate for lens distortion.</div>
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- <tr id="i231" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#undistortImagePoints-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">undistortImagePoints</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst,
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- <div class="block">Compute undistorted image points position</div>
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- <tr id="i232" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#undistortImagePoints-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.TermCriteria-">undistortImagePoints</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
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- <tr id="i233" class="rowColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#undistortPoints-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-org.opencv.core.Mat-org.opencv.core.Mat-">undistortPoints</a></span>(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> src,
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- <div class="block">Computes the ideal point coordinates from the observed point coordinates.</div>
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- <tr id="i234" class="altColor">
- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#undistortPoints-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">undistortPoints</a></span>(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> src,
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- <div class="block">Computes the ideal point coordinates from the observed point coordinates.</div>
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- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#undistortPoints-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">undistortPoints</a></span>(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> src,
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- <td class="colFirst"><code>static void</code></td>
- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#undistortPointsIter-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.TermCriteria-">undistortPointsIter</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
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- <td class="colFirst"><code>static void</code></td>
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- <td class="colLast"><code><span class="memberNameLink"><a href="../../../org/opencv/calib3d/Calib3d.html#validateDisparity-org.opencv.core.Mat-org.opencv.core.Mat-int-int-int-">validateDisparity</a></span>(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> disparity,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cost,
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- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- int flags,
- <a href="../../../org/opencv/core/TermCriteria.html" title="class in org.opencv.core">TermCriteria</a> criteria)</pre>
- </li>
- </ul>
- <a name="calibrateCameraExtended-java.util.List-java.util.List-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>calibrateCameraExtended</h4>
- <pre>public static double calibrateCameraExtended(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsIntrinsics,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsExtrinsics,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> perViewErrors)</pre>
- <div class="block">Finds the camera intrinsic and extrinsic parameters from several views of a calibration
- pattern.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - In the new interface it is a vector of vectors of calibration pattern points in
- the calibration pattern coordinate space (e.g. std::vector<std::vector<cv::Vec3f>>). The outer
- vector contains as many elements as the number of pattern views. If the same calibration pattern
- is shown in each view and it is fully visible, all the vectors will be the same. Although, it is
- possible to use partially occluded patterns or even different patterns in different views. Then,
- the vectors will be different. Although the points are 3D, they all lie in the calibration pattern's
- XY coordinate plane (thus 0 in the Z-coordinate), if the used calibration pattern is a planar rig.
- In the old interface all the vectors of object points from different views are concatenated
- together.</dd>
- <dd><code>imagePoints</code> - In the new interface it is a vector of vectors of the projections of calibration
- pattern points (e.g. std::vector<std::vector<cv::Vec2f>>). imagePoints.size() and
- objectPoints.size(), and imagePoints[i].size() and objectPoints[i].size() for each i, must be equal,
- respectively. In the old interface all the vectors of object points from different views are
- concatenated together.</dd>
- <dd><code>imageSize</code> - Size of the image used only to initialize the camera intrinsic matrix.</dd>
- <dd><code>cameraMatrix</code> - Input/output 3x3 floating-point camera intrinsic matrix
- \(\cameramatrix{A}\) . If REF: CALIB_USE_INTRINSIC_GUESS
- and/or REF: CALIB_FIX_ASPECT_RATIO, REF: CALIB_FIX_PRINCIPAL_POINT or REF: CALIB_FIX_FOCAL_LENGTH
- are specified, some or all of fx, fy, cx, cy must be initialized before calling the function.</dd>
- <dd><code>distCoeffs</code> - Input/output vector of distortion coefficients
- \(\distcoeffs\).</dd>
- <dd><code>rvecs</code> - Output vector of rotation vectors (REF: Rodrigues ) estimated for each pattern view
- (e.g. std::vector<cv::Mat>>). That is, each i-th rotation vector together with the corresponding
- i-th translation vector (see the next output parameter description) brings the calibration pattern
- from the object coordinate space (in which object points are specified) to the camera coordinate
- space. In more technical terms, the tuple of the i-th rotation and translation vector performs
- a change of basis from object coordinate space to camera coordinate space. Due to its duality, this
- tuple is equivalent to the position of the calibration pattern with respect to the camera coordinate
- space.</dd>
- <dd><code>tvecs</code> - Output vector of translation vectors estimated for each pattern view, see parameter
- describtion above.</dd>
- <dd><code>stdDeviationsIntrinsics</code> - Output vector of standard deviations estimated for intrinsic
- parameters. Order of deviations values:
- \((f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3,
- s_4, \tau_x, \tau_y)\) If one of parameters is not estimated, it's deviation is equals to zero.</dd>
- <dd><code>stdDeviationsExtrinsics</code> - Output vector of standard deviations estimated for extrinsic
- parameters. Order of deviations values: \((R_0, T_0, \dotsc , R_{M - 1}, T_{M - 1})\) where M is
- the number of pattern views. \(R_i, T_i\) are concatenated 1x3 vectors.</dd>
- <dd><code>perViewErrors</code> - Output vector of the RMS re-projection error estimated for each pattern view.
- <ul>
- <li>
- REF: CALIB_USE_INTRINSIC_GUESS cameraMatrix contains valid initial values of
- fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially set to the image
- center ( imageSize is used), and focal distances are computed in a least-squares fashion.
- Note, that if intrinsic parameters are known, there is no need to use this function just to
- estimate extrinsic parameters. Use REF: solvePnP instead.
- </li>
- <li>
- REF: CALIB_FIX_PRINCIPAL_POINT The principal point is not changed during the global
- optimization. It stays at the center or at a different location specified when
- REF: CALIB_USE_INTRINSIC_GUESS is set too.
- </li>
- <li>
- REF: CALIB_FIX_ASPECT_RATIO The functions consider only fy as a free parameter. The
- ratio fx/fy stays the same as in the input cameraMatrix . When
- REF: CALIB_USE_INTRINSIC_GUESS is not set, the actual input values of fx and fy are
- ignored, only their ratio is computed and used further.
- </li>
- <li>
- REF: CALIB_ZERO_TANGENT_DIST Tangential distortion coefficients \((p_1, p_2)\) are set
- to zeros and stay zero.
- </li>
- <li>
- REF: CALIB_FIX_FOCAL_LENGTH The focal length is not changed during the global optimization if
- REF: CALIB_USE_INTRINSIC_GUESS is set.
- </li>
- <li>
- REF: CALIB_FIX_K1,..., REF: CALIB_FIX_K6 The corresponding radial distortion
- coefficient is not changed during the optimization. If REF: CALIB_USE_INTRINSIC_GUESS is
- set, the coefficient from the supplied distCoeffs matrix is used. Otherwise, it is set to 0.
- </li>
- <li>
- REF: CALIB_RATIONAL_MODEL Coefficients k4, k5, and k6 are enabled. To provide the
- backward compatibility, this extra flag should be explicitly specified to make the
- calibration function use the rational model and return 8 coefficients or more.
- </li>
- <li>
- REF: CALIB_THIN_PRISM_MODEL Coefficients s1, s2, s3 and s4 are enabled. To provide the
- backward compatibility, this extra flag should be explicitly specified to make the
- calibration function use the thin prism model and return 12 coefficients or more.
- </li>
- <li>
- REF: CALIB_FIX_S1_S2_S3_S4 The thin prism distortion coefficients are not changed during
- the optimization. If REF: CALIB_USE_INTRINSIC_GUESS is set, the coefficient from the
- supplied distCoeffs matrix is used. Otherwise, it is set to 0.
- </li>
- <li>
- REF: CALIB_TILTED_MODEL Coefficients tauX and tauY are enabled. To provide the
- backward compatibility, this extra flag should be explicitly specified to make the
- calibration function use the tilted sensor model and return 14 coefficients.
- </li>
- <li>
- REF: CALIB_FIX_TAUX_TAUY The coefficients of the tilted sensor model are not changed during
- the optimization. If REF: CALIB_USE_INTRINSIC_GUESS is set, the coefficient from the
- supplied distCoeffs matrix is used. Otherwise, it is set to 0.
- </li>
- </ul></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>the overall RMS re-projection error.
- The function estimates the intrinsic camera parameters and extrinsic parameters for each of the
- views. The algorithm is based on CITE: Zhang2000 and CITE: BouguetMCT . The coordinates of 3D object
- points and their corresponding 2D projections in each view must be specified. That may be achieved
- by using an object with known geometry and easily detectable feature points. Such an object is
- called a calibration rig or calibration pattern, and OpenCV has built-in support for a chessboard as
- a calibration rig (see REF: findChessboardCorners). Currently, initialization of intrinsic
- parameters (when REF: CALIB_USE_INTRINSIC_GUESS is not set) is only implemented for planar calibration
- patterns (where Z-coordinates of the object points must be all zeros). 3D calibration rigs can also
- be used as long as initial cameraMatrix is provided.
- The algorithm performs the following steps:
- <ul>
- <li>
- Compute the initial intrinsic parameters (the option only available for planar calibration
- patterns) or read them from the input parameters. The distortion coefficients are all set to
- zeros initially unless some of CALIB_FIX_K? are specified.
- </li>
- </ul>
- <ul>
- <li>
- Estimate the initial camera pose as if the intrinsic parameters have been already known. This is
- done using REF: solvePnP .
- </li>
- </ul>
- <ul>
- <li>
- Run the global Levenberg-Marquardt optimization algorithm to minimize the reprojection error,
- that is, the total sum of squared distances between the observed feature points imagePoints and
- the projected (using the current estimates for camera parameters and the poses) object points
- objectPoints. See REF: projectPoints for details.
- </li>
- </ul>
- <b>Note:</b>
- If you use a non-square (i.e. non-N-by-N) grid and REF: findChessboardCorners for calibration,
- and REF: calibrateCamera returns bad values (zero distortion coefficients, \(c_x\) and
- \(c_y\) very far from the image center, and/or large differences between \(f_x\) and
- \(f_y\) (ratios of 10:1 or more)), then you are probably using patternSize=cvSize(rows,cols)
- instead of using patternSize=cvSize(cols,rows) in REF: findChessboardCorners.
- SEE:
- calibrateCameraRO, findChessboardCorners, solvePnP, initCameraMatrix2D, stereoCalibrate,
- undistort</dd>
- </dl>
- </li>
- </ul>
- <a name="calibrateCameraExtended-java.util.List-java.util.List-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>calibrateCameraExtended</h4>
- <pre>public static double calibrateCameraExtended(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsIntrinsics,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsExtrinsics,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> perViewErrors,
- int flags)</pre>
- <div class="block">Finds the camera intrinsic and extrinsic parameters from several views of a calibration
- pattern.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - In the new interface it is a vector of vectors of calibration pattern points in
- the calibration pattern coordinate space (e.g. std::vector<std::vector<cv::Vec3f>>). The outer
- vector contains as many elements as the number of pattern views. If the same calibration pattern
- is shown in each view and it is fully visible, all the vectors will be the same. Although, it is
- possible to use partially occluded patterns or even different patterns in different views. Then,
- the vectors will be different. Although the points are 3D, they all lie in the calibration pattern's
- XY coordinate plane (thus 0 in the Z-coordinate), if the used calibration pattern is a planar rig.
- In the old interface all the vectors of object points from different views are concatenated
- together.</dd>
- <dd><code>imagePoints</code> - In the new interface it is a vector of vectors of the projections of calibration
- pattern points (e.g. std::vector<std::vector<cv::Vec2f>>). imagePoints.size() and
- objectPoints.size(), and imagePoints[i].size() and objectPoints[i].size() for each i, must be equal,
- respectively. In the old interface all the vectors of object points from different views are
- concatenated together.</dd>
- <dd><code>imageSize</code> - Size of the image used only to initialize the camera intrinsic matrix.</dd>
- <dd><code>cameraMatrix</code> - Input/output 3x3 floating-point camera intrinsic matrix
- \(\cameramatrix{A}\) . If REF: CALIB_USE_INTRINSIC_GUESS
- and/or REF: CALIB_FIX_ASPECT_RATIO, REF: CALIB_FIX_PRINCIPAL_POINT or REF: CALIB_FIX_FOCAL_LENGTH
- are specified, some or all of fx, fy, cx, cy must be initialized before calling the function.</dd>
- <dd><code>distCoeffs</code> - Input/output vector of distortion coefficients
- \(\distcoeffs\).</dd>
- <dd><code>rvecs</code> - Output vector of rotation vectors (REF: Rodrigues ) estimated for each pattern view
- (e.g. std::vector<cv::Mat>>). That is, each i-th rotation vector together with the corresponding
- i-th translation vector (see the next output parameter description) brings the calibration pattern
- from the object coordinate space (in which object points are specified) to the camera coordinate
- space. In more technical terms, the tuple of the i-th rotation and translation vector performs
- a change of basis from object coordinate space to camera coordinate space. Due to its duality, this
- tuple is equivalent to the position of the calibration pattern with respect to the camera coordinate
- space.</dd>
- <dd><code>tvecs</code> - Output vector of translation vectors estimated for each pattern view, see parameter
- describtion above.</dd>
- <dd><code>stdDeviationsIntrinsics</code> - Output vector of standard deviations estimated for intrinsic
- parameters. Order of deviations values:
- \((f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3,
- s_4, \tau_x, \tau_y)\) If one of parameters is not estimated, it's deviation is equals to zero.</dd>
- <dd><code>stdDeviationsExtrinsics</code> - Output vector of standard deviations estimated for extrinsic
- parameters. Order of deviations values: \((R_0, T_0, \dotsc , R_{M - 1}, T_{M - 1})\) where M is
- the number of pattern views. \(R_i, T_i\) are concatenated 1x3 vectors.</dd>
- <dd><code>perViewErrors</code> - Output vector of the RMS re-projection error estimated for each pattern view.</dd>
- <dd><code>flags</code> - Different flags that may be zero or a combination of the following values:
- <ul>
- <li>
- REF: CALIB_USE_INTRINSIC_GUESS cameraMatrix contains valid initial values of
- fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially set to the image
- center ( imageSize is used), and focal distances are computed in a least-squares fashion.
- Note, that if intrinsic parameters are known, there is no need to use this function just to
- estimate extrinsic parameters. Use REF: solvePnP instead.
- </li>
- <li>
- REF: CALIB_FIX_PRINCIPAL_POINT The principal point is not changed during the global
- optimization. It stays at the center or at a different location specified when
- REF: CALIB_USE_INTRINSIC_GUESS is set too.
- </li>
- <li>
- REF: CALIB_FIX_ASPECT_RATIO The functions consider only fy as a free parameter. The
- ratio fx/fy stays the same as in the input cameraMatrix . When
- REF: CALIB_USE_INTRINSIC_GUESS is not set, the actual input values of fx and fy are
- ignored, only their ratio is computed and used further.
- </li>
- <li>
- REF: CALIB_ZERO_TANGENT_DIST Tangential distortion coefficients \((p_1, p_2)\) are set
- to zeros and stay zero.
- </li>
- <li>
- REF: CALIB_FIX_FOCAL_LENGTH The focal length is not changed during the global optimization if
- REF: CALIB_USE_INTRINSIC_GUESS is set.
- </li>
- <li>
- REF: CALIB_FIX_K1,..., REF: CALIB_FIX_K6 The corresponding radial distortion
- coefficient is not changed during the optimization. If REF: CALIB_USE_INTRINSIC_GUESS is
- set, the coefficient from the supplied distCoeffs matrix is used. Otherwise, it is set to 0.
- </li>
- <li>
- REF: CALIB_RATIONAL_MODEL Coefficients k4, k5, and k6 are enabled. To provide the
- backward compatibility, this extra flag should be explicitly specified to make the
- calibration function use the rational model and return 8 coefficients or more.
- </li>
- <li>
- REF: CALIB_THIN_PRISM_MODEL Coefficients s1, s2, s3 and s4 are enabled. To provide the
- backward compatibility, this extra flag should be explicitly specified to make the
- calibration function use the thin prism model and return 12 coefficients or more.
- </li>
- <li>
- REF: CALIB_FIX_S1_S2_S3_S4 The thin prism distortion coefficients are not changed during
- the optimization. If REF: CALIB_USE_INTRINSIC_GUESS is set, the coefficient from the
- supplied distCoeffs matrix is used. Otherwise, it is set to 0.
- </li>
- <li>
- REF: CALIB_TILTED_MODEL Coefficients tauX and tauY are enabled. To provide the
- backward compatibility, this extra flag should be explicitly specified to make the
- calibration function use the tilted sensor model and return 14 coefficients.
- </li>
- <li>
- REF: CALIB_FIX_TAUX_TAUY The coefficients of the tilted sensor model are not changed during
- the optimization. If REF: CALIB_USE_INTRINSIC_GUESS is set, the coefficient from the
- supplied distCoeffs matrix is used. Otherwise, it is set to 0.
- </li>
- </ul></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>the overall RMS re-projection error.
- The function estimates the intrinsic camera parameters and extrinsic parameters for each of the
- views. The algorithm is based on CITE: Zhang2000 and CITE: BouguetMCT . The coordinates of 3D object
- points and their corresponding 2D projections in each view must be specified. That may be achieved
- by using an object with known geometry and easily detectable feature points. Such an object is
- called a calibration rig or calibration pattern, and OpenCV has built-in support for a chessboard as
- a calibration rig (see REF: findChessboardCorners). Currently, initialization of intrinsic
- parameters (when REF: CALIB_USE_INTRINSIC_GUESS is not set) is only implemented for planar calibration
- patterns (where Z-coordinates of the object points must be all zeros). 3D calibration rigs can also
- be used as long as initial cameraMatrix is provided.
- The algorithm performs the following steps:
- <ul>
- <li>
- Compute the initial intrinsic parameters (the option only available for planar calibration
- patterns) or read them from the input parameters. The distortion coefficients are all set to
- zeros initially unless some of CALIB_FIX_K? are specified.
- </li>
- </ul>
- <ul>
- <li>
- Estimate the initial camera pose as if the intrinsic parameters have been already known. This is
- done using REF: solvePnP .
- </li>
- </ul>
- <ul>
- <li>
- Run the global Levenberg-Marquardt optimization algorithm to minimize the reprojection error,
- that is, the total sum of squared distances between the observed feature points imagePoints and
- the projected (using the current estimates for camera parameters and the poses) object points
- objectPoints. See REF: projectPoints for details.
- </li>
- </ul>
- <b>Note:</b>
- If you use a non-square (i.e. non-N-by-N) grid and REF: findChessboardCorners for calibration,
- and REF: calibrateCamera returns bad values (zero distortion coefficients, \(c_x\) and
- \(c_y\) very far from the image center, and/or large differences between \(f_x\) and
- \(f_y\) (ratios of 10:1 or more)), then you are probably using patternSize=cvSize(rows,cols)
- instead of using patternSize=cvSize(cols,rows) in REF: findChessboardCorners.
- SEE:
- calibrateCameraRO, findChessboardCorners, solvePnP, initCameraMatrix2D, stereoCalibrate,
- undistort</dd>
- </dl>
- </li>
- </ul>
- <a name="calibrateCameraExtended-java.util.List-java.util.List-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-org.opencv.core.TermCriteria-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>calibrateCameraExtended</h4>
- <pre>public static double calibrateCameraExtended(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsIntrinsics,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsExtrinsics,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> perViewErrors,
- int flags,
- <a href="../../../org/opencv/core/TermCriteria.html" title="class in org.opencv.core">TermCriteria</a> criteria)</pre>
- <div class="block">Finds the camera intrinsic and extrinsic parameters from several views of a calibration
- pattern.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - In the new interface it is a vector of vectors of calibration pattern points in
- the calibration pattern coordinate space (e.g. std::vector<std::vector<cv::Vec3f>>). The outer
- vector contains as many elements as the number of pattern views. If the same calibration pattern
- is shown in each view and it is fully visible, all the vectors will be the same. Although, it is
- possible to use partially occluded patterns or even different patterns in different views. Then,
- the vectors will be different. Although the points are 3D, they all lie in the calibration pattern's
- XY coordinate plane (thus 0 in the Z-coordinate), if the used calibration pattern is a planar rig.
- In the old interface all the vectors of object points from different views are concatenated
- together.</dd>
- <dd><code>imagePoints</code> - In the new interface it is a vector of vectors of the projections of calibration
- pattern points (e.g. std::vector<std::vector<cv::Vec2f>>). imagePoints.size() and
- objectPoints.size(), and imagePoints[i].size() and objectPoints[i].size() for each i, must be equal,
- respectively. In the old interface all the vectors of object points from different views are
- concatenated together.</dd>
- <dd><code>imageSize</code> - Size of the image used only to initialize the camera intrinsic matrix.</dd>
- <dd><code>cameraMatrix</code> - Input/output 3x3 floating-point camera intrinsic matrix
- \(\cameramatrix{A}\) . If REF: CALIB_USE_INTRINSIC_GUESS
- and/or REF: CALIB_FIX_ASPECT_RATIO, REF: CALIB_FIX_PRINCIPAL_POINT or REF: CALIB_FIX_FOCAL_LENGTH
- are specified, some or all of fx, fy, cx, cy must be initialized before calling the function.</dd>
- <dd><code>distCoeffs</code> - Input/output vector of distortion coefficients
- \(\distcoeffs\).</dd>
- <dd><code>rvecs</code> - Output vector of rotation vectors (REF: Rodrigues ) estimated for each pattern view
- (e.g. std::vector<cv::Mat>>). That is, each i-th rotation vector together with the corresponding
- i-th translation vector (see the next output parameter description) brings the calibration pattern
- from the object coordinate space (in which object points are specified) to the camera coordinate
- space. In more technical terms, the tuple of the i-th rotation and translation vector performs
- a change of basis from object coordinate space to camera coordinate space. Due to its duality, this
- tuple is equivalent to the position of the calibration pattern with respect to the camera coordinate
- space.</dd>
- <dd><code>tvecs</code> - Output vector of translation vectors estimated for each pattern view, see parameter
- describtion above.</dd>
- <dd><code>stdDeviationsIntrinsics</code> - Output vector of standard deviations estimated for intrinsic
- parameters. Order of deviations values:
- \((f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3,
- s_4, \tau_x, \tau_y)\) If one of parameters is not estimated, it's deviation is equals to zero.</dd>
- <dd><code>stdDeviationsExtrinsics</code> - Output vector of standard deviations estimated for extrinsic
- parameters. Order of deviations values: \((R_0, T_0, \dotsc , R_{M - 1}, T_{M - 1})\) where M is
- the number of pattern views. \(R_i, T_i\) are concatenated 1x3 vectors.</dd>
- <dd><code>perViewErrors</code> - Output vector of the RMS re-projection error estimated for each pattern view.</dd>
- <dd><code>flags</code> - Different flags that may be zero or a combination of the following values:
- <ul>
- <li>
- REF: CALIB_USE_INTRINSIC_GUESS cameraMatrix contains valid initial values of
- fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially set to the image
- center ( imageSize is used), and focal distances are computed in a least-squares fashion.
- Note, that if intrinsic parameters are known, there is no need to use this function just to
- estimate extrinsic parameters. Use REF: solvePnP instead.
- </li>
- <li>
- REF: CALIB_FIX_PRINCIPAL_POINT The principal point is not changed during the global
- optimization. It stays at the center or at a different location specified when
- REF: CALIB_USE_INTRINSIC_GUESS is set too.
- </li>
- <li>
- REF: CALIB_FIX_ASPECT_RATIO The functions consider only fy as a free parameter. The
- ratio fx/fy stays the same as in the input cameraMatrix . When
- REF: CALIB_USE_INTRINSIC_GUESS is not set, the actual input values of fx and fy are
- ignored, only their ratio is computed and used further.
- </li>
- <li>
- REF: CALIB_ZERO_TANGENT_DIST Tangential distortion coefficients \((p_1, p_2)\) are set
- to zeros and stay zero.
- </li>
- <li>
- REF: CALIB_FIX_FOCAL_LENGTH The focal length is not changed during the global optimization if
- REF: CALIB_USE_INTRINSIC_GUESS is set.
- </li>
- <li>
- REF: CALIB_FIX_K1,..., REF: CALIB_FIX_K6 The corresponding radial distortion
- coefficient is not changed during the optimization. If REF: CALIB_USE_INTRINSIC_GUESS is
- set, the coefficient from the supplied distCoeffs matrix is used. Otherwise, it is set to 0.
- </li>
- <li>
- REF: CALIB_RATIONAL_MODEL Coefficients k4, k5, and k6 are enabled. To provide the
- backward compatibility, this extra flag should be explicitly specified to make the
- calibration function use the rational model and return 8 coefficients or more.
- </li>
- <li>
- REF: CALIB_THIN_PRISM_MODEL Coefficients s1, s2, s3 and s4 are enabled. To provide the
- backward compatibility, this extra flag should be explicitly specified to make the
- calibration function use the thin prism model and return 12 coefficients or more.
- </li>
- <li>
- REF: CALIB_FIX_S1_S2_S3_S4 The thin prism distortion coefficients are not changed during
- the optimization. If REF: CALIB_USE_INTRINSIC_GUESS is set, the coefficient from the
- supplied distCoeffs matrix is used. Otherwise, it is set to 0.
- </li>
- <li>
- REF: CALIB_TILTED_MODEL Coefficients tauX and tauY are enabled. To provide the
- backward compatibility, this extra flag should be explicitly specified to make the
- calibration function use the tilted sensor model and return 14 coefficients.
- </li>
- <li>
- REF: CALIB_FIX_TAUX_TAUY The coefficients of the tilted sensor model are not changed during
- the optimization. If REF: CALIB_USE_INTRINSIC_GUESS is set, the coefficient from the
- supplied distCoeffs matrix is used. Otherwise, it is set to 0.
- </li>
- </ul></dd>
- <dd><code>criteria</code> - Termination criteria for the iterative optimization algorithm.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>the overall RMS re-projection error.
- The function estimates the intrinsic camera parameters and extrinsic parameters for each of the
- views. The algorithm is based on CITE: Zhang2000 and CITE: BouguetMCT . The coordinates of 3D object
- points and their corresponding 2D projections in each view must be specified. That may be achieved
- by using an object with known geometry and easily detectable feature points. Such an object is
- called a calibration rig or calibration pattern, and OpenCV has built-in support for a chessboard as
- a calibration rig (see REF: findChessboardCorners). Currently, initialization of intrinsic
- parameters (when REF: CALIB_USE_INTRINSIC_GUESS is not set) is only implemented for planar calibration
- patterns (where Z-coordinates of the object points must be all zeros). 3D calibration rigs can also
- be used as long as initial cameraMatrix is provided.
- The algorithm performs the following steps:
- <ul>
- <li>
- Compute the initial intrinsic parameters (the option only available for planar calibration
- patterns) or read them from the input parameters. The distortion coefficients are all set to
- zeros initially unless some of CALIB_FIX_K? are specified.
- </li>
- </ul>
- <ul>
- <li>
- Estimate the initial camera pose as if the intrinsic parameters have been already known. This is
- done using REF: solvePnP .
- </li>
- </ul>
- <ul>
- <li>
- Run the global Levenberg-Marquardt optimization algorithm to minimize the reprojection error,
- that is, the total sum of squared distances between the observed feature points imagePoints and
- the projected (using the current estimates for camera parameters and the poses) object points
- objectPoints. See REF: projectPoints for details.
- </li>
- </ul>
- <b>Note:</b>
- If you use a non-square (i.e. non-N-by-N) grid and REF: findChessboardCorners for calibration,
- and REF: calibrateCamera returns bad values (zero distortion coefficients, \(c_x\) and
- \(c_y\) very far from the image center, and/or large differences between \(f_x\) and
- \(f_y\) (ratios of 10:1 or more)), then you are probably using patternSize=cvSize(rows,cols)
- instead of using patternSize=cvSize(cols,rows) in REF: findChessboardCorners.
- SEE:
- calibrateCameraRO, findChessboardCorners, solvePnP, initCameraMatrix2D, stereoCalibrate,
- undistort</dd>
- </dl>
- </li>
- </ul>
- <a name="calibrateCameraRO-java.util.List-java.util.List-org.opencv.core.Size-int-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>calibrateCameraRO</h4>
- <pre>public static double calibrateCameraRO(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- int iFixedPoint,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> newObjPoints)</pre>
- </li>
- </ul>
- <a name="calibrateCameraRO-java.util.List-java.util.List-org.opencv.core.Size-int-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-org.opencv.core.Mat-int-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>calibrateCameraRO</h4>
- <pre>public static double calibrateCameraRO(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- int iFixedPoint,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> newObjPoints,
- int flags)</pre>
- </li>
- </ul>
- <a name="calibrateCameraRO-java.util.List-java.util.List-org.opencv.core.Size-int-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-org.opencv.core.Mat-int-org.opencv.core.TermCriteria-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>calibrateCameraRO</h4>
- <pre>public static double calibrateCameraRO(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- int iFixedPoint,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> newObjPoints,
- int flags,
- <a href="../../../org/opencv/core/TermCriteria.html" title="class in org.opencv.core">TermCriteria</a> criteria)</pre>
- </li>
- </ul>
- <a name="calibrateCameraROExtended-java.util.List-java.util.List-org.opencv.core.Size-int-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>calibrateCameraROExtended</h4>
- <pre>public static double calibrateCameraROExtended(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- int iFixedPoint,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> newObjPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsIntrinsics,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsExtrinsics,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsObjPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> perViewErrors)</pre>
- <div class="block">Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern.
- This function is an extension of #calibrateCamera with the method of releasing object which was
- proposed in CITE: strobl2011iccv. In many common cases with inaccurate, unmeasured, roughly planar
- targets (calibration plates), this method can dramatically improve the precision of the estimated
- camera parameters. Both the object-releasing method and standard method are supported by this
- function. Use the parameter <b>iFixedPoint</b> for method selection. In the internal implementation,
- #calibrateCamera is a wrapper for this function.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Vector of vectors of calibration pattern points in the calibration pattern
- coordinate space. See #calibrateCamera for details. If the method of releasing object to be used,
- the identical calibration board must be used in each view and it must be fully visible, and all
- objectPoints[i] must be the same and all points should be roughly close to a plane. <b>The calibration
- target has to be rigid, or at least static if the camera (rather than the calibration target) is
- shifted for grabbing images.</b></dd>
- <dd><code>imagePoints</code> - Vector of vectors of the projections of calibration pattern points. See
- #calibrateCamera for details.</dd>
- <dd><code>imageSize</code> - Size of the image used only to initialize the intrinsic camera matrix.</dd>
- <dd><code>iFixedPoint</code> - The index of the 3D object point in objectPoints[0] to be fixed. It also acts as
- a switch for calibration method selection. If object-releasing method to be used, pass in the
- parameter in the range of [1, objectPoints[0].size()-2], otherwise a value out of this range will
- make standard calibration method selected. Usually the top-right corner point of the calibration
- board grid is recommended to be fixed when object-releasing method being utilized. According to
- \cite strobl2011iccv, two other points are also fixed. In this implementation, objectPoints[0].front
- and objectPoints[0].back.z are used. With object-releasing method, accurate rvecs, tvecs and
- newObjPoints are only possible if coordinates of these three fixed points are accurate enough.</dd>
- <dd><code>cameraMatrix</code> - Output 3x3 floating-point camera matrix. See #calibrateCamera for details.</dd>
- <dd><code>distCoeffs</code> - Output vector of distortion coefficients. See #calibrateCamera for details.</dd>
- <dd><code>rvecs</code> - Output vector of rotation vectors estimated for each pattern view. See #calibrateCamera
- for details.</dd>
- <dd><code>tvecs</code> - Output vector of translation vectors estimated for each pattern view.</dd>
- <dd><code>newObjPoints</code> - The updated output vector of calibration pattern points. The coordinates might
- be scaled based on three fixed points. The returned coordinates are accurate only if the above
- mentioned three fixed points are accurate. If not needed, noArray() can be passed in. This parameter
- is ignored with standard calibration method.</dd>
- <dd><code>stdDeviationsIntrinsics</code> - Output vector of standard deviations estimated for intrinsic parameters.
- See #calibrateCamera for details.</dd>
- <dd><code>stdDeviationsExtrinsics</code> - Output vector of standard deviations estimated for extrinsic parameters.
- See #calibrateCamera for details.</dd>
- <dd><code>stdDeviationsObjPoints</code> - Output vector of standard deviations estimated for refined coordinates
- of calibration pattern points. It has the same size and order as objectPoints[0] vector. This
- parameter is ignored with standard calibration method.</dd>
- <dd><code>perViewErrors</code> - Output vector of the RMS re-projection error estimated for each pattern view.
- #calibrateCamera for details. If the method of releasing object is used, the calibration time may
- be much longer. CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially
- less precise and less stable in some rare cases.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>the overall RMS re-projection error.
- The function estimates the intrinsic camera parameters and extrinsic parameters for each of the
- views. The algorithm is based on CITE: Zhang2000, CITE: BouguetMCT and CITE: strobl2011iccv. See
- #calibrateCamera for other detailed explanations.
- SEE:
- calibrateCamera, findChessboardCorners, solvePnP, initCameraMatrix2D, stereoCalibrate, undistort</dd>
- </dl>
- </li>
- </ul>
- <a name="calibrateCameraROExtended-java.util.List-java.util.List-org.opencv.core.Size-int-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-">
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- <h4>calibrateCameraROExtended</h4>
- <pre>public static double calibrateCameraROExtended(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- int iFixedPoint,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> newObjPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsIntrinsics,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsExtrinsics,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsObjPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> perViewErrors,
- int flags)</pre>
- <div class="block">Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern.
- This function is an extension of #calibrateCamera with the method of releasing object which was
- proposed in CITE: strobl2011iccv. In many common cases with inaccurate, unmeasured, roughly planar
- targets (calibration plates), this method can dramatically improve the precision of the estimated
- camera parameters. Both the object-releasing method and standard method are supported by this
- function. Use the parameter <b>iFixedPoint</b> for method selection. In the internal implementation,
- #calibrateCamera is a wrapper for this function.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Vector of vectors of calibration pattern points in the calibration pattern
- coordinate space. See #calibrateCamera for details. If the method of releasing object to be used,
- the identical calibration board must be used in each view and it must be fully visible, and all
- objectPoints[i] must be the same and all points should be roughly close to a plane. <b>The calibration
- target has to be rigid, or at least static if the camera (rather than the calibration target) is
- shifted for grabbing images.</b></dd>
- <dd><code>imagePoints</code> - Vector of vectors of the projections of calibration pattern points. See
- #calibrateCamera for details.</dd>
- <dd><code>imageSize</code> - Size of the image used only to initialize the intrinsic camera matrix.</dd>
- <dd><code>iFixedPoint</code> - The index of the 3D object point in objectPoints[0] to be fixed. It also acts as
- a switch for calibration method selection. If object-releasing method to be used, pass in the
- parameter in the range of [1, objectPoints[0].size()-2], otherwise a value out of this range will
- make standard calibration method selected. Usually the top-right corner point of the calibration
- board grid is recommended to be fixed when object-releasing method being utilized. According to
- \cite strobl2011iccv, two other points are also fixed. In this implementation, objectPoints[0].front
- and objectPoints[0].back.z are used. With object-releasing method, accurate rvecs, tvecs and
- newObjPoints are only possible if coordinates of these three fixed points are accurate enough.</dd>
- <dd><code>cameraMatrix</code> - Output 3x3 floating-point camera matrix. See #calibrateCamera for details.</dd>
- <dd><code>distCoeffs</code> - Output vector of distortion coefficients. See #calibrateCamera for details.</dd>
- <dd><code>rvecs</code> - Output vector of rotation vectors estimated for each pattern view. See #calibrateCamera
- for details.</dd>
- <dd><code>tvecs</code> - Output vector of translation vectors estimated for each pattern view.</dd>
- <dd><code>newObjPoints</code> - The updated output vector of calibration pattern points. The coordinates might
- be scaled based on three fixed points. The returned coordinates are accurate only if the above
- mentioned three fixed points are accurate. If not needed, noArray() can be passed in. This parameter
- is ignored with standard calibration method.</dd>
- <dd><code>stdDeviationsIntrinsics</code> - Output vector of standard deviations estimated for intrinsic parameters.
- See #calibrateCamera for details.</dd>
- <dd><code>stdDeviationsExtrinsics</code> - Output vector of standard deviations estimated for extrinsic parameters.
- See #calibrateCamera for details.</dd>
- <dd><code>stdDeviationsObjPoints</code> - Output vector of standard deviations estimated for refined coordinates
- of calibration pattern points. It has the same size and order as objectPoints[0] vector. This
- parameter is ignored with standard calibration method.</dd>
- <dd><code>perViewErrors</code> - Output vector of the RMS re-projection error estimated for each pattern view.</dd>
- <dd><code>flags</code> - Different flags that may be zero or a combination of some predefined values. See
- #calibrateCamera for details. If the method of releasing object is used, the calibration time may
- be much longer. CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially
- less precise and less stable in some rare cases.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>the overall RMS re-projection error.
- The function estimates the intrinsic camera parameters and extrinsic parameters for each of the
- views. The algorithm is based on CITE: Zhang2000, CITE: BouguetMCT and CITE: strobl2011iccv. See
- #calibrateCamera for other detailed explanations.
- SEE:
- calibrateCamera, findChessboardCorners, solvePnP, initCameraMatrix2D, stereoCalibrate, undistort</dd>
- </dl>
- </li>
- </ul>
- <a name="calibrateCameraROExtended-java.util.List-java.util.List-org.opencv.core.Size-int-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-org.opencv.core.TermCriteria-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>calibrateCameraROExtended</h4>
- <pre>public static double calibrateCameraROExtended(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- int iFixedPoint,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> newObjPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsIntrinsics,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsExtrinsics,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> stdDeviationsObjPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> perViewErrors,
- int flags,
- <a href="../../../org/opencv/core/TermCriteria.html" title="class in org.opencv.core">TermCriteria</a> criteria)</pre>
- <div class="block">Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern.
- This function is an extension of #calibrateCamera with the method of releasing object which was
- proposed in CITE: strobl2011iccv. In many common cases with inaccurate, unmeasured, roughly planar
- targets (calibration plates), this method can dramatically improve the precision of the estimated
- camera parameters. Both the object-releasing method and standard method are supported by this
- function. Use the parameter <b>iFixedPoint</b> for method selection. In the internal implementation,
- #calibrateCamera is a wrapper for this function.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Vector of vectors of calibration pattern points in the calibration pattern
- coordinate space. See #calibrateCamera for details. If the method of releasing object to be used,
- the identical calibration board must be used in each view and it must be fully visible, and all
- objectPoints[i] must be the same and all points should be roughly close to a plane. <b>The calibration
- target has to be rigid, or at least static if the camera (rather than the calibration target) is
- shifted for grabbing images.</b></dd>
- <dd><code>imagePoints</code> - Vector of vectors of the projections of calibration pattern points. See
- #calibrateCamera for details.</dd>
- <dd><code>imageSize</code> - Size of the image used only to initialize the intrinsic camera matrix.</dd>
- <dd><code>iFixedPoint</code> - The index of the 3D object point in objectPoints[0] to be fixed. It also acts as
- a switch for calibration method selection. If object-releasing method to be used, pass in the
- parameter in the range of [1, objectPoints[0].size()-2], otherwise a value out of this range will
- make standard calibration method selected. Usually the top-right corner point of the calibration
- board grid is recommended to be fixed when object-releasing method being utilized. According to
- \cite strobl2011iccv, two other points are also fixed. In this implementation, objectPoints[0].front
- and objectPoints[0].back.z are used. With object-releasing method, accurate rvecs, tvecs and
- newObjPoints are only possible if coordinates of these three fixed points are accurate enough.</dd>
- <dd><code>cameraMatrix</code> - Output 3x3 floating-point camera matrix. See #calibrateCamera for details.</dd>
- <dd><code>distCoeffs</code> - Output vector of distortion coefficients. See #calibrateCamera for details.</dd>
- <dd><code>rvecs</code> - Output vector of rotation vectors estimated for each pattern view. See #calibrateCamera
- for details.</dd>
- <dd><code>tvecs</code> - Output vector of translation vectors estimated for each pattern view.</dd>
- <dd><code>newObjPoints</code> - The updated output vector of calibration pattern points. The coordinates might
- be scaled based on three fixed points. The returned coordinates are accurate only if the above
- mentioned three fixed points are accurate. If not needed, noArray() can be passed in. This parameter
- is ignored with standard calibration method.</dd>
- <dd><code>stdDeviationsIntrinsics</code> - Output vector of standard deviations estimated for intrinsic parameters.
- See #calibrateCamera for details.</dd>
- <dd><code>stdDeviationsExtrinsics</code> - Output vector of standard deviations estimated for extrinsic parameters.
- See #calibrateCamera for details.</dd>
- <dd><code>stdDeviationsObjPoints</code> - Output vector of standard deviations estimated for refined coordinates
- of calibration pattern points. It has the same size and order as objectPoints[0] vector. This
- parameter is ignored with standard calibration method.</dd>
- <dd><code>perViewErrors</code> - Output vector of the RMS re-projection error estimated for each pattern view.</dd>
- <dd><code>flags</code> - Different flags that may be zero or a combination of some predefined values. See
- #calibrateCamera for details. If the method of releasing object is used, the calibration time may
- be much longer. CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially
- less precise and less stable in some rare cases.</dd>
- <dd><code>criteria</code> - Termination criteria for the iterative optimization algorithm.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>the overall RMS re-projection error.
- The function estimates the intrinsic camera parameters and extrinsic parameters for each of the
- views. The algorithm is based on CITE: Zhang2000, CITE: BouguetMCT and CITE: strobl2011iccv. See
- #calibrateCamera for other detailed explanations.
- SEE:
- calibrateCamera, findChessboardCorners, solvePnP, initCameraMatrix2D, stereoCalibrate, undistort</dd>
- </dl>
- </li>
- </ul>
- <a name="calibrateHandEye-java.util.List-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>calibrateHandEye</h4>
- <pre>public static void calibrateHandEye(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> R_gripper2base,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> t_gripper2base,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> R_target2cam,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> t_target2cam,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R_cam2gripper,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t_cam2gripper)</pre>
- <div class="block">Computes Hand-Eye calibration: \(_{}^{g}\textrm{T}_c\)</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>R_gripper2base</code> - Rotation part extracted from the homogeneous matrix that transforms a point
- expressed in the gripper frame to the robot base frame (\(_{}^{b}\textrm{T}_g\)).
- This is a vector (<code>vector&lt;Mat&gt;</code>) that contains the rotation, <code>(3x3)</code> rotation matrices or <code>(3x1)</code> rotation vectors,
- for all the transformations from gripper frame to robot base frame.</dd>
- <dd><code>t_gripper2base</code> - Translation part extracted from the homogeneous matrix that transforms a point
- expressed in the gripper frame to the robot base frame (\(_{}^{b}\textrm{T}_g\)).
- This is a vector (<code>vector&lt;Mat&gt;</code>) that contains the <code>(3x1)</code> translation vectors for all the transformations
- from gripper frame to robot base frame.</dd>
- <dd><code>R_target2cam</code> - Rotation part extracted from the homogeneous matrix that transforms a point
- expressed in the target frame to the camera frame (\(_{}^{c}\textrm{T}_t\)).
- This is a vector (<code>vector&lt;Mat&gt;</code>) that contains the rotation, <code>(3x3)</code> rotation matrices or <code>(3x1)</code> rotation vectors,
- for all the transformations from calibration target frame to camera frame.</dd>
- <dd><code>t_target2cam</code> - Rotation part extracted from the homogeneous matrix that transforms a point
- expressed in the target frame to the camera frame (\(_{}^{c}\textrm{T}_t\)).
- This is a vector (<code>vector&lt;Mat&gt;</code>) that contains the <code>(3x1)</code> translation vectors for all the transformations
- from calibration target frame to camera frame.</dd>
- <dd><code>R_cam2gripper</code> - Estimated <code>(3x3)</code> rotation part extracted from the homogeneous matrix that transforms a point
- expressed in the camera frame to the gripper frame (\(_{}^{g}\textrm{T}_c\)).</dd>
- <dd><code>t_cam2gripper</code> - Estimated <code>(3x1)</code> translation part extracted from the homogeneous matrix that transforms a point
- expressed in the camera frame to the gripper frame (\(_{}^{g}\textrm{T}_c\)).
- The function performs the Hand-Eye calibration using various methods. One approach consists in estimating the
- rotation then the translation (separable solutions) and the following methods are implemented:
- <ul>
- <li>
- R. Tsai, R. Lenz A New Technique for Fully Autonomous and Efficient 3D Robotics Hand/EyeCalibration \cite Tsai89
- </li>
- <li>
- F. Park, B. Martin Robot Sensor Calibration: Solving AX = XB on the Euclidean Group \cite Park94
- </li>
- <li>
- R. Horaud, F. Dornaika Hand-Eye Calibration \cite Horaud95
- </li>
- </ul>
- Another approach consists in estimating simultaneously the rotation and the translation (simultaneous solutions),
- with the following implemented methods:
- <ul>
- <li>
- N. Andreff, R. Horaud, B. Espiau On-line Hand-Eye Calibration \cite Andreff99
- </li>
- <li>
- K. Daniilidis Hand-Eye Calibration Using Dual Quaternions \cite Daniilidis98
- </li>
- </ul>
- The following picture describes the Hand-Eye calibration problem where the transformation between a camera ("eye")
- mounted on a robot gripper ("hand") has to be estimated. This configuration is called eye-in-hand.
- The eye-to-hand configuration consists in a static camera observing a calibration pattern mounted on the robot
- end-effector. The transformation from the camera to the robot base frame can then be estimated by inputting
- the suitable transformations to the function, see below.
- 
- The calibration procedure is the following:
- <ul>
- <li>
- a static calibration pattern is used to estimate the transformation between the target frame
- and the camera frame
- </li>
- <li>
- the robot gripper is moved in order to acquire several poses
- </li>
- <li>
- for each pose, the homogeneous transformation between the gripper frame and the robot base frame is recorded using for
- instance the robot kinematics
- \(
- \begin{bmatrix}
- X_b\\
- Y_b\\
- Z_b\\
- 1
- \end{bmatrix}
- =
- \begin{bmatrix}
- _{}^{b}\textrm{R}_g & _{}^{b}\textrm{t}_g \\
- 0_{1 \times 3} & 1
- \end{bmatrix}
- \begin{bmatrix}
- X_g\\
- Y_g\\
- Z_g\\
- 1
- \end{bmatrix}
- \)
- </li>
- <li>
- for each pose, the homogeneous transformation between the calibration target frame and the camera frame is recorded using
- for instance a pose estimation method (PnP) from 2D-3D point correspondences
- \(
- \begin{bmatrix}
- X_c\\
- Y_c\\
- Z_c\\
- 1
- \end{bmatrix}
- =
- \begin{bmatrix}
- _{}^{c}\textrm{R}_t & _{}^{c}\textrm{t}_t \\
- 0_{1 \times 3} & 1
- \end{bmatrix}
- \begin{bmatrix}
- X_t\\
- Y_t\\
- Z_t\\
- 1
- \end{bmatrix}
- \)
- </li>
- </ul>
- The Hand-Eye calibration procedure returns the following homogeneous transformation
- \(
- \begin{bmatrix}
- X_g\\
- Y_g\\
- Z_g\\
- 1
- \end{bmatrix}
- =
- \begin{bmatrix}
- _{}^{g}\textrm{R}_c & _{}^{g}\textrm{t}_c \\
- 0_{1 \times 3} & 1
- \end{bmatrix}
- \begin{bmatrix}
- X_c\\
- Y_c\\
- Z_c\\
- 1
- \end{bmatrix}
- \)
- This problem is also known as solving the \(\mathbf{A}\mathbf{X}=\mathbf{X}\mathbf{B}\) equation:
- <ul>
- <li>
- for an eye-in-hand configuration
- \(
- \begin{align*}
- ^{b}{\textrm{T}_g}^{(1)} \hspace{0.2em} ^{g}\textrm{T}_c \hspace{0.2em} ^{c}{\textrm{T}_t}^{(1)} &=
- \hspace{0.1em} ^{b}{\textrm{T}_g}^{(2)} \hspace{0.2em} ^{g}\textrm{T}_c \hspace{0.2em} ^{c}{\textrm{T}_t}^{(2)} \\
- </li>
- </ul>
- (^{b}{\textrm{T}_g}^{(2)})^{-1} \hspace{0.2em} ^{b}{\textrm{T}_g}^{(1)} \hspace{0.2em} ^{g}\textrm{T}_c &=
- \hspace{0.1em} ^{g}\textrm{T}_c \hspace{0.2em} ^{c}{\textrm{T}_t}^{(2)} (^{c}{\textrm{T}_t}^{(1)})^{-1} \\
- \textrm{A}_i \textrm{X} &= \textrm{X} \textrm{B}_i \\
- \end{align*}
- \)
- <ul>
- <li>
- for an eye-to-hand configuration
- \(
- \begin{align*}
- ^{g}{\textrm{T}_b}^{(1)} \hspace{0.2em} ^{b}\textrm{T}_c \hspace{0.2em} ^{c}{\textrm{T}_t}^{(1)} &=
- \hspace{0.1em} ^{g}{\textrm{T}_b}^{(2)} \hspace{0.2em} ^{b}\textrm{T}_c \hspace{0.2em} ^{c}{\textrm{T}_t}^{(2)} \\
- </li>
- </ul>
- (^{g}{\textrm{T}_b}^{(2)})^{-1} \hspace{0.2em} ^{g}{\textrm{T}_b}^{(1)} \hspace{0.2em} ^{b}\textrm{T}_c &=
- \hspace{0.1em} ^{b}\textrm{T}_c \hspace{0.2em} ^{c}{\textrm{T}_t}^{(2)} (^{c}{\textrm{T}_t}^{(1)})^{-1} \\
- \textrm{A}_i \textrm{X} &= \textrm{X} \textrm{B}_i \\
- \end{align*}
- \)
- \note
- Additional information can be found on this [website](http://campar.in.tum.de/Chair/HandEyeCalibration).
- \note
- A minimum of 2 motions with non parallel rotation axes are necessary to determine the hand-eye transformation.
- So at least 3 different poses are required, but it is strongly recommended to use many more poses.</dd>
- </dl>
- </li>
- </ul>
- <a name="calibrateHandEye-java.util.List-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-int-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>calibrateHandEye</h4>
- <pre>public static void calibrateHandEye(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> R_gripper2base,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> t_gripper2base,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> R_target2cam,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> t_target2cam,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R_cam2gripper,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t_cam2gripper,
- int method)</pre>
- <div class="block">Computes Hand-Eye calibration: \(_{}^{g}\textrm{T}_c\)</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>R_gripper2base</code> - Rotation part extracted from the homogeneous matrix that transforms a point
- expressed in the gripper frame to the robot base frame (\(_{}^{b}\textrm{T}_g\)).
- This is a vector (<code>vector&lt;Mat&gt;</code>) that contains the rotation, <code>(3x3)</code> rotation matrices or <code>(3x1)</code> rotation vectors,
- for all the transformations from gripper frame to robot base frame.</dd>
- <dd><code>t_gripper2base</code> - Translation part extracted from the homogeneous matrix that transforms a point
- expressed in the gripper frame to the robot base frame (\(_{}^{b}\textrm{T}_g\)).
- This is a vector (<code>vector&lt;Mat&gt;</code>) that contains the <code>(3x1)</code> translation vectors for all the transformations
- from gripper frame to robot base frame.</dd>
- <dd><code>R_target2cam</code> - Rotation part extracted from the homogeneous matrix that transforms a point
- expressed in the target frame to the camera frame (\(_{}^{c}\textrm{T}_t\)).
- This is a vector (<code>vector&lt;Mat&gt;</code>) that contains the rotation, <code>(3x3)</code> rotation matrices or <code>(3x1)</code> rotation vectors,
- for all the transformations from calibration target frame to camera frame.</dd>
- <dd><code>t_target2cam</code> - Rotation part extracted from the homogeneous matrix that transforms a point
- expressed in the target frame to the camera frame (\(_{}^{c}\textrm{T}_t\)).
- This is a vector (<code>vector&lt;Mat&gt;</code>) that contains the <code>(3x1)</code> translation vectors for all the transformations
- from calibration target frame to camera frame.</dd>
- <dd><code>R_cam2gripper</code> - Estimated <code>(3x3)</code> rotation part extracted from the homogeneous matrix that transforms a point
- expressed in the camera frame to the gripper frame (\(_{}^{g}\textrm{T}_c\)).</dd>
- <dd><code>t_cam2gripper</code> - Estimated <code>(3x1)</code> translation part extracted from the homogeneous matrix that transforms a point
- expressed in the camera frame to the gripper frame (\(_{}^{g}\textrm{T}_c\)).</dd>
- <dd><code>method</code> - One of the implemented Hand-Eye calibration method, see cv::HandEyeCalibrationMethod
- The function performs the Hand-Eye calibration using various methods. One approach consists in estimating the
- rotation then the translation (separable solutions) and the following methods are implemented:
- <ul>
- <li>
- R. Tsai, R. Lenz A New Technique for Fully Autonomous and Efficient 3D Robotics Hand/EyeCalibration \cite Tsai89
- </li>
- <li>
- F. Park, B. Martin Robot Sensor Calibration: Solving AX = XB on the Euclidean Group \cite Park94
- </li>
- <li>
- R. Horaud, F. Dornaika Hand-Eye Calibration \cite Horaud95
- </li>
- </ul>
- Another approach consists in estimating simultaneously the rotation and the translation (simultaneous solutions),
- with the following implemented methods:
- <ul>
- <li>
- N. Andreff, R. Horaud, B. Espiau On-line Hand-Eye Calibration \cite Andreff99
- </li>
- <li>
- K. Daniilidis Hand-Eye Calibration Using Dual Quaternions \cite Daniilidis98
- </li>
- </ul>
- The following picture describes the Hand-Eye calibration problem where the transformation between a camera ("eye")
- mounted on a robot gripper ("hand") has to be estimated. This configuration is called eye-in-hand.
- The eye-to-hand configuration consists in a static camera observing a calibration pattern mounted on the robot
- end-effector. The transformation from the camera to the robot base frame can then be estimated by inputting
- the suitable transformations to the function, see below.
- 
- The calibration procedure is the following:
- <ul>
- <li>
- a static calibration pattern is used to estimate the transformation between the target frame
- and the camera frame
- </li>
- <li>
- the robot gripper is moved in order to acquire several poses
- </li>
- <li>
- for each pose, the homogeneous transformation between the gripper frame and the robot base frame is recorded using for
- instance the robot kinematics
- \(
- \begin{bmatrix}
- X_b\\
- Y_b\\
- Z_b\\
- 1
- \end{bmatrix}
- =
- \begin{bmatrix}
- _{}^{b}\textrm{R}_g & _{}^{b}\textrm{t}_g \\
- 0_{1 \times 3} & 1
- \end{bmatrix}
- \begin{bmatrix}
- X_g\\
- Y_g\\
- Z_g\\
- 1
- \end{bmatrix}
- \)
- </li>
- <li>
- for each pose, the homogeneous transformation between the calibration target frame and the camera frame is recorded using
- for instance a pose estimation method (PnP) from 2D-3D point correspondences
- \(
- \begin{bmatrix}
- X_c\\
- Y_c\\
- Z_c\\
- 1
- \end{bmatrix}
- =
- \begin{bmatrix}
- _{}^{c}\textrm{R}_t & _{}^{c}\textrm{t}_t \\
- 0_{1 \times 3} & 1
- \end{bmatrix}
- \begin{bmatrix}
- X_t\\
- Y_t\\
- Z_t\\
- 1
- \end{bmatrix}
- \)
- </li>
- </ul>
- The Hand-Eye calibration procedure returns the following homogeneous transformation
- \(
- \begin{bmatrix}
- X_g\\
- Y_g\\
- Z_g\\
- 1
- \end{bmatrix}
- =
- \begin{bmatrix}
- _{}^{g}\textrm{R}_c & _{}^{g}\textrm{t}_c \\
- 0_{1 \times 3} & 1
- \end{bmatrix}
- \begin{bmatrix}
- X_c\\
- Y_c\\
- Z_c\\
- 1
- \end{bmatrix}
- \)
- This problem is also known as solving the \(\mathbf{A}\mathbf{X}=\mathbf{X}\mathbf{B}\) equation:
- <ul>
- <li>
- for an eye-in-hand configuration
- \(
- \begin{align*}
- ^{b}{\textrm{T}_g}^{(1)} \hspace{0.2em} ^{g}\textrm{T}_c \hspace{0.2em} ^{c}{\textrm{T}_t}^{(1)} &=
- \hspace{0.1em} ^{b}{\textrm{T}_g}^{(2)} \hspace{0.2em} ^{g}\textrm{T}_c \hspace{0.2em} ^{c}{\textrm{T}_t}^{(2)} \\
- </li>
- </ul>
- (^{b}{\textrm{T}_g}^{(2)})^{-1} \hspace{0.2em} ^{b}{\textrm{T}_g}^{(1)} \hspace{0.2em} ^{g}\textrm{T}_c &=
- \hspace{0.1em} ^{g}\textrm{T}_c \hspace{0.2em} ^{c}{\textrm{T}_t}^{(2)} (^{c}{\textrm{T}_t}^{(1)})^{-1} \\
- \textrm{A}_i \textrm{X} &= \textrm{X} \textrm{B}_i \\
- \end{align*}
- \)
- <ul>
- <li>
- for an eye-to-hand configuration
- \(
- \begin{align*}
- ^{g}{\textrm{T}_b}^{(1)} \hspace{0.2em} ^{b}\textrm{T}_c \hspace{0.2em} ^{c}{\textrm{T}_t}^{(1)} &=
- \hspace{0.1em} ^{g}{\textrm{T}_b}^{(2)} \hspace{0.2em} ^{b}\textrm{T}_c \hspace{0.2em} ^{c}{\textrm{T}_t}^{(2)} \\
- </li>
- </ul>
- (^{g}{\textrm{T}_b}^{(2)})^{-1} \hspace{0.2em} ^{g}{\textrm{T}_b}^{(1)} \hspace{0.2em} ^{b}\textrm{T}_c &=
- \hspace{0.1em} ^{b}\textrm{T}_c \hspace{0.2em} ^{c}{\textrm{T}_t}^{(2)} (^{c}{\textrm{T}_t}^{(1)})^{-1} \\
- \textrm{A}_i \textrm{X} &= \textrm{X} \textrm{B}_i \\
- \end{align*}
- \)
- \note
- Additional information can be found on this [website](http://campar.in.tum.de/Chair/HandEyeCalibration).
- \note
- A minimum of 2 motions with non parallel rotation axes are necessary to determine the hand-eye transformation.
- So at least 3 different poses are required, but it is strongly recommended to use many more poses.</dd>
- </dl>
- </li>
- </ul>
- <a name="calibrateRobotWorldHandEye-java.util.List-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>calibrateRobotWorldHandEye</h4>
- <pre>public static void calibrateRobotWorldHandEye(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> R_world2cam,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> t_world2cam,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> R_base2gripper,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> t_base2gripper,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R_base2world,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t_base2world,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R_gripper2cam,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t_gripper2cam)</pre>
- <div class="block">Computes Robot-World/Hand-Eye calibration: \(_{}^{w}\textrm{T}_b\) and \(_{}^{c}\textrm{T}_g\)</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>R_world2cam</code> - Rotation part extracted from the homogeneous matrix that transforms a point
- expressed in the world frame to the camera frame (\(_{}^{c}\textrm{T}_w\)).
- This is a vector (<code>vector&lt;Mat&gt;</code>) that contains the rotation, <code>(3x3)</code> rotation matrices or <code>(3x1)</code> rotation vectors,
- for all the transformations from world frame to the camera frame.</dd>
- <dd><code>t_world2cam</code> - Translation part extracted from the homogeneous matrix that transforms a point
- expressed in the world frame to the camera frame (\(_{}^{c}\textrm{T}_w\)).
- This is a vector (<code>vector&lt;Mat&gt;</code>) that contains the <code>(3x1)</code> translation vectors for all the transformations
- from world frame to the camera frame.</dd>
- <dd><code>R_base2gripper</code> - Rotation part extracted from the homogeneous matrix that transforms a point
- expressed in the robot base frame to the gripper frame (\(_{}^{g}\textrm{T}_b\)).
- This is a vector (<code>vector&lt;Mat&gt;</code>) that contains the rotation, <code>(3x3)</code> rotation matrices or <code>(3x1)</code> rotation vectors,
- for all the transformations from robot base frame to the gripper frame.</dd>
- <dd><code>t_base2gripper</code> - Rotation part extracted from the homogeneous matrix that transforms a point
- expressed in the robot base frame to the gripper frame (\(_{}^{g}\textrm{T}_b\)).
- This is a vector (<code>vector&lt;Mat&gt;</code>) that contains the <code>(3x1)</code> translation vectors for all the transformations
- from robot base frame to the gripper frame.</dd>
- <dd><code>R_base2world</code> - Estimated <code>(3x3)</code> rotation part extracted from the homogeneous matrix that transforms a point
- expressed in the robot base frame to the world frame (\(_{}^{w}\textrm{T}_b\)).</dd>
- <dd><code>t_base2world</code> - Estimated <code>(3x1)</code> translation part extracted from the homogeneous matrix that transforms a point
- expressed in the robot base frame to the world frame (\(_{}^{w}\textrm{T}_b\)).</dd>
- <dd><code>R_gripper2cam</code> - Estimated <code>(3x3)</code> rotation part extracted from the homogeneous matrix that transforms a point
- expressed in the gripper frame to the camera frame (\(_{}^{c}\textrm{T}_g\)).</dd>
- <dd><code>t_gripper2cam</code> - Estimated <code>(3x1)</code> translation part extracted from the homogeneous matrix that transforms a point
- expressed in the gripper frame to the camera frame (\(_{}^{c}\textrm{T}_g\)).
- The function performs the Robot-World/Hand-Eye calibration using various methods. One approach consists in estimating the
- rotation then the translation (separable solutions):
- <ul>
- <li>
- M. Shah, Solving the robot-world/hand-eye calibration problem using the kronecker product \cite Shah2013SolvingTR
- </li>
- </ul>
- Another approach consists in estimating simultaneously the rotation and the translation (simultaneous solutions),
- with the following implemented method:
- <ul>
- <li>
- A. Li, L. Wang, and D. Wu, Simultaneous robot-world and hand-eye calibration using dual-quaternions and kronecker product \cite Li2010SimultaneousRA
- </li>
- </ul>
- The following picture describes the Robot-World/Hand-Eye calibration problem where the transformations between a robot and a world frame
- and between a robot gripper ("hand") and a camera ("eye") mounted at the robot end-effector have to be estimated.
- 
- The calibration procedure is the following:
- <ul>
- <li>
- a static calibration pattern is used to estimate the transformation between the target frame
- and the camera frame
- </li>
- <li>
- the robot gripper is moved in order to acquire several poses
- </li>
- <li>
- for each pose, the homogeneous transformation between the gripper frame and the robot base frame is recorded using for
- instance the robot kinematics
- \(
- \begin{bmatrix}
- X_g\\
- Y_g\\
- Z_g\\
- 1
- \end{bmatrix}
- =
- \begin{bmatrix}
- _{}^{g}\textrm{R}_b & _{}^{g}\textrm{t}_b \\
- 0_{1 \times 3} & 1
- \end{bmatrix}
- \begin{bmatrix}
- X_b\\
- Y_b\\
- Z_b\\
- 1
- \end{bmatrix}
- \)
- </li>
- <li>
- for each pose, the homogeneous transformation between the calibration target frame (the world frame) and the camera frame is recorded using
- for instance a pose estimation method (PnP) from 2D-3D point correspondences
- \(
- \begin{bmatrix}
- X_c\\
- Y_c\\
- Z_c\\
- 1
- \end{bmatrix}
- =
- \begin{bmatrix}
- _{}^{c}\textrm{R}_w & _{}^{c}\textrm{t}_w \\
- 0_{1 \times 3} & 1
- \end{bmatrix}
- \begin{bmatrix}
- X_w\\
- Y_w\\
- Z_w\\
- 1
- \end{bmatrix}
- \)
- </li>
- </ul>
- The Robot-World/Hand-Eye calibration procedure returns the following homogeneous transformations
- \(
- \begin{bmatrix}
- X_w\\
- Y_w\\
- Z_w\\
- 1
- \end{bmatrix}
- =
- \begin{bmatrix}
- _{}^{w}\textrm{R}_b & _{}^{w}\textrm{t}_b \\
- 0_{1 \times 3} & 1
- \end{bmatrix}
- \begin{bmatrix}
- X_b\\
- Y_b\\
- Z_b\\
- 1
- \end{bmatrix}
- \)
- \(
- \begin{bmatrix}
- X_c\\
- Y_c\\
- Z_c\\
- 1
- \end{bmatrix}
- =
- \begin{bmatrix}
- _{}^{c}\textrm{R}_g & _{}^{c}\textrm{t}_g \\
- 0_{1 \times 3} & 1
- \end{bmatrix}
- \begin{bmatrix}
- X_g\\
- Y_g\\
- Z_g\\
- 1
- \end{bmatrix}
- \)
- This problem is also known as solving the \(\mathbf{A}\mathbf{X}=\mathbf{Z}\mathbf{B}\) equation, with:
- <ul>
- <li>
- \(\mathbf{A} \Leftrightarrow \hspace{0.1em} _{}^{c}\textrm{T}_w\)
- </li>
- <li>
- \(\mathbf{X} \Leftrightarrow \hspace{0.1em} _{}^{w}\textrm{T}_b\)
- </li>
- <li>
- \(\mathbf{Z} \Leftrightarrow \hspace{0.1em} _{}^{c}\textrm{T}_g\)
- </li>
- <li>
- \(\mathbf{B} \Leftrightarrow \hspace{0.1em} _{}^{g}\textrm{T}_b\)
- </li>
- </ul>
- \note
- At least 3 measurements are required (input vectors size must be greater or equal to 3).</dd>
- </dl>
- </li>
- </ul>
- <a name="calibrateRobotWorldHandEye-java.util.List-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>calibrateRobotWorldHandEye</h4>
- <pre>public static void calibrateRobotWorldHandEye(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> R_world2cam,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> t_world2cam,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> R_base2gripper,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> t_base2gripper,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R_base2world,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t_base2world,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R_gripper2cam,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t_gripper2cam,
- int method)</pre>
- <div class="block">Computes Robot-World/Hand-Eye calibration: \(_{}^{w}\textrm{T}_b\) and \(_{}^{c}\textrm{T}_g\)</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>R_world2cam</code> - Rotation part extracted from the homogeneous matrix that transforms a point
- expressed in the world frame to the camera frame (\(_{}^{c}\textrm{T}_w\)).
- This is a vector (<code>vector&lt;Mat&gt;</code>) that contains the rotation, <code>(3x3)</code> rotation matrices or <code>(3x1)</code> rotation vectors,
- for all the transformations from world frame to the camera frame.</dd>
- <dd><code>t_world2cam</code> - Translation part extracted from the homogeneous matrix that transforms a point
- expressed in the world frame to the camera frame (\(_{}^{c}\textrm{T}_w\)).
- This is a vector (<code>vector&lt;Mat&gt;</code>) that contains the <code>(3x1)</code> translation vectors for all the transformations
- from world frame to the camera frame.</dd>
- <dd><code>R_base2gripper</code> - Rotation part extracted from the homogeneous matrix that transforms a point
- expressed in the robot base frame to the gripper frame (\(_{}^{g}\textrm{T}_b\)).
- This is a vector (<code>vector&lt;Mat&gt;</code>) that contains the rotation, <code>(3x3)</code> rotation matrices or <code>(3x1)</code> rotation vectors,
- for all the transformations from robot base frame to the gripper frame.</dd>
- <dd><code>t_base2gripper</code> - Rotation part extracted from the homogeneous matrix that transforms a point
- expressed in the robot base frame to the gripper frame (\(_{}^{g}\textrm{T}_b\)).
- This is a vector (<code>vector&lt;Mat&gt;</code>) that contains the <code>(3x1)</code> translation vectors for all the transformations
- from robot base frame to the gripper frame.</dd>
- <dd><code>R_base2world</code> - Estimated <code>(3x3)</code> rotation part extracted from the homogeneous matrix that transforms a point
- expressed in the robot base frame to the world frame (\(_{}^{w}\textrm{T}_b\)).</dd>
- <dd><code>t_base2world</code> - Estimated <code>(3x1)</code> translation part extracted from the homogeneous matrix that transforms a point
- expressed in the robot base frame to the world frame (\(_{}^{w}\textrm{T}_b\)).</dd>
- <dd><code>R_gripper2cam</code> - Estimated <code>(3x3)</code> rotation part extracted from the homogeneous matrix that transforms a point
- expressed in the gripper frame to the camera frame (\(_{}^{c}\textrm{T}_g\)).</dd>
- <dd><code>t_gripper2cam</code> - Estimated <code>(3x1)</code> translation part extracted from the homogeneous matrix that transforms a point
- expressed in the gripper frame to the camera frame (\(_{}^{c}\textrm{T}_g\)).</dd>
- <dd><code>method</code> - One of the implemented Robot-World/Hand-Eye calibration method, see cv::RobotWorldHandEyeCalibrationMethod
- The function performs the Robot-World/Hand-Eye calibration using various methods. One approach consists in estimating the
- rotation then the translation (separable solutions):
- <ul>
- <li>
- M. Shah, Solving the robot-world/hand-eye calibration problem using the kronecker product \cite Shah2013SolvingTR
- </li>
- </ul>
- Another approach consists in estimating simultaneously the rotation and the translation (simultaneous solutions),
- with the following implemented method:
- <ul>
- <li>
- A. Li, L. Wang, and D. Wu, Simultaneous robot-world and hand-eye calibration using dual-quaternions and kronecker product \cite Li2010SimultaneousRA
- </li>
- </ul>
- The following picture describes the Robot-World/Hand-Eye calibration problem where the transformations between a robot and a world frame
- and between a robot gripper ("hand") and a camera ("eye") mounted at the robot end-effector have to be estimated.
- 
- The calibration procedure is the following:
- <ul>
- <li>
- a static calibration pattern is used to estimate the transformation between the target frame
- and the camera frame
- </li>
- <li>
- the robot gripper is moved in order to acquire several poses
- </li>
- <li>
- for each pose, the homogeneous transformation between the gripper frame and the robot base frame is recorded using for
- instance the robot kinematics
- \(
- \begin{bmatrix}
- X_g\\
- Y_g\\
- Z_g\\
- 1
- \end{bmatrix}
- =
- \begin{bmatrix}
- _{}^{g}\textrm{R}_b & _{}^{g}\textrm{t}_b \\
- 0_{1 \times 3} & 1
- \end{bmatrix}
- \begin{bmatrix}
- X_b\\
- Y_b\\
- Z_b\\
- 1
- \end{bmatrix}
- \)
- </li>
- <li>
- for each pose, the homogeneous transformation between the calibration target frame (the world frame) and the camera frame is recorded using
- for instance a pose estimation method (PnP) from 2D-3D point correspondences
- \(
- \begin{bmatrix}
- X_c\\
- Y_c\\
- Z_c\\
- 1
- \end{bmatrix}
- =
- \begin{bmatrix}
- _{}^{c}\textrm{R}_w & _{}^{c}\textrm{t}_w \\
- 0_{1 \times 3} & 1
- \end{bmatrix}
- \begin{bmatrix}
- X_w\\
- Y_w\\
- Z_w\\
- 1
- \end{bmatrix}
- \)
- </li>
- </ul>
- The Robot-World/Hand-Eye calibration procedure returns the following homogeneous transformations
- \(
- \begin{bmatrix}
- X_w\\
- Y_w\\
- Z_w\\
- 1
- \end{bmatrix}
- =
- \begin{bmatrix}
- _{}^{w}\textrm{R}_b & _{}^{w}\textrm{t}_b \\
- 0_{1 \times 3} & 1
- \end{bmatrix}
- \begin{bmatrix}
- X_b\\
- Y_b\\
- Z_b\\
- 1
- \end{bmatrix}
- \)
- \(
- \begin{bmatrix}
- X_c\\
- Y_c\\
- Z_c\\
- 1
- \end{bmatrix}
- =
- \begin{bmatrix}
- _{}^{c}\textrm{R}_g & _{}^{c}\textrm{t}_g \\
- 0_{1 \times 3} & 1
- \end{bmatrix}
- \begin{bmatrix}
- X_g\\
- Y_g\\
- Z_g\\
- 1
- \end{bmatrix}
- \)
- This problem is also known as solving the \(\mathbf{A}\mathbf{X}=\mathbf{Z}\mathbf{B}\) equation, with:
- <ul>
- <li>
- \(\mathbf{A} \Leftrightarrow \hspace{0.1em} _{}^{c}\textrm{T}_w\)
- </li>
- <li>
- \(\mathbf{X} \Leftrightarrow \hspace{0.1em} _{}^{w}\textrm{T}_b\)
- </li>
- <li>
- \(\mathbf{Z} \Leftrightarrow \hspace{0.1em} _{}^{c}\textrm{T}_g\)
- </li>
- <li>
- \(\mathbf{B} \Leftrightarrow \hspace{0.1em} _{}^{g}\textrm{T}_b\)
- </li>
- </ul>
- \note
- At least 3 measurements are required (input vectors size must be greater or equal to 3).</dd>
- </dl>
- </li>
- </ul>
- <a name="calibrationMatrixValues-org.opencv.core.Mat-org.opencv.core.Size-double-double-double:A-double:A-double:A-org.opencv.core.Point-double:A-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>calibrationMatrixValues</h4>
- <pre>public static void calibrationMatrixValues(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- double apertureWidth,
- double apertureHeight,
- double[] fovx,
- double[] fovy,
- double[] focalLength,
- <a href="../../../org/opencv/core/Point.html" title="class in org.opencv.core">Point</a> principalPoint,
- double[] aspectRatio)</pre>
- <div class="block">Computes useful camera characteristics from the camera intrinsic matrix.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>cameraMatrix</code> - Input camera intrinsic matrix that can be estimated by #calibrateCamera or
- #stereoCalibrate .</dd>
- <dd><code>imageSize</code> - Input image size in pixels.</dd>
- <dd><code>apertureWidth</code> - Physical width in mm of the sensor.</dd>
- <dd><code>apertureHeight</code> - Physical height in mm of the sensor.</dd>
- <dd><code>fovx</code> - Output field of view in degrees along the horizontal sensor axis.</dd>
- <dd><code>fovy</code> - Output field of view in degrees along the vertical sensor axis.</dd>
- <dd><code>focalLength</code> - Focal length of the lens in mm.</dd>
- <dd><code>principalPoint</code> - Principal point in mm.</dd>
- <dd><code>aspectRatio</code> - \(f_y/f_x\)
- The function computes various useful camera characteristics from the previously estimated camera
- matrix.
- <b>Note:</b>
- Do keep in mind that the unity measure 'mm' stands for whatever unit of measure one chooses for
- the chessboard pitch (it can thus be any value).</dd>
- </dl>
- </li>
- </ul>
- <a name="checkChessboard-org.opencv.core.Mat-org.opencv.core.Size-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>checkChessboard</h4>
- <pre>public static boolean checkChessboard(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> img,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> size)</pre>
- </li>
- </ul>
- <a name="composeRT-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>composeRT</h4>
- <pre>public static void composeRT(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec3)</pre>
- <div class="block">Combines two rotation-and-shift transformations.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>rvec1</code> - First rotation vector.</dd>
- <dd><code>tvec1</code> - First translation vector.</dd>
- <dd><code>rvec2</code> - Second rotation vector.</dd>
- <dd><code>tvec2</code> - Second translation vector.</dd>
- <dd><code>rvec3</code> - Output rotation vector of the superposition.</dd>
- <dd><code>tvec3</code> - Output translation vector of the superposition.
- The functions compute:
- \(\begin{array}{l} \texttt{rvec3} = \mathrm{rodrigues} ^{-1} \left ( \mathrm{rodrigues} ( \texttt{rvec2} ) \cdot \mathrm{rodrigues} ( \texttt{rvec1} ) \right ) \\ \texttt{tvec3} = \mathrm{rodrigues} ( \texttt{rvec2} ) \cdot \texttt{tvec1} + \texttt{tvec2} \end{array} ,\)
- where \(\mathrm{rodrigues}\) denotes a rotation vector to a rotation matrix transformation, and
- \(\mathrm{rodrigues}^{-1}\) denotes the inverse transformation. See #Rodrigues for details.
- Also, the functions can compute the derivatives of the output vectors with regards to the input
- vectors (see #matMulDeriv ). The functions are used inside #stereoCalibrate but can also be used in
- your own code where Levenberg-Marquardt or another gradient-based solver is used to optimize a
- function that contains a matrix multiplication.</dd>
- </dl>
- </li>
- </ul>
- <a name="composeRT-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>composeRT</h4>
- <pre>public static void composeRT(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr1)</pre>
- <div class="block">Combines two rotation-and-shift transformations.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>rvec1</code> - First rotation vector.</dd>
- <dd><code>tvec1</code> - First translation vector.</dd>
- <dd><code>rvec2</code> - Second rotation vector.</dd>
- <dd><code>tvec2</code> - Second translation vector.</dd>
- <dd><code>rvec3</code> - Output rotation vector of the superposition.</dd>
- <dd><code>tvec3</code> - Output translation vector of the superposition.</dd>
- <dd><code>dr3dr1</code> - Optional output derivative of rvec3 with regard to rvec1
- The functions compute:
- \(\begin{array}{l} \texttt{rvec3} = \mathrm{rodrigues} ^{-1} \left ( \mathrm{rodrigues} ( \texttt{rvec2} ) \cdot \mathrm{rodrigues} ( \texttt{rvec1} ) \right ) \\ \texttt{tvec3} = \mathrm{rodrigues} ( \texttt{rvec2} ) \cdot \texttt{tvec1} + \texttt{tvec2} \end{array} ,\)
- where \(\mathrm{rodrigues}\) denotes a rotation vector to a rotation matrix transformation, and
- \(\mathrm{rodrigues}^{-1}\) denotes the inverse transformation. See #Rodrigues for details.
- Also, the functions can compute the derivatives of the output vectors with regards to the input
- vectors (see #matMulDeriv ). The functions are used inside #stereoCalibrate but can also be used in
- your own code where Levenberg-Marquardt or another gradient-based solver is used to optimize a
- function that contains a matrix multiplication.</dd>
- </dl>
- </li>
- </ul>
- <a name="composeRT-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>composeRT</h4>
- <pre>public static void composeRT(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dt1)</pre>
- <div class="block">Combines two rotation-and-shift transformations.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>rvec1</code> - First rotation vector.</dd>
- <dd><code>tvec1</code> - First translation vector.</dd>
- <dd><code>rvec2</code> - Second rotation vector.</dd>
- <dd><code>tvec2</code> - Second translation vector.</dd>
- <dd><code>rvec3</code> - Output rotation vector of the superposition.</dd>
- <dd><code>tvec3</code> - Output translation vector of the superposition.</dd>
- <dd><code>dr3dr1</code> - Optional output derivative of rvec3 with regard to rvec1</dd>
- <dd><code>dr3dt1</code> - Optional output derivative of rvec3 with regard to tvec1
- The functions compute:
- \(\begin{array}{l} \texttt{rvec3} = \mathrm{rodrigues} ^{-1} \left ( \mathrm{rodrigues} ( \texttt{rvec2} ) \cdot \mathrm{rodrigues} ( \texttt{rvec1} ) \right ) \\ \texttt{tvec3} = \mathrm{rodrigues} ( \texttt{rvec2} ) \cdot \texttt{tvec1} + \texttt{tvec2} \end{array} ,\)
- where \(\mathrm{rodrigues}\) denotes a rotation vector to a rotation matrix transformation, and
- \(\mathrm{rodrigues}^{-1}\) denotes the inverse transformation. See #Rodrigues for details.
- Also, the functions can compute the derivatives of the output vectors with regards to the input
- vectors (see #matMulDeriv ). The functions are used inside #stereoCalibrate but can also be used in
- your own code where Levenberg-Marquardt or another gradient-based solver is used to optimize a
- function that contains a matrix multiplication.</dd>
- </dl>
- </li>
- </ul>
- <a name="composeRT-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>composeRT</h4>
- <pre>public static void composeRT(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dt1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr2)</pre>
- <div class="block">Combines two rotation-and-shift transformations.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>rvec1</code> - First rotation vector.</dd>
- <dd><code>tvec1</code> - First translation vector.</dd>
- <dd><code>rvec2</code> - Second rotation vector.</dd>
- <dd><code>tvec2</code> - Second translation vector.</dd>
- <dd><code>rvec3</code> - Output rotation vector of the superposition.</dd>
- <dd><code>tvec3</code> - Output translation vector of the superposition.</dd>
- <dd><code>dr3dr1</code> - Optional output derivative of rvec3 with regard to rvec1</dd>
- <dd><code>dr3dt1</code> - Optional output derivative of rvec3 with regard to tvec1</dd>
- <dd><code>dr3dr2</code> - Optional output derivative of rvec3 with regard to rvec2
- The functions compute:
- \(\begin{array}{l} \texttt{rvec3} = \mathrm{rodrigues} ^{-1} \left ( \mathrm{rodrigues} ( \texttt{rvec2} ) \cdot \mathrm{rodrigues} ( \texttt{rvec1} ) \right ) \\ \texttt{tvec3} = \mathrm{rodrigues} ( \texttt{rvec2} ) \cdot \texttt{tvec1} + \texttt{tvec2} \end{array} ,\)
- where \(\mathrm{rodrigues}\) denotes a rotation vector to a rotation matrix transformation, and
- \(\mathrm{rodrigues}^{-1}\) denotes the inverse transformation. See #Rodrigues for details.
- Also, the functions can compute the derivatives of the output vectors with regards to the input
- vectors (see #matMulDeriv ). The functions are used inside #stereoCalibrate but can also be used in
- your own code where Levenberg-Marquardt or another gradient-based solver is used to optimize a
- function that contains a matrix multiplication.</dd>
- </dl>
- </li>
- </ul>
- <a name="composeRT-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <h4>composeRT</h4>
- <pre>public static void composeRT(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dt1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dt2)</pre>
- <div class="block">Combines two rotation-and-shift transformations.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>rvec1</code> - First rotation vector.</dd>
- <dd><code>tvec1</code> - First translation vector.</dd>
- <dd><code>rvec2</code> - Second rotation vector.</dd>
- <dd><code>tvec2</code> - Second translation vector.</dd>
- <dd><code>rvec3</code> - Output rotation vector of the superposition.</dd>
- <dd><code>tvec3</code> - Output translation vector of the superposition.</dd>
- <dd><code>dr3dr1</code> - Optional output derivative of rvec3 with regard to rvec1</dd>
- <dd><code>dr3dt1</code> - Optional output derivative of rvec3 with regard to tvec1</dd>
- <dd><code>dr3dr2</code> - Optional output derivative of rvec3 with regard to rvec2</dd>
- <dd><code>dr3dt2</code> - Optional output derivative of rvec3 with regard to tvec2
- The functions compute:
- \(\begin{array}{l} \texttt{rvec3} = \mathrm{rodrigues} ^{-1} \left ( \mathrm{rodrigues} ( \texttt{rvec2} ) \cdot \mathrm{rodrigues} ( \texttt{rvec1} ) \right ) \\ \texttt{tvec3} = \mathrm{rodrigues} ( \texttt{rvec2} ) \cdot \texttt{tvec1} + \texttt{tvec2} \end{array} ,\)
- where \(\mathrm{rodrigues}\) denotes a rotation vector to a rotation matrix transformation, and
- \(\mathrm{rodrigues}^{-1}\) denotes the inverse transformation. See #Rodrigues for details.
- Also, the functions can compute the derivatives of the output vectors with regards to the input
- vectors (see #matMulDeriv ). The functions are used inside #stereoCalibrate but can also be used in
- your own code where Levenberg-Marquardt or another gradient-based solver is used to optimize a
- function that contains a matrix multiplication.</dd>
- </dl>
- </li>
- </ul>
- <a name="composeRT-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <h4>composeRT</h4>
- <pre>public static void composeRT(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dt1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dt2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dt3dr1)</pre>
- <div class="block">Combines two rotation-and-shift transformations.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>rvec1</code> - First rotation vector.</dd>
- <dd><code>tvec1</code> - First translation vector.</dd>
- <dd><code>rvec2</code> - Second rotation vector.</dd>
- <dd><code>tvec2</code> - Second translation vector.</dd>
- <dd><code>rvec3</code> - Output rotation vector of the superposition.</dd>
- <dd><code>tvec3</code> - Output translation vector of the superposition.</dd>
- <dd><code>dr3dr1</code> - Optional output derivative of rvec3 with regard to rvec1</dd>
- <dd><code>dr3dt1</code> - Optional output derivative of rvec3 with regard to tvec1</dd>
- <dd><code>dr3dr2</code> - Optional output derivative of rvec3 with regard to rvec2</dd>
- <dd><code>dr3dt2</code> - Optional output derivative of rvec3 with regard to tvec2</dd>
- <dd><code>dt3dr1</code> - Optional output derivative of tvec3 with regard to rvec1
- The functions compute:
- \(\begin{array}{l} \texttt{rvec3} = \mathrm{rodrigues} ^{-1} \left ( \mathrm{rodrigues} ( \texttt{rvec2} ) \cdot \mathrm{rodrigues} ( \texttt{rvec1} ) \right ) \\ \texttt{tvec3} = \mathrm{rodrigues} ( \texttt{rvec2} ) \cdot \texttt{tvec1} + \texttt{tvec2} \end{array} ,\)
- where \(\mathrm{rodrigues}\) denotes a rotation vector to a rotation matrix transformation, and
- \(\mathrm{rodrigues}^{-1}\) denotes the inverse transformation. See #Rodrigues for details.
- Also, the functions can compute the derivatives of the output vectors with regards to the input
- vectors (see #matMulDeriv ). The functions are used inside #stereoCalibrate but can also be used in
- your own code where Levenberg-Marquardt or another gradient-based solver is used to optimize a
- function that contains a matrix multiplication.</dd>
- </dl>
- </li>
- </ul>
- <a name="composeRT-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <h4>composeRT</h4>
- <pre>public static void composeRT(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dt1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dt2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dt3dr1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dt3dt1)</pre>
- <div class="block">Combines two rotation-and-shift transformations.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>rvec1</code> - First rotation vector.</dd>
- <dd><code>tvec1</code> - First translation vector.</dd>
- <dd><code>rvec2</code> - Second rotation vector.</dd>
- <dd><code>tvec2</code> - Second translation vector.</dd>
- <dd><code>rvec3</code> - Output rotation vector of the superposition.</dd>
- <dd><code>tvec3</code> - Output translation vector of the superposition.</dd>
- <dd><code>dr3dr1</code> - Optional output derivative of rvec3 with regard to rvec1</dd>
- <dd><code>dr3dt1</code> - Optional output derivative of rvec3 with regard to tvec1</dd>
- <dd><code>dr3dr2</code> - Optional output derivative of rvec3 with regard to rvec2</dd>
- <dd><code>dr3dt2</code> - Optional output derivative of rvec3 with regard to tvec2</dd>
- <dd><code>dt3dr1</code> - Optional output derivative of tvec3 with regard to rvec1</dd>
- <dd><code>dt3dt1</code> - Optional output derivative of tvec3 with regard to tvec1
- The functions compute:
- \(\begin{array}{l} \texttt{rvec3} = \mathrm{rodrigues} ^{-1} \left ( \mathrm{rodrigues} ( \texttt{rvec2} ) \cdot \mathrm{rodrigues} ( \texttt{rvec1} ) \right ) \\ \texttt{tvec3} = \mathrm{rodrigues} ( \texttt{rvec2} ) \cdot \texttt{tvec1} + \texttt{tvec2} \end{array} ,\)
- where \(\mathrm{rodrigues}\) denotes a rotation vector to a rotation matrix transformation, and
- \(\mathrm{rodrigues}^{-1}\) denotes the inverse transformation. See #Rodrigues for details.
- Also, the functions can compute the derivatives of the output vectors with regards to the input
- vectors (see #matMulDeriv ). The functions are used inside #stereoCalibrate but can also be used in
- your own code where Levenberg-Marquardt or another gradient-based solver is used to optimize a
- function that contains a matrix multiplication.</dd>
- </dl>
- </li>
- </ul>
- <a name="composeRT-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <h4>composeRT</h4>
- <pre>public static void composeRT(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dt1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dt2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dt3dr1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dt3dt1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dt3dr2)</pre>
- <div class="block">Combines two rotation-and-shift transformations.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>rvec1</code> - First rotation vector.</dd>
- <dd><code>tvec1</code> - First translation vector.</dd>
- <dd><code>rvec2</code> - Second rotation vector.</dd>
- <dd><code>tvec2</code> - Second translation vector.</dd>
- <dd><code>rvec3</code> - Output rotation vector of the superposition.</dd>
- <dd><code>tvec3</code> - Output translation vector of the superposition.</dd>
- <dd><code>dr3dr1</code> - Optional output derivative of rvec3 with regard to rvec1</dd>
- <dd><code>dr3dt1</code> - Optional output derivative of rvec3 with regard to tvec1</dd>
- <dd><code>dr3dr2</code> - Optional output derivative of rvec3 with regard to rvec2</dd>
- <dd><code>dr3dt2</code> - Optional output derivative of rvec3 with regard to tvec2</dd>
- <dd><code>dt3dr1</code> - Optional output derivative of tvec3 with regard to rvec1</dd>
- <dd><code>dt3dt1</code> - Optional output derivative of tvec3 with regard to tvec1</dd>
- <dd><code>dt3dr2</code> - Optional output derivative of tvec3 with regard to rvec2
- The functions compute:
- \(\begin{array}{l} \texttt{rvec3} = \mathrm{rodrigues} ^{-1} \left ( \mathrm{rodrigues} ( \texttt{rvec2} ) \cdot \mathrm{rodrigues} ( \texttt{rvec1} ) \right ) \\ \texttt{tvec3} = \mathrm{rodrigues} ( \texttt{rvec2} ) \cdot \texttt{tvec1} + \texttt{tvec2} \end{array} ,\)
- where \(\mathrm{rodrigues}\) denotes a rotation vector to a rotation matrix transformation, and
- \(\mathrm{rodrigues}^{-1}\) denotes the inverse transformation. See #Rodrigues for details.
- Also, the functions can compute the derivatives of the output vectors with regards to the input
- vectors (see #matMulDeriv ). The functions are used inside #stereoCalibrate but can also be used in
- your own code where Levenberg-Marquardt or another gradient-based solver is used to optimize a
- function that contains a matrix multiplication.</dd>
- </dl>
- </li>
- </ul>
- <a name="composeRT-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <h4>composeRT</h4>
- <pre>public static void composeRT(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dt1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dr2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dr3dt2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dt3dr1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dt3dt1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dt3dr2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dt3dt2)</pre>
- <div class="block">Combines two rotation-and-shift transformations.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>rvec1</code> - First rotation vector.</dd>
- <dd><code>tvec1</code> - First translation vector.</dd>
- <dd><code>rvec2</code> - Second rotation vector.</dd>
- <dd><code>tvec2</code> - Second translation vector.</dd>
- <dd><code>rvec3</code> - Output rotation vector of the superposition.</dd>
- <dd><code>tvec3</code> - Output translation vector of the superposition.</dd>
- <dd><code>dr3dr1</code> - Optional output derivative of rvec3 with regard to rvec1</dd>
- <dd><code>dr3dt1</code> - Optional output derivative of rvec3 with regard to tvec1</dd>
- <dd><code>dr3dr2</code> - Optional output derivative of rvec3 with regard to rvec2</dd>
- <dd><code>dr3dt2</code> - Optional output derivative of rvec3 with regard to tvec2</dd>
- <dd><code>dt3dr1</code> - Optional output derivative of tvec3 with regard to rvec1</dd>
- <dd><code>dt3dt1</code> - Optional output derivative of tvec3 with regard to tvec1</dd>
- <dd><code>dt3dr2</code> - Optional output derivative of tvec3 with regard to rvec2</dd>
- <dd><code>dt3dt2</code> - Optional output derivative of tvec3 with regard to tvec2
- The functions compute:
- \(\begin{array}{l} \texttt{rvec3} = \mathrm{rodrigues} ^{-1} \left ( \mathrm{rodrigues} ( \texttt{rvec2} ) \cdot \mathrm{rodrigues} ( \texttt{rvec1} ) \right ) \\ \texttt{tvec3} = \mathrm{rodrigues} ( \texttt{rvec2} ) \cdot \texttt{tvec1} + \texttt{tvec2} \end{array} ,\)
- where \(\mathrm{rodrigues}\) denotes a rotation vector to a rotation matrix transformation, and
- \(\mathrm{rodrigues}^{-1}\) denotes the inverse transformation. See #Rodrigues for details.
- Also, the functions can compute the derivatives of the output vectors with regards to the input
- vectors (see #matMulDeriv ). The functions are used inside #stereoCalibrate but can also be used in
- your own code where Levenberg-Marquardt or another gradient-based solver is used to optimize a
- function that contains a matrix multiplication.</dd>
- </dl>
- </li>
- </ul>
- <a name="computeCorrespondEpilines-org.opencv.core.Mat-int-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>computeCorrespondEpilines</h4>
- <pre>public static void computeCorrespondEpilines(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points,
- int whichImage,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> lines)</pre>
- <div class="block">For points in an image of a stereo pair, computes the corresponding epilines in the other image.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points</code> - Input points. \(N \times 1\) or \(1 \times N\) matrix of type CV_32FC2 or
- vector<Point2f> .</dd>
- <dd><code>whichImage</code> - Index of the image (1 or 2) that contains the points .</dd>
- <dd><code>F</code> - Fundamental matrix that can be estimated using #findFundamentalMat or #stereoRectify .</dd>
- <dd><code>lines</code> - Output vector of the epipolar lines corresponding to the points in the other image.
- Each line \(ax + by + c=0\) is encoded by 3 numbers \((a, b, c)\) .
- For every point in one of the two images of a stereo pair, the function finds the equation of the
- corresponding epipolar line in the other image.
- From the fundamental matrix definition (see #findFundamentalMat ), line \(l^{(2)}_i\) in the second
- image for the point \(p^{(1)}_i\) in the first image (when whichImage=1 ) is computed as:
- \(l^{(2)}_i = F p^{(1)}_i\)
- And vice versa, when whichImage=2, \(l^{(1)}_i\) is computed from \(p^{(2)}_i\) as:
- \(l^{(1)}_i = F^T p^{(2)}_i\)
- Line coefficients are defined up to a scale. They are normalized so that \(a_i^2+b_i^2=1\) .</dd>
- </dl>
- </li>
- </ul>
- <a name="convertPointsFromHomogeneous-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>convertPointsFromHomogeneous</h4>
- <pre>public static void convertPointsFromHomogeneous(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst)</pre>
- <div class="block">Converts points from homogeneous to Euclidean space.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>src</code> - Input vector of N-dimensional points.</dd>
- <dd><code>dst</code> - Output vector of N-1-dimensional points.
- The function converts points homogeneous to Euclidean space using perspective projection. That is,
- each point (x1, x2, ... x(n-1), xn) is converted to (x1/xn, x2/xn, ..., x(n-1)/xn). When xn=0, the
- output point coordinates will be (0,0,0,...).</dd>
- </dl>
- </li>
- </ul>
- <a name="convertPointsToHomogeneous-org.opencv.core.Mat-org.opencv.core.Mat-">
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- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>convertPointsToHomogeneous</h4>
- <pre>public static void convertPointsToHomogeneous(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst)</pre>
- <div class="block">Converts points from Euclidean to homogeneous space.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>src</code> - Input vector of N-dimensional points.</dd>
- <dd><code>dst</code> - Output vector of N+1-dimensional points.
- The function converts points from Euclidean to homogeneous space by appending 1's to the tuple of
- point coordinates. That is, each point (x1, x2, ..., xn) is converted to (x1, x2, ..., xn, 1).</dd>
- </dl>
- </li>
- </ul>
- <a name="correctMatches-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <h4>correctMatches</h4>
- <pre>public static void correctMatches(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> newPoints1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> newPoints2)</pre>
- <div class="block">Refines coordinates of corresponding points.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>F</code> - 3x3 fundamental matrix.</dd>
- <dd><code>points1</code> - 1xN array containing the first set of points.</dd>
- <dd><code>points2</code> - 1xN array containing the second set of points.</dd>
- <dd><code>newPoints1</code> - The optimized points1.</dd>
- <dd><code>newPoints2</code> - The optimized points2.
- The function implements the Optimal Triangulation Method (see Multiple View Geometry CITE: HartleyZ00 for details).
- For each given point correspondence points1[i] <-> points2[i], and a fundamental matrix F, it
- computes the corrected correspondences newPoints1[i] <-> newPoints2[i] that minimize the geometric
- error \(d(points1[i], newPoints1[i])^2 + d(points2[i],newPoints2[i])^2\) (where \(d(a,b)\) is the
- geometric distance between points \(a\) and \(b\) ) subject to the epipolar constraint
- \(newPoints2^T \cdot F \cdot newPoints1 = 0\) .</dd>
- </dl>
- </li>
- </ul>
- <a name="decomposeEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <h4>decomposeEssentialMat</h4>
- <pre>public static void decomposeEssentialMat(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t)</pre>
- <div class="block">Decompose an essential matrix to possible rotations and translation.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>E</code> - The input essential matrix.</dd>
- <dd><code>R1</code> - One possible rotation matrix.</dd>
- <dd><code>R2</code> - Another possible rotation matrix.</dd>
- <dd><code>t</code> - One possible translation.
- This function decomposes the essential matrix E using svd decomposition CITE: HartleyZ00. In
- general, four possible poses exist for the decomposition of E. They are \([R_1, t]\),
- \([R_1, -t]\), \([R_2, t]\), \([R_2, -t]\).
- If E gives the epipolar constraint \([p_2; 1]^T A^{-T} E A^{-1} [p_1; 1] = 0\) between the image
- points \(p_1\) in the first image and \(p_2\) in second image, then any of the tuples
- \([R_1, t]\), \([R_1, -t]\), \([R_2, t]\), \([R_2, -t]\) is a change of basis from the first
- camera's coordinate system to the second camera's coordinate system. However, by decomposing E, one
- can only get the direction of the translation. For this reason, the translation t is returned with
- unit length.</dd>
- </dl>
- </li>
- </ul>
- <a name="decomposeHomographyMat-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-java.util.List-">
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- <h4>decomposeHomographyMat</h4>
- <pre>public static int decomposeHomographyMat(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> H,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rotations,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> translations,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> normals)</pre>
- <div class="block">Decompose a homography matrix to rotation(s), translation(s) and plane normal(s).</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>H</code> - The input homography matrix between two images.</dd>
- <dd><code>K</code> - The input camera intrinsic matrix.</dd>
- <dd><code>rotations</code> - Array of rotation matrices.</dd>
- <dd><code>translations</code> - Array of translation matrices.</dd>
- <dd><code>normals</code> - Array of plane normal matrices.
- This function extracts relative camera motion between two views of a planar object and returns up to
- four mathematical solution tuples of rotation, translation, and plane normal. The decomposition of
- the homography matrix H is described in detail in CITE: Malis2007.
- If the homography H, induced by the plane, gives the constraint
- \(s_i \vecthree{x'_i}{y'_i}{1} \sim H \vecthree{x_i}{y_i}{1}\) on the source image points
- \(p_i\) and the destination image points \(p'_i\), then the tuple of rotations[k] and
- translations[k] is a change of basis from the source camera's coordinate system to the destination
- camera's coordinate system. However, by decomposing H, one can only get the translation normalized
- by the (typically unknown) depth of the scene, i.e. its direction but with normalized length.
- If point correspondences are available, at least two solutions may further be invalidated, by
- applying positive depth constraint, i.e. all points must be in front of the camera.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="decomposeProjectionMatrix-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <h4>decomposeProjectionMatrix</h4>
- <pre>public static void decomposeProjectionMatrix(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> projMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> transVect)</pre>
- <div class="block">Decomposes a projection matrix into a rotation matrix and a camera intrinsic matrix.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>projMatrix</code> - 3x4 input projection matrix P.</dd>
- <dd><code>cameraMatrix</code> - Output 3x3 camera intrinsic matrix \(\cameramatrix{A}\).</dd>
- <dd><code>rotMatrix</code> - Output 3x3 external rotation matrix R.</dd>
- <dd><code>transVect</code> - Output 4x1 translation vector T.
- degrees.
- The function computes a decomposition of a projection matrix into a calibration and a rotation
- matrix and the position of a camera.
- It optionally returns three rotation matrices, one for each axis, and three Euler angles that could
- be used in OpenGL. Note, there is always more than one sequence of rotations about the three
- principal axes that results in the same orientation of an object, e.g. see CITE: Slabaugh . Returned
- tree rotation matrices and corresponding three Euler angles are only one of the possible solutions.
- The function is based on #RQDecomp3x3 .</dd>
- </dl>
- </li>
- </ul>
- <a name="decomposeProjectionMatrix-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <h4>decomposeProjectionMatrix</h4>
- <pre>public static void decomposeProjectionMatrix(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> projMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> transVect,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrixX)</pre>
- <div class="block">Decomposes a projection matrix into a rotation matrix and a camera intrinsic matrix.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>projMatrix</code> - 3x4 input projection matrix P.</dd>
- <dd><code>cameraMatrix</code> - Output 3x3 camera intrinsic matrix \(\cameramatrix{A}\).</dd>
- <dd><code>rotMatrix</code> - Output 3x3 external rotation matrix R.</dd>
- <dd><code>transVect</code> - Output 4x1 translation vector T.</dd>
- <dd><code>rotMatrixX</code> - Optional 3x3 rotation matrix around x-axis.
- degrees.
- The function computes a decomposition of a projection matrix into a calibration and a rotation
- matrix and the position of a camera.
- It optionally returns three rotation matrices, one for each axis, and three Euler angles that could
- be used in OpenGL. Note, there is always more than one sequence of rotations about the three
- principal axes that results in the same orientation of an object, e.g. see CITE: Slabaugh . Returned
- tree rotation matrices and corresponding three Euler angles are only one of the possible solutions.
- The function is based on #RQDecomp3x3 .</dd>
- </dl>
- </li>
- </ul>
- <a name="decomposeProjectionMatrix-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <h4>decomposeProjectionMatrix</h4>
- <pre>public static void decomposeProjectionMatrix(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> projMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> transVect,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrixX,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrixY)</pre>
- <div class="block">Decomposes a projection matrix into a rotation matrix and a camera intrinsic matrix.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>projMatrix</code> - 3x4 input projection matrix P.</dd>
- <dd><code>cameraMatrix</code> - Output 3x3 camera intrinsic matrix \(\cameramatrix{A}\).</dd>
- <dd><code>rotMatrix</code> - Output 3x3 external rotation matrix R.</dd>
- <dd><code>transVect</code> - Output 4x1 translation vector T.</dd>
- <dd><code>rotMatrixX</code> - Optional 3x3 rotation matrix around x-axis.</dd>
- <dd><code>rotMatrixY</code> - Optional 3x3 rotation matrix around y-axis.
- degrees.
- The function computes a decomposition of a projection matrix into a calibration and a rotation
- matrix and the position of a camera.
- It optionally returns three rotation matrices, one for each axis, and three Euler angles that could
- be used in OpenGL. Note, there is always more than one sequence of rotations about the three
- principal axes that results in the same orientation of an object, e.g. see CITE: Slabaugh . Returned
- tree rotation matrices and corresponding three Euler angles are only one of the possible solutions.
- The function is based on #RQDecomp3x3 .</dd>
- </dl>
- </li>
- </ul>
- <a name="decomposeProjectionMatrix-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <h4>decomposeProjectionMatrix</h4>
- <pre>public static void decomposeProjectionMatrix(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> projMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> transVect,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrixX,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrixY,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrixZ)</pre>
- <div class="block">Decomposes a projection matrix into a rotation matrix and a camera intrinsic matrix.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>projMatrix</code> - 3x4 input projection matrix P.</dd>
- <dd><code>cameraMatrix</code> - Output 3x3 camera intrinsic matrix \(\cameramatrix{A}\).</dd>
- <dd><code>rotMatrix</code> - Output 3x3 external rotation matrix R.</dd>
- <dd><code>transVect</code> - Output 4x1 translation vector T.</dd>
- <dd><code>rotMatrixX</code> - Optional 3x3 rotation matrix around x-axis.</dd>
- <dd><code>rotMatrixY</code> - Optional 3x3 rotation matrix around y-axis.</dd>
- <dd><code>rotMatrixZ</code> - Optional 3x3 rotation matrix around z-axis.
- degrees.
- The function computes a decomposition of a projection matrix into a calibration and a rotation
- matrix and the position of a camera.
- It optionally returns three rotation matrices, one for each axis, and three Euler angles that could
- be used in OpenGL. Note, there is always more than one sequence of rotations about the three
- principal axes that results in the same orientation of an object, e.g. see CITE: Slabaugh . Returned
- tree rotation matrices and corresponding three Euler angles are only one of the possible solutions.
- The function is based on #RQDecomp3x3 .</dd>
- </dl>
- </li>
- </ul>
- <a name="decomposeProjectionMatrix-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <h4>decomposeProjectionMatrix</h4>
- <pre>public static void decomposeProjectionMatrix(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> projMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> transVect,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrixX,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrixY,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rotMatrixZ,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> eulerAngles)</pre>
- <div class="block">Decomposes a projection matrix into a rotation matrix and a camera intrinsic matrix.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>projMatrix</code> - 3x4 input projection matrix P.</dd>
- <dd><code>cameraMatrix</code> - Output 3x3 camera intrinsic matrix \(\cameramatrix{A}\).</dd>
- <dd><code>rotMatrix</code> - Output 3x3 external rotation matrix R.</dd>
- <dd><code>transVect</code> - Output 4x1 translation vector T.</dd>
- <dd><code>rotMatrixX</code> - Optional 3x3 rotation matrix around x-axis.</dd>
- <dd><code>rotMatrixY</code> - Optional 3x3 rotation matrix around y-axis.</dd>
- <dd><code>rotMatrixZ</code> - Optional 3x3 rotation matrix around z-axis.</dd>
- <dd><code>eulerAngles</code> - Optional three-element vector containing three Euler angles of rotation in
- degrees.
- The function computes a decomposition of a projection matrix into a calibration and a rotation
- matrix and the position of a camera.
- It optionally returns three rotation matrices, one for each axis, and three Euler angles that could
- be used in OpenGL. Note, there is always more than one sequence of rotations about the three
- principal axes that results in the same orientation of an object, e.g. see CITE: Slabaugh . Returned
- tree rotation matrices and corresponding three Euler angles are only one of the possible solutions.
- The function is based on #RQDecomp3x3 .</dd>
- </dl>
- </li>
- </ul>
- <a name="drawChessboardCorners-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.MatOfPoint2f-boolean-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>drawChessboardCorners</h4>
- <pre>public static void drawChessboardCorners(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> patternSize,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> corners,
- boolean patternWasFound)</pre>
- <div class="block">Renders the detected chessboard corners.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>image</code> - Destination image. It must be an 8-bit color image.</dd>
- <dd><code>patternSize</code> - Number of inner corners per a chessboard row and column
- (patternSize = cv::Size(points_per_row,points_per_column)).</dd>
- <dd><code>corners</code> - Array of detected corners, the output of #findChessboardCorners.</dd>
- <dd><code>patternWasFound</code> - Parameter indicating whether the complete board was found or not. The
- return value of #findChessboardCorners should be passed here.
- The function draws individual chessboard corners detected either as red circles if the board was not
- found, or as colored corners connected with lines if the board was found.</dd>
- </dl>
- </li>
- </ul>
- <a name="drawFrameAxes-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-float-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>drawFrameAxes</h4>
- <pre>public static void drawFrameAxes(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- float length)</pre>
- <div class="block">Draw axes of the world/object coordinate system from pose estimation. SEE: solvePnP</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>image</code> - Input/output image. It must have 1 or 3 channels. The number of channels is not altered.</dd>
- <dd><code>cameraMatrix</code> - Input 3x3 floating-point matrix of camera intrinsic parameters.
- \(\cameramatrix{A}\)</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is empty, the zero distortion coefficients are assumed.</dd>
- <dd><code>rvec</code> - Rotation vector (see REF: Rodrigues ) that, together with tvec, brings points from
- the model coordinate system to the camera coordinate system.</dd>
- <dd><code>tvec</code> - Translation vector.</dd>
- <dd><code>length</code> - Length of the painted axes in the same unit than tvec (usually in meters).
- This function draws the axes of the world/object coordinate system w.r.t. to the camera frame.
- OX is drawn in red, OY in green and OZ in blue.</dd>
- </dl>
- </li>
- </ul>
- <a name="drawFrameAxes-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-float-int-">
- <!-- -->
- </a>
- <ul class="blockList">
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- <h4>drawFrameAxes</h4>
- <pre>public static void drawFrameAxes(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- float length,
- int thickness)</pre>
- <div class="block">Draw axes of the world/object coordinate system from pose estimation. SEE: solvePnP</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>image</code> - Input/output image. It must have 1 or 3 channels. The number of channels is not altered.</dd>
- <dd><code>cameraMatrix</code> - Input 3x3 floating-point matrix of camera intrinsic parameters.
- \(\cameramatrix{A}\)</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is empty, the zero distortion coefficients are assumed.</dd>
- <dd><code>rvec</code> - Rotation vector (see REF: Rodrigues ) that, together with tvec, brings points from
- the model coordinate system to the camera coordinate system.</dd>
- <dd><code>tvec</code> - Translation vector.</dd>
- <dd><code>length</code> - Length of the painted axes in the same unit than tvec (usually in meters).</dd>
- <dd><code>thickness</code> - Line thickness of the painted axes.
- This function draws the axes of the world/object coordinate system w.r.t. to the camera frame.
- OX is drawn in red, OY in green and OZ in blue.</dd>
- </dl>
- </li>
- </ul>
- <a name="estimateAffine2D-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateAffine2D</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> estimateAffine2D(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to)</pre>
- <div class="block">Computes an optimal affine transformation between two 2D point sets.
- It computes
- \(
- \begin{bmatrix}
- x\\
- y\\
- \end{bmatrix}
- =
- \begin{bmatrix}
- a_{11} & a_{12}\\
- a_{21} & a_{22}\\
- \end{bmatrix}
- \begin{bmatrix}
- X\\
- Y\\
- \end{bmatrix}
- +
- \begin{bmatrix}
- b_1\\
- b_2\\
- \end{bmatrix}
- \)</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>from</code> - First input 2D point set containing \((X,Y)\).</dd>
- <dd><code>to</code> - Second input 2D point set containing \((x,y)\).
- <ul>
- <li>
- REF: RANSAC - RANSAC-based robust method
- </li>
- <li>
- REF: LMEDS - Least-Median robust method
- RANSAC is the default method.
- </li>
- </ul>
- a point as an inlier. Applies only to RANSAC.
- between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation
- significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.
- Passing 0 will disable refining, so the output matrix will be output of robust method.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>Output 2D affine transformation matrix \(2 \times 3\) or empty matrix if transformation
- could not be estimated. The returned matrix has the following form:
- \(
- \begin{bmatrix}
- a_{11} & a_{12} & b_1\\
- a_{21} & a_{22} & b_2\\
- \end{bmatrix}
- \)
- The function estimates an optimal 2D affine transformation between two 2D point sets using the
- selected robust algorithm.
- The computed transformation is then refined further (using only inliers) with the
- Levenberg-Marquardt method to reduce the re-projection error even more.
- <b>Note:</b>
- The RANSAC method can handle practically any ratio of outliers but needs a threshold to
- distinguish inliers from outliers. The method LMeDS does not need any threshold but it works
- correctly only when there are more than 50% of inliers.
- SEE: estimateAffinePartial2D, getAffineTransform</dd>
- </dl>
- </li>
- </ul>
- <a name="estimateAffine2D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateAffine2D</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> estimateAffine2D(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers)</pre>
- <div class="block">Computes an optimal affine transformation between two 2D point sets.
- It computes
- \(
- \begin{bmatrix}
- x\\
- y\\
- \end{bmatrix}
- =
- \begin{bmatrix}
- a_{11} & a_{12}\\
- a_{21} & a_{22}\\
- \end{bmatrix}
- \begin{bmatrix}
- X\\
- Y\\
- \end{bmatrix}
- +
- \begin{bmatrix}
- b_1\\
- b_2\\
- \end{bmatrix}
- \)</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>from</code> - First input 2D point set containing \((X,Y)\).</dd>
- <dd><code>to</code> - Second input 2D point set containing \((x,y)\).</dd>
- <dd><code>inliers</code> - Output vector indicating which points are inliers (1-inlier, 0-outlier).
- <ul>
- <li>
- REF: RANSAC - RANSAC-based robust method
- </li>
- <li>
- REF: LMEDS - Least-Median robust method
- RANSAC is the default method.
- </li>
- </ul>
- a point as an inlier. Applies only to RANSAC.
- between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation
- significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.
- Passing 0 will disable refining, so the output matrix will be output of robust method.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>Output 2D affine transformation matrix \(2 \times 3\) or empty matrix if transformation
- could not be estimated. The returned matrix has the following form:
- \(
- \begin{bmatrix}
- a_{11} & a_{12} & b_1\\
- a_{21} & a_{22} & b_2\\
- \end{bmatrix}
- \)
- The function estimates an optimal 2D affine transformation between two 2D point sets using the
- selected robust algorithm.
- The computed transformation is then refined further (using only inliers) with the
- Levenberg-Marquardt method to reduce the re-projection error even more.
- <b>Note:</b>
- The RANSAC method can handle practically any ratio of outliers but needs a threshold to
- distinguish inliers from outliers. The method LMeDS does not need any threshold but it works
- correctly only when there are more than 50% of inliers.
- SEE: estimateAffinePartial2D, getAffineTransform</dd>
- </dl>
- </li>
- </ul>
- <a name="estimateAffine2D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateAffine2D</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> estimateAffine2D(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- int method)</pre>
- <div class="block">Computes an optimal affine transformation between two 2D point sets.
- It computes
- \(
- \begin{bmatrix}
- x\\
- y\\
- \end{bmatrix}
- =
- \begin{bmatrix}
- a_{11} & a_{12}\\
- a_{21} & a_{22}\\
- \end{bmatrix}
- \begin{bmatrix}
- X\\
- Y\\
- \end{bmatrix}
- +
- \begin{bmatrix}
- b_1\\
- b_2\\
- \end{bmatrix}
- \)</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>from</code> - First input 2D point set containing \((X,Y)\).</dd>
- <dd><code>to</code> - Second input 2D point set containing \((x,y)\).</dd>
- <dd><code>inliers</code> - Output vector indicating which points are inliers (1-inlier, 0-outlier).</dd>
- <dd><code>method</code> - Robust method used to compute transformation. The following methods are possible:
- <ul>
- <li>
- REF: RANSAC - RANSAC-based robust method
- </li>
- <li>
- REF: LMEDS - Least-Median robust method
- RANSAC is the default method.
- </li>
- </ul>
- a point as an inlier. Applies only to RANSAC.
- between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation
- significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.
- Passing 0 will disable refining, so the output matrix will be output of robust method.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>Output 2D affine transformation matrix \(2 \times 3\) or empty matrix if transformation
- could not be estimated. The returned matrix has the following form:
- \(
- \begin{bmatrix}
- a_{11} & a_{12} & b_1\\
- a_{21} & a_{22} & b_2\\
- \end{bmatrix}
- \)
- The function estimates an optimal 2D affine transformation between two 2D point sets using the
- selected robust algorithm.
- The computed transformation is then refined further (using only inliers) with the
- Levenberg-Marquardt method to reduce the re-projection error even more.
- <b>Note:</b>
- The RANSAC method can handle practically any ratio of outliers but needs a threshold to
- distinguish inliers from outliers. The method LMeDS does not need any threshold but it works
- correctly only when there are more than 50% of inliers.
- SEE: estimateAffinePartial2D, getAffineTransform</dd>
- </dl>
- </li>
- </ul>
- <a name="estimateAffine2D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateAffine2D</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> estimateAffine2D(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- int method,
- double ransacReprojThreshold)</pre>
- <div class="block">Computes an optimal affine transformation between two 2D point sets.
- It computes
- \(
- \begin{bmatrix}
- x\\
- y\\
- \end{bmatrix}
- =
- \begin{bmatrix}
- a_{11} & a_{12}\\
- a_{21} & a_{22}\\
- \end{bmatrix}
- \begin{bmatrix}
- X\\
- Y\\
- \end{bmatrix}
- +
- \begin{bmatrix}
- b_1\\
- b_2\\
- \end{bmatrix}
- \)</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>from</code> - First input 2D point set containing \((X,Y)\).</dd>
- <dd><code>to</code> - Second input 2D point set containing \((x,y)\).</dd>
- <dd><code>inliers</code> - Output vector indicating which points are inliers (1-inlier, 0-outlier).</dd>
- <dd><code>method</code> - Robust method used to compute transformation. The following methods are possible:
- <ul>
- <li>
- REF: RANSAC - RANSAC-based robust method
- </li>
- <li>
- REF: LMEDS - Least-Median robust method
- RANSAC is the default method.
- </li>
- </ul></dd>
- <dd><code>ransacReprojThreshold</code> - Maximum reprojection error in the RANSAC algorithm to consider
- a point as an inlier. Applies only to RANSAC.
- between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation
- significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.
- Passing 0 will disable refining, so the output matrix will be output of robust method.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>Output 2D affine transformation matrix \(2 \times 3\) or empty matrix if transformation
- could not be estimated. The returned matrix has the following form:
- \(
- \begin{bmatrix}
- a_{11} & a_{12} & b_1\\
- a_{21} & a_{22} & b_2\\
- \end{bmatrix}
- \)
- The function estimates an optimal 2D affine transformation between two 2D point sets using the
- selected robust algorithm.
- The computed transformation is then refined further (using only inliers) with the
- Levenberg-Marquardt method to reduce the re-projection error even more.
- <b>Note:</b>
- The RANSAC method can handle practically any ratio of outliers but needs a threshold to
- distinguish inliers from outliers. The method LMeDS does not need any threshold but it works
- correctly only when there are more than 50% of inliers.
- SEE: estimateAffinePartial2D, getAffineTransform</dd>
- </dl>
- </li>
- </ul>
- <a name="estimateAffine2D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-long-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateAffine2D</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> estimateAffine2D(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- int method,
- double ransacReprojThreshold,
- long maxIters)</pre>
- <div class="block">Computes an optimal affine transformation between two 2D point sets.
- It computes
- \(
- \begin{bmatrix}
- x\\
- y\\
- \end{bmatrix}
- =
- \begin{bmatrix}
- a_{11} & a_{12}\\
- a_{21} & a_{22}\\
- \end{bmatrix}
- \begin{bmatrix}
- X\\
- Y\\
- \end{bmatrix}
- +
- \begin{bmatrix}
- b_1\\
- b_2\\
- \end{bmatrix}
- \)</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>from</code> - First input 2D point set containing \((X,Y)\).</dd>
- <dd><code>to</code> - Second input 2D point set containing \((x,y)\).</dd>
- <dd><code>inliers</code> - Output vector indicating which points are inliers (1-inlier, 0-outlier).</dd>
- <dd><code>method</code> - Robust method used to compute transformation. The following methods are possible:
- <ul>
- <li>
- REF: RANSAC - RANSAC-based robust method
- </li>
- <li>
- REF: LMEDS - Least-Median robust method
- RANSAC is the default method.
- </li>
- </ul></dd>
- <dd><code>ransacReprojThreshold</code> - Maximum reprojection error in the RANSAC algorithm to consider
- a point as an inlier. Applies only to RANSAC.</dd>
- <dd><code>maxIters</code> - The maximum number of robust method iterations.
- between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation
- significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.
- Passing 0 will disable refining, so the output matrix will be output of robust method.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>Output 2D affine transformation matrix \(2 \times 3\) or empty matrix if transformation
- could not be estimated. The returned matrix has the following form:
- \(
- \begin{bmatrix}
- a_{11} & a_{12} & b_1\\
- a_{21} & a_{22} & b_2\\
- \end{bmatrix}
- \)
- The function estimates an optimal 2D affine transformation between two 2D point sets using the
- selected robust algorithm.
- The computed transformation is then refined further (using only inliers) with the
- Levenberg-Marquardt method to reduce the re-projection error even more.
- <b>Note:</b>
- The RANSAC method can handle practically any ratio of outliers but needs a threshold to
- distinguish inliers from outliers. The method LMeDS does not need any threshold but it works
- correctly only when there are more than 50% of inliers.
- SEE: estimateAffinePartial2D, getAffineTransform</dd>
- </dl>
- </li>
- </ul>
- <a name="estimateAffine2D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-long-double-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateAffine2D</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> estimateAffine2D(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- int method,
- double ransacReprojThreshold,
- long maxIters,
- double confidence)</pre>
- <div class="block">Computes an optimal affine transformation between two 2D point sets.
- It computes
- \(
- \begin{bmatrix}
- x\\
- y\\
- \end{bmatrix}
- =
- \begin{bmatrix}
- a_{11} & a_{12}\\
- a_{21} & a_{22}\\
- \end{bmatrix}
- \begin{bmatrix}
- X\\
- Y\\
- \end{bmatrix}
- +
- \begin{bmatrix}
- b_1\\
- b_2\\
- \end{bmatrix}
- \)</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>from</code> - First input 2D point set containing \((X,Y)\).</dd>
- <dd><code>to</code> - Second input 2D point set containing \((x,y)\).</dd>
- <dd><code>inliers</code> - Output vector indicating which points are inliers (1-inlier, 0-outlier).</dd>
- <dd><code>method</code> - Robust method used to compute transformation. The following methods are possible:
- <ul>
- <li>
- REF: RANSAC - RANSAC-based robust method
- </li>
- <li>
- REF: LMEDS - Least-Median robust method
- RANSAC is the default method.
- </li>
- </ul></dd>
- <dd><code>ransacReprojThreshold</code> - Maximum reprojection error in the RANSAC algorithm to consider
- a point as an inlier. Applies only to RANSAC.</dd>
- <dd><code>maxIters</code> - The maximum number of robust method iterations.</dd>
- <dd><code>confidence</code> - Confidence level, between 0 and 1, for the estimated transformation. Anything
- between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation
- significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.
- Passing 0 will disable refining, so the output matrix will be output of robust method.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>Output 2D affine transformation matrix \(2 \times 3\) or empty matrix if transformation
- could not be estimated. The returned matrix has the following form:
- \(
- \begin{bmatrix}
- a_{11} & a_{12} & b_1\\
- a_{21} & a_{22} & b_2\\
- \end{bmatrix}
- \)
- The function estimates an optimal 2D affine transformation between two 2D point sets using the
- selected robust algorithm.
- The computed transformation is then refined further (using only inliers) with the
- Levenberg-Marquardt method to reduce the re-projection error even more.
- <b>Note:</b>
- The RANSAC method can handle practically any ratio of outliers but needs a threshold to
- distinguish inliers from outliers. The method LMeDS does not need any threshold but it works
- correctly only when there are more than 50% of inliers.
- SEE: estimateAffinePartial2D, getAffineTransform</dd>
- </dl>
- </li>
- </ul>
- <a name="estimateAffine2D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-long-double-long-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateAffine2D</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> estimateAffine2D(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- int method,
- double ransacReprojThreshold,
- long maxIters,
- double confidence,
- long refineIters)</pre>
- <div class="block">Computes an optimal affine transformation between two 2D point sets.
- It computes
- \(
- \begin{bmatrix}
- x\\
- y\\
- \end{bmatrix}
- =
- \begin{bmatrix}
- a_{11} & a_{12}\\
- a_{21} & a_{22}\\
- \end{bmatrix}
- \begin{bmatrix}
- X\\
- Y\\
- \end{bmatrix}
- +
- \begin{bmatrix}
- b_1\\
- b_2\\
- \end{bmatrix}
- \)</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>from</code> - First input 2D point set containing \((X,Y)\).</dd>
- <dd><code>to</code> - Second input 2D point set containing \((x,y)\).</dd>
- <dd><code>inliers</code> - Output vector indicating which points are inliers (1-inlier, 0-outlier).</dd>
- <dd><code>method</code> - Robust method used to compute transformation. The following methods are possible:
- <ul>
- <li>
- REF: RANSAC - RANSAC-based robust method
- </li>
- <li>
- REF: LMEDS - Least-Median robust method
- RANSAC is the default method.
- </li>
- </ul></dd>
- <dd><code>ransacReprojThreshold</code> - Maximum reprojection error in the RANSAC algorithm to consider
- a point as an inlier. Applies only to RANSAC.</dd>
- <dd><code>maxIters</code> - The maximum number of robust method iterations.</dd>
- <dd><code>confidence</code> - Confidence level, between 0 and 1, for the estimated transformation. Anything
- between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation
- significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.</dd>
- <dd><code>refineIters</code> - Maximum number of iterations of refining algorithm (Levenberg-Marquardt).
- Passing 0 will disable refining, so the output matrix will be output of robust method.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>Output 2D affine transformation matrix \(2 \times 3\) or empty matrix if transformation
- could not be estimated. The returned matrix has the following form:
- \(
- \begin{bmatrix}
- a_{11} & a_{12} & b_1\\
- a_{21} & a_{22} & b_2\\
- \end{bmatrix}
- \)
- The function estimates an optimal 2D affine transformation between two 2D point sets using the
- selected robust algorithm.
- The computed transformation is then refined further (using only inliers) with the
- Levenberg-Marquardt method to reduce the re-projection error even more.
- <b>Note:</b>
- The RANSAC method can handle practically any ratio of outliers but needs a threshold to
- distinguish inliers from outliers. The method LMeDS does not need any threshold but it works
- correctly only when there are more than 50% of inliers.
- SEE: estimateAffinePartial2D, getAffineTransform</dd>
- </dl>
- </li>
- </ul>
- <a name="estimateAffine2D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.calib3d.UsacParams-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateAffine2D</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> estimateAffine2D(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> pts1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> pts2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- <a href="../../../org/opencv/calib3d/UsacParams.html" title="class in org.opencv.calib3d">UsacParams</a> params)</pre>
- </li>
- </ul>
- <a name="estimateAffine3D-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateAffine3D</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> estimateAffine3D(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst)</pre>
- <div class="block">Computes an optimal affine transformation between two 3D point sets.
- It computes \(R,s,t\) minimizing \(\sum{i} dst_i - c \cdot R \cdot src_i \)
- where \(R\) is a 3x3 rotation matrix, \(t\) is a 3x1 translation vector and \(s\) is a
- scalar size value. This is an implementation of the algorithm by Umeyama \cite umeyama1991least .
- The estimated affine transform has a homogeneous scale which is a subclass of affine
- transformations with 7 degrees of freedom. The paired point sets need to comprise at least 3
- points each.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>src</code> - First input 3D point set.</dd>
- <dd><code>dst</code> - Second input 3D point set.
- Else the pointed-to variable will be set to the optimal scale.
- This might be unwanted, e.g. when optimizing a transform between a right- and a
- left-handed coordinate system.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>3D affine transformation matrix \(3 \times 4\) of the form
- \(T =
- \begin{bmatrix}
- R & t\\
- \end{bmatrix}
- \)</dd>
- </dl>
- </li>
- </ul>
- <a name="estimateAffine3D-org.opencv.core.Mat-org.opencv.core.Mat-double:A-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateAffine3D</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> estimateAffine3D(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst,
- double[] scale)</pre>
- <div class="block">Computes an optimal affine transformation between two 3D point sets.
- It computes \(R,s,t\) minimizing \(\sum{i} dst_i - c \cdot R \cdot src_i \)
- where \(R\) is a 3x3 rotation matrix, \(t\) is a 3x1 translation vector and \(s\) is a
- scalar size value. This is an implementation of the algorithm by Umeyama \cite umeyama1991least .
- The estimated affine transform has a homogeneous scale which is a subclass of affine
- transformations with 7 degrees of freedom. The paired point sets need to comprise at least 3
- points each.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>src</code> - First input 3D point set.</dd>
- <dd><code>dst</code> - Second input 3D point set.</dd>
- <dd><code>scale</code> - If null is passed, the scale parameter c will be assumed to be 1.0.
- Else the pointed-to variable will be set to the optimal scale.
- This might be unwanted, e.g. when optimizing a transform between a right- and a
- left-handed coordinate system.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>3D affine transformation matrix \(3 \times 4\) of the form
- \(T =
- \begin{bmatrix}
- R & t\\
- \end{bmatrix}
- \)</dd>
- </dl>
- </li>
- </ul>
- <a name="estimateAffine3D-org.opencv.core.Mat-org.opencv.core.Mat-double:A-boolean-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateAffine3D</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> estimateAffine3D(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst,
- double[] scale,
- boolean force_rotation)</pre>
- <div class="block">Computes an optimal affine transformation between two 3D point sets.
- It computes \(R,s,t\) minimizing \(\sum{i} dst_i - c \cdot R \cdot src_i \)
- where \(R\) is a 3x3 rotation matrix, \(t\) is a 3x1 translation vector and \(s\) is a
- scalar size value. This is an implementation of the algorithm by Umeyama \cite umeyama1991least .
- The estimated affine transform has a homogeneous scale which is a subclass of affine
- transformations with 7 degrees of freedom. The paired point sets need to comprise at least 3
- points each.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>src</code> - First input 3D point set.</dd>
- <dd><code>dst</code> - Second input 3D point set.</dd>
- <dd><code>scale</code> - If null is passed, the scale parameter c will be assumed to be 1.0.
- Else the pointed-to variable will be set to the optimal scale.</dd>
- <dd><code>force_rotation</code> - If true, the returned rotation will never be a reflection.
- This might be unwanted, e.g. when optimizing a transform between a right- and a
- left-handed coordinate system.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>3D affine transformation matrix \(3 \times 4\) of the form
- \(T =
- \begin{bmatrix}
- R & t\\
- \end{bmatrix}
- \)</dd>
- </dl>
- </li>
- </ul>
- <a name="estimateAffine3D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateAffine3D</h4>
- <pre>public static int estimateAffine3D(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> out,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers)</pre>
- <div class="block">Computes an optimal affine transformation between two 3D point sets.
- It computes
- \(
- \begin{bmatrix}
- x\\
- y\\
- z\\
- \end{bmatrix}
- =
- \begin{bmatrix}
- a_{11} & a_{12} & a_{13}\\
- a_{21} & a_{22} & a_{23}\\
- a_{31} & a_{32} & a_{33}\\
- \end{bmatrix}
- \begin{bmatrix}
- X\\
- Y\\
- Z\\
- \end{bmatrix}
- +
- \begin{bmatrix}
- b_1\\
- b_2\\
- b_3\\
- \end{bmatrix}
- \)</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>src</code> - First input 3D point set containing \((X,Y,Z)\).</dd>
- <dd><code>dst</code> - Second input 3D point set containing \((x,y,z)\).</dd>
- <dd><code>out</code> - Output 3D affine transformation matrix \(3 \times 4\) of the form
- \(
- \begin{bmatrix}
- a_{11} & a_{12} & a_{13} & b_1\\
- a_{21} & a_{22} & a_{23} & b_2\\
- a_{31} & a_{32} & a_{33} & b_3\\
- \end{bmatrix}
- \)</dd>
- <dd><code>inliers</code> - Output vector indicating which points are inliers (1-inlier, 0-outlier).
- an inlier.
- between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation
- significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.
- The function estimates an optimal 3D affine transformation between two 3D point sets using the
- RANSAC algorithm.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="estimateAffine3D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-double-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateAffine3D</h4>
- <pre>public static int estimateAffine3D(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> out,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- double ransacThreshold)</pre>
- <div class="block">Computes an optimal affine transformation between two 3D point sets.
- It computes
- \(
- \begin{bmatrix}
- x\\
- y\\
- z\\
- \end{bmatrix}
- =
- \begin{bmatrix}
- a_{11} & a_{12} & a_{13}\\
- a_{21} & a_{22} & a_{23}\\
- a_{31} & a_{32} & a_{33}\\
- \end{bmatrix}
- \begin{bmatrix}
- X\\
- Y\\
- Z\\
- \end{bmatrix}
- +
- \begin{bmatrix}
- b_1\\
- b_2\\
- b_3\\
- \end{bmatrix}
- \)</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>src</code> - First input 3D point set containing \((X,Y,Z)\).</dd>
- <dd><code>dst</code> - Second input 3D point set containing \((x,y,z)\).</dd>
- <dd><code>out</code> - Output 3D affine transformation matrix \(3 \times 4\) of the form
- \(
- \begin{bmatrix}
- a_{11} & a_{12} & a_{13} & b_1\\
- a_{21} & a_{22} & a_{23} & b_2\\
- a_{31} & a_{32} & a_{33} & b_3\\
- \end{bmatrix}
- \)</dd>
- <dd><code>inliers</code> - Output vector indicating which points are inliers (1-inlier, 0-outlier).</dd>
- <dd><code>ransacThreshold</code> - Maximum reprojection error in the RANSAC algorithm to consider a point as
- an inlier.
- between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation
- significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.
- The function estimates an optimal 3D affine transformation between two 3D point sets using the
- RANSAC algorithm.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="estimateAffine3D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-double-double-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateAffine3D</h4>
- <pre>public static int estimateAffine3D(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> out,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- double ransacThreshold,
- double confidence)</pre>
- <div class="block">Computes an optimal affine transformation between two 3D point sets.
- It computes
- \(
- \begin{bmatrix}
- x\\
- y\\
- z\\
- \end{bmatrix}
- =
- \begin{bmatrix}
- a_{11} & a_{12} & a_{13}\\
- a_{21} & a_{22} & a_{23}\\
- a_{31} & a_{32} & a_{33}\\
- \end{bmatrix}
- \begin{bmatrix}
- X\\
- Y\\
- Z\\
- \end{bmatrix}
- +
- \begin{bmatrix}
- b_1\\
- b_2\\
- b_3\\
- \end{bmatrix}
- \)</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>src</code> - First input 3D point set containing \((X,Y,Z)\).</dd>
- <dd><code>dst</code> - Second input 3D point set containing \((x,y,z)\).</dd>
- <dd><code>out</code> - Output 3D affine transformation matrix \(3 \times 4\) of the form
- \(
- \begin{bmatrix}
- a_{11} & a_{12} & a_{13} & b_1\\
- a_{21} & a_{22} & a_{23} & b_2\\
- a_{31} & a_{32} & a_{33} & b_3\\
- \end{bmatrix}
- \)</dd>
- <dd><code>inliers</code> - Output vector indicating which points are inliers (1-inlier, 0-outlier).</dd>
- <dd><code>ransacThreshold</code> - Maximum reprojection error in the RANSAC algorithm to consider a point as
- an inlier.</dd>
- <dd><code>confidence</code> - Confidence level, between 0 and 1, for the estimated transformation. Anything
- between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation
- significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.
- The function estimates an optimal 3D affine transformation between two 3D point sets using the
- RANSAC algorithm.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="estimateAffinePartial2D-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateAffinePartial2D</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> estimateAffinePartial2D(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to)</pre>
- <div class="block">Computes an optimal limited affine transformation with 4 degrees of freedom between
- two 2D point sets.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>from</code> - First input 2D point set.</dd>
- <dd><code>to</code> - Second input 2D point set.
- <ul>
- <li>
- REF: RANSAC - RANSAC-based robust method
- </li>
- <li>
- REF: LMEDS - Least-Median robust method
- RANSAC is the default method.
- </li>
- </ul>
- a point as an inlier. Applies only to RANSAC.
- between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation
- significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.
- Passing 0 will disable refining, so the output matrix will be output of robust method.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>Output 2D affine transformation (4 degrees of freedom) matrix \(2 \times 3\) or
- empty matrix if transformation could not be estimated.
- The function estimates an optimal 2D affine transformation with 4 degrees of freedom limited to
- combinations of translation, rotation, and uniform scaling. Uses the selected algorithm for robust
- estimation.
- The computed transformation is then refined further (using only inliers) with the
- Levenberg-Marquardt method to reduce the re-projection error even more.
- Estimated transformation matrix is:
- \( \begin{bmatrix} \cos(\theta) \cdot s & -\sin(\theta) \cdot s & t_x \\
- \sin(\theta) \cdot s & \cos(\theta) \cdot s & t_y
- \end{bmatrix} \)
- Where \( \theta \) is the rotation angle, \( s \) the scaling factor and \( t_x, t_y \) are
- translations in \( x, y \) axes respectively.
- <b>Note:</b>
- The RANSAC method can handle practically any ratio of outliers but need a threshold to
- distinguish inliers from outliers. The method LMeDS does not need any threshold but it works
- correctly only when there are more than 50% of inliers.
- SEE: estimateAffine2D, getAffineTransform</dd>
- </dl>
- </li>
- </ul>
- <a name="estimateAffinePartial2D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateAffinePartial2D</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> estimateAffinePartial2D(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers)</pre>
- <div class="block">Computes an optimal limited affine transformation with 4 degrees of freedom between
- two 2D point sets.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>from</code> - First input 2D point set.</dd>
- <dd><code>to</code> - Second input 2D point set.</dd>
- <dd><code>inliers</code> - Output vector indicating which points are inliers.
- <ul>
- <li>
- REF: RANSAC - RANSAC-based robust method
- </li>
- <li>
- REF: LMEDS - Least-Median robust method
- RANSAC is the default method.
- </li>
- </ul>
- a point as an inlier. Applies only to RANSAC.
- between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation
- significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.
- Passing 0 will disable refining, so the output matrix will be output of robust method.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>Output 2D affine transformation (4 degrees of freedom) matrix \(2 \times 3\) or
- empty matrix if transformation could not be estimated.
- The function estimates an optimal 2D affine transformation with 4 degrees of freedom limited to
- combinations of translation, rotation, and uniform scaling. Uses the selected algorithm for robust
- estimation.
- The computed transformation is then refined further (using only inliers) with the
- Levenberg-Marquardt method to reduce the re-projection error even more.
- Estimated transformation matrix is:
- \( \begin{bmatrix} \cos(\theta) \cdot s & -\sin(\theta) \cdot s & t_x \\
- \sin(\theta) \cdot s & \cos(\theta) \cdot s & t_y
- \end{bmatrix} \)
- Where \( \theta \) is the rotation angle, \( s \) the scaling factor and \( t_x, t_y \) are
- translations in \( x, y \) axes respectively.
- <b>Note:</b>
- The RANSAC method can handle practically any ratio of outliers but need a threshold to
- distinguish inliers from outliers. The method LMeDS does not need any threshold but it works
- correctly only when there are more than 50% of inliers.
- SEE: estimateAffine2D, getAffineTransform</dd>
- </dl>
- </li>
- </ul>
- <a name="estimateAffinePartial2D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateAffinePartial2D</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> estimateAffinePartial2D(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- int method)</pre>
- <div class="block">Computes an optimal limited affine transformation with 4 degrees of freedom between
- two 2D point sets.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>from</code> - First input 2D point set.</dd>
- <dd><code>to</code> - Second input 2D point set.</dd>
- <dd><code>inliers</code> - Output vector indicating which points are inliers.</dd>
- <dd><code>method</code> - Robust method used to compute transformation. The following methods are possible:
- <ul>
- <li>
- REF: RANSAC - RANSAC-based robust method
- </li>
- <li>
- REF: LMEDS - Least-Median robust method
- RANSAC is the default method.
- </li>
- </ul>
- a point as an inlier. Applies only to RANSAC.
- between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation
- significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.
- Passing 0 will disable refining, so the output matrix will be output of robust method.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>Output 2D affine transformation (4 degrees of freedom) matrix \(2 \times 3\) or
- empty matrix if transformation could not be estimated.
- The function estimates an optimal 2D affine transformation with 4 degrees of freedom limited to
- combinations of translation, rotation, and uniform scaling. Uses the selected algorithm for robust
- estimation.
- The computed transformation is then refined further (using only inliers) with the
- Levenberg-Marquardt method to reduce the re-projection error even more.
- Estimated transformation matrix is:
- \( \begin{bmatrix} \cos(\theta) \cdot s & -\sin(\theta) \cdot s & t_x \\
- \sin(\theta) \cdot s & \cos(\theta) \cdot s & t_y
- \end{bmatrix} \)
- Where \( \theta \) is the rotation angle, \( s \) the scaling factor and \( t_x, t_y \) are
- translations in \( x, y \) axes respectively.
- <b>Note:</b>
- The RANSAC method can handle practically any ratio of outliers but need a threshold to
- distinguish inliers from outliers. The method LMeDS does not need any threshold but it works
- correctly only when there are more than 50% of inliers.
- SEE: estimateAffine2D, getAffineTransform</dd>
- </dl>
- </li>
- </ul>
- <a name="estimateAffinePartial2D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateAffinePartial2D</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> estimateAffinePartial2D(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- int method,
- double ransacReprojThreshold)</pre>
- <div class="block">Computes an optimal limited affine transformation with 4 degrees of freedom between
- two 2D point sets.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>from</code> - First input 2D point set.</dd>
- <dd><code>to</code> - Second input 2D point set.</dd>
- <dd><code>inliers</code> - Output vector indicating which points are inliers.</dd>
- <dd><code>method</code> - Robust method used to compute transformation. The following methods are possible:
- <ul>
- <li>
- REF: RANSAC - RANSAC-based robust method
- </li>
- <li>
- REF: LMEDS - Least-Median robust method
- RANSAC is the default method.
- </li>
- </ul></dd>
- <dd><code>ransacReprojThreshold</code> - Maximum reprojection error in the RANSAC algorithm to consider
- a point as an inlier. Applies only to RANSAC.
- between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation
- significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.
- Passing 0 will disable refining, so the output matrix will be output of robust method.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>Output 2D affine transformation (4 degrees of freedom) matrix \(2 \times 3\) or
- empty matrix if transformation could not be estimated.
- The function estimates an optimal 2D affine transformation with 4 degrees of freedom limited to
- combinations of translation, rotation, and uniform scaling. Uses the selected algorithm for robust
- estimation.
- The computed transformation is then refined further (using only inliers) with the
- Levenberg-Marquardt method to reduce the re-projection error even more.
- Estimated transformation matrix is:
- \( \begin{bmatrix} \cos(\theta) \cdot s & -\sin(\theta) \cdot s & t_x \\
- \sin(\theta) \cdot s & \cos(\theta) \cdot s & t_y
- \end{bmatrix} \)
- Where \( \theta \) is the rotation angle, \( s \) the scaling factor and \( t_x, t_y \) are
- translations in \( x, y \) axes respectively.
- <b>Note:</b>
- The RANSAC method can handle practically any ratio of outliers but need a threshold to
- distinguish inliers from outliers. The method LMeDS does not need any threshold but it works
- correctly only when there are more than 50% of inliers.
- SEE: estimateAffine2D, getAffineTransform</dd>
- </dl>
- </li>
- </ul>
- <a name="estimateAffinePartial2D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-long-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateAffinePartial2D</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> estimateAffinePartial2D(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- int method,
- double ransacReprojThreshold,
- long maxIters)</pre>
- <div class="block">Computes an optimal limited affine transformation with 4 degrees of freedom between
- two 2D point sets.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>from</code> - First input 2D point set.</dd>
- <dd><code>to</code> - Second input 2D point set.</dd>
- <dd><code>inliers</code> - Output vector indicating which points are inliers.</dd>
- <dd><code>method</code> - Robust method used to compute transformation. The following methods are possible:
- <ul>
- <li>
- REF: RANSAC - RANSAC-based robust method
- </li>
- <li>
- REF: LMEDS - Least-Median robust method
- RANSAC is the default method.
- </li>
- </ul></dd>
- <dd><code>ransacReprojThreshold</code> - Maximum reprojection error in the RANSAC algorithm to consider
- a point as an inlier. Applies only to RANSAC.</dd>
- <dd><code>maxIters</code> - The maximum number of robust method iterations.
- between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation
- significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.
- Passing 0 will disable refining, so the output matrix will be output of robust method.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>Output 2D affine transformation (4 degrees of freedom) matrix \(2 \times 3\) or
- empty matrix if transformation could not be estimated.
- The function estimates an optimal 2D affine transformation with 4 degrees of freedom limited to
- combinations of translation, rotation, and uniform scaling. Uses the selected algorithm for robust
- estimation.
- The computed transformation is then refined further (using only inliers) with the
- Levenberg-Marquardt method to reduce the re-projection error even more.
- Estimated transformation matrix is:
- \( \begin{bmatrix} \cos(\theta) \cdot s & -\sin(\theta) \cdot s & t_x \\
- \sin(\theta) \cdot s & \cos(\theta) \cdot s & t_y
- \end{bmatrix} \)
- Where \( \theta \) is the rotation angle, \( s \) the scaling factor and \( t_x, t_y \) are
- translations in \( x, y \) axes respectively.
- <b>Note:</b>
- The RANSAC method can handle practically any ratio of outliers but need a threshold to
- distinguish inliers from outliers. The method LMeDS does not need any threshold but it works
- correctly only when there are more than 50% of inliers.
- SEE: estimateAffine2D, getAffineTransform</dd>
- </dl>
- </li>
- </ul>
- <a name="estimateAffinePartial2D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-long-double-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateAffinePartial2D</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> estimateAffinePartial2D(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- int method,
- double ransacReprojThreshold,
- long maxIters,
- double confidence)</pre>
- <div class="block">Computes an optimal limited affine transformation with 4 degrees of freedom between
- two 2D point sets.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>from</code> - First input 2D point set.</dd>
- <dd><code>to</code> - Second input 2D point set.</dd>
- <dd><code>inliers</code> - Output vector indicating which points are inliers.</dd>
- <dd><code>method</code> - Robust method used to compute transformation. The following methods are possible:
- <ul>
- <li>
- REF: RANSAC - RANSAC-based robust method
- </li>
- <li>
- REF: LMEDS - Least-Median robust method
- RANSAC is the default method.
- </li>
- </ul></dd>
- <dd><code>ransacReprojThreshold</code> - Maximum reprojection error in the RANSAC algorithm to consider
- a point as an inlier. Applies only to RANSAC.</dd>
- <dd><code>maxIters</code> - The maximum number of robust method iterations.</dd>
- <dd><code>confidence</code> - Confidence level, between 0 and 1, for the estimated transformation. Anything
- between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation
- significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.
- Passing 0 will disable refining, so the output matrix will be output of robust method.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>Output 2D affine transformation (4 degrees of freedom) matrix \(2 \times 3\) or
- empty matrix if transformation could not be estimated.
- The function estimates an optimal 2D affine transformation with 4 degrees of freedom limited to
- combinations of translation, rotation, and uniform scaling. Uses the selected algorithm for robust
- estimation.
- The computed transformation is then refined further (using only inliers) with the
- Levenberg-Marquardt method to reduce the re-projection error even more.
- Estimated transformation matrix is:
- \( \begin{bmatrix} \cos(\theta) \cdot s & -\sin(\theta) \cdot s & t_x \\
- \sin(\theta) \cdot s & \cos(\theta) \cdot s & t_y
- \end{bmatrix} \)
- Where \( \theta \) is the rotation angle, \( s \) the scaling factor and \( t_x, t_y \) are
- translations in \( x, y \) axes respectively.
- <b>Note:</b>
- The RANSAC method can handle practically any ratio of outliers but need a threshold to
- distinguish inliers from outliers. The method LMeDS does not need any threshold but it works
- correctly only when there are more than 50% of inliers.
- SEE: estimateAffine2D, getAffineTransform</dd>
- </dl>
- </li>
- </ul>
- <a name="estimateAffinePartial2D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-long-double-long-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateAffinePartial2D</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> estimateAffinePartial2D(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> from,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> to,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- int method,
- double ransacReprojThreshold,
- long maxIters,
- double confidence,
- long refineIters)</pre>
- <div class="block">Computes an optimal limited affine transformation with 4 degrees of freedom between
- two 2D point sets.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>from</code> - First input 2D point set.</dd>
- <dd><code>to</code> - Second input 2D point set.</dd>
- <dd><code>inliers</code> - Output vector indicating which points are inliers.</dd>
- <dd><code>method</code> - Robust method used to compute transformation. The following methods are possible:
- <ul>
- <li>
- REF: RANSAC - RANSAC-based robust method
- </li>
- <li>
- REF: LMEDS - Least-Median robust method
- RANSAC is the default method.
- </li>
- </ul></dd>
- <dd><code>ransacReprojThreshold</code> - Maximum reprojection error in the RANSAC algorithm to consider
- a point as an inlier. Applies only to RANSAC.</dd>
- <dd><code>maxIters</code> - The maximum number of robust method iterations.</dd>
- <dd><code>confidence</code> - Confidence level, between 0 and 1, for the estimated transformation. Anything
- between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation
- significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.</dd>
- <dd><code>refineIters</code> - Maximum number of iterations of refining algorithm (Levenberg-Marquardt).
- Passing 0 will disable refining, so the output matrix will be output of robust method.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>Output 2D affine transformation (4 degrees of freedom) matrix \(2 \times 3\) or
- empty matrix if transformation could not be estimated.
- The function estimates an optimal 2D affine transformation with 4 degrees of freedom limited to
- combinations of translation, rotation, and uniform scaling. Uses the selected algorithm for robust
- estimation.
- The computed transformation is then refined further (using only inliers) with the
- Levenberg-Marquardt method to reduce the re-projection error even more.
- Estimated transformation matrix is:
- \( \begin{bmatrix} \cos(\theta) \cdot s & -\sin(\theta) \cdot s & t_x \\
- \sin(\theta) \cdot s & \cos(\theta) \cdot s & t_y
- \end{bmatrix} \)
- Where \( \theta \) is the rotation angle, \( s \) the scaling factor and \( t_x, t_y \) are
- translations in \( x, y \) axes respectively.
- <b>Note:</b>
- The RANSAC method can handle practically any ratio of outliers but need a threshold to
- distinguish inliers from outliers. The method LMeDS does not need any threshold but it works
- correctly only when there are more than 50% of inliers.
- SEE: estimateAffine2D, getAffineTransform</dd>
- </dl>
- </li>
- </ul>
- <a name="estimateChessboardSharpness-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateChessboardSharpness</h4>
- <pre>public static <a href="../../../org/opencv/core/Scalar.html" title="class in org.opencv.core">Scalar</a> estimateChessboardSharpness(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> patternSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> corners)</pre>
- <div class="block">Estimates the sharpness of a detected chessboard.
- Image sharpness, as well as brightness, are a critical parameter for accuracte
- camera calibration. For accessing these parameters for filtering out
- problematic calibraiton images, this method calculates edge profiles by traveling from
- black to white chessboard cell centers. Based on this, the number of pixels is
- calculated required to transit from black to white. This width of the
- transition area is a good indication of how sharp the chessboard is imaged
- and should be below ~3.0 pixels.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>image</code> - Gray image used to find chessboard corners</dd>
- <dd><code>patternSize</code> - Size of a found chessboard pattern</dd>
- <dd><code>corners</code> - Corners found by #findChessboardCornersSB
- The optional sharpness array is of type CV_32FC1 and has for each calculated
- profile one row with the following five entries:
- 0 = x coordinate of the underlying edge in the image
- 1 = y coordinate of the underlying edge in the image
- 2 = width of the transition area (sharpness)
- 3 = signal strength in the black cell (min brightness)
- 4 = signal strength in the white cell (max brightness)</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>Scalar(average sharpness, average min brightness, average max brightness,0)</dd>
- </dl>
- </li>
- </ul>
- <a name="estimateChessboardSharpness-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-float-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateChessboardSharpness</h4>
- <pre>public static <a href="../../../org/opencv/core/Scalar.html" title="class in org.opencv.core">Scalar</a> estimateChessboardSharpness(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> patternSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> corners,
- float rise_distance)</pre>
- <div class="block">Estimates the sharpness of a detected chessboard.
- Image sharpness, as well as brightness, are a critical parameter for accuracte
- camera calibration. For accessing these parameters for filtering out
- problematic calibraiton images, this method calculates edge profiles by traveling from
- black to white chessboard cell centers. Based on this, the number of pixels is
- calculated required to transit from black to white. This width of the
- transition area is a good indication of how sharp the chessboard is imaged
- and should be below ~3.0 pixels.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>image</code> - Gray image used to find chessboard corners</dd>
- <dd><code>patternSize</code> - Size of a found chessboard pattern</dd>
- <dd><code>corners</code> - Corners found by #findChessboardCornersSB</dd>
- <dd><code>rise_distance</code> - Rise distance 0.8 means 10% ... 90% of the final signal strength
- The optional sharpness array is of type CV_32FC1 and has for each calculated
- profile one row with the following five entries:
- 0 = x coordinate of the underlying edge in the image
- 1 = y coordinate of the underlying edge in the image
- 2 = width of the transition area (sharpness)
- 3 = signal strength in the black cell (min brightness)
- 4 = signal strength in the white cell (max brightness)</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>Scalar(average sharpness, average min brightness, average max brightness,0)</dd>
- </dl>
- </li>
- </ul>
- <a name="estimateChessboardSharpness-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-float-boolean-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateChessboardSharpness</h4>
- <pre>public static <a href="../../../org/opencv/core/Scalar.html" title="class in org.opencv.core">Scalar</a> estimateChessboardSharpness(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> patternSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> corners,
- float rise_distance,
- boolean vertical)</pre>
- <div class="block">Estimates the sharpness of a detected chessboard.
- Image sharpness, as well as brightness, are a critical parameter for accuracte
- camera calibration. For accessing these parameters for filtering out
- problematic calibraiton images, this method calculates edge profiles by traveling from
- black to white chessboard cell centers. Based on this, the number of pixels is
- calculated required to transit from black to white. This width of the
- transition area is a good indication of how sharp the chessboard is imaged
- and should be below ~3.0 pixels.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>image</code> - Gray image used to find chessboard corners</dd>
- <dd><code>patternSize</code> - Size of a found chessboard pattern</dd>
- <dd><code>corners</code> - Corners found by #findChessboardCornersSB</dd>
- <dd><code>rise_distance</code> - Rise distance 0.8 means 10% ... 90% of the final signal strength</dd>
- <dd><code>vertical</code> - By default edge responses for horizontal lines are calculated
- The optional sharpness array is of type CV_32FC1 and has for each calculated
- profile one row with the following five entries:
- 0 = x coordinate of the underlying edge in the image
- 1 = y coordinate of the underlying edge in the image
- 2 = width of the transition area (sharpness)
- 3 = signal strength in the black cell (min brightness)
- 4 = signal strength in the white cell (max brightness)</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>Scalar(average sharpness, average min brightness, average max brightness,0)</dd>
- </dl>
- </li>
- </ul>
- <a name="estimateChessboardSharpness-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-float-boolean-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateChessboardSharpness</h4>
- <pre>public static <a href="../../../org/opencv/core/Scalar.html" title="class in org.opencv.core">Scalar</a> estimateChessboardSharpness(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> patternSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> corners,
- float rise_distance,
- boolean vertical,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> sharpness)</pre>
- <div class="block">Estimates the sharpness of a detected chessboard.
- Image sharpness, as well as brightness, are a critical parameter for accuracte
- camera calibration. For accessing these parameters for filtering out
- problematic calibraiton images, this method calculates edge profiles by traveling from
- black to white chessboard cell centers. Based on this, the number of pixels is
- calculated required to transit from black to white. This width of the
- transition area is a good indication of how sharp the chessboard is imaged
- and should be below ~3.0 pixels.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>image</code> - Gray image used to find chessboard corners</dd>
- <dd><code>patternSize</code> - Size of a found chessboard pattern</dd>
- <dd><code>corners</code> - Corners found by #findChessboardCornersSB</dd>
- <dd><code>rise_distance</code> - Rise distance 0.8 means 10% ... 90% of the final signal strength</dd>
- <dd><code>vertical</code> - By default edge responses for horizontal lines are calculated</dd>
- <dd><code>sharpness</code> - Optional output array with a sharpness value for calculated edge responses (see description)
- The optional sharpness array is of type CV_32FC1 and has for each calculated
- profile one row with the following five entries:
- 0 = x coordinate of the underlying edge in the image
- 1 = y coordinate of the underlying edge in the image
- 2 = width of the transition area (sharpness)
- 3 = signal strength in the black cell (min brightness)
- 4 = signal strength in the white cell (max brightness)</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>Scalar(average sharpness, average min brightness, average max brightness,0)</dd>
- </dl>
- </li>
- </ul>
- <a name="estimateTranslation3D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateTranslation3D</h4>
- <pre>public static int estimateTranslation3D(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> out,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers)</pre>
- <div class="block">Computes an optimal translation between two 3D point sets.
- It computes
- \(
- \begin{bmatrix}
- x\\
- y\\
- z\\
- \end{bmatrix}
- =
- \begin{bmatrix}
- X\\
- Y\\
- Z\\
- \end{bmatrix}
- +
- \begin{bmatrix}
- b_1\\
- b_2\\
- b_3\\
- \end{bmatrix}
- \)</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>src</code> - First input 3D point set containing \((X,Y,Z)\).</dd>
- <dd><code>dst</code> - Second input 3D point set containing \((x,y,z)\).</dd>
- <dd><code>out</code> - Output 3D translation vector \(3 \times 1\) of the form
- \(
- \begin{bmatrix}
- b_1 \\
- b_2 \\
- b_3 \\
- \end{bmatrix}
- \)</dd>
- <dd><code>inliers</code> - Output vector indicating which points are inliers (1-inlier, 0-outlier).
- an inlier.
- between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation
- significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.
- The function estimates an optimal 3D translation between two 3D point sets using the
- RANSAC algorithm.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="estimateTranslation3D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-double-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateTranslation3D</h4>
- <pre>public static int estimateTranslation3D(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> out,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- double ransacThreshold)</pre>
- <div class="block">Computes an optimal translation between two 3D point sets.
- It computes
- \(
- \begin{bmatrix}
- x\\
- y\\
- z\\
- \end{bmatrix}
- =
- \begin{bmatrix}
- X\\
- Y\\
- Z\\
- \end{bmatrix}
- +
- \begin{bmatrix}
- b_1\\
- b_2\\
- b_3\\
- \end{bmatrix}
- \)</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>src</code> - First input 3D point set containing \((X,Y,Z)\).</dd>
- <dd><code>dst</code> - Second input 3D point set containing \((x,y,z)\).</dd>
- <dd><code>out</code> - Output 3D translation vector \(3 \times 1\) of the form
- \(
- \begin{bmatrix}
- b_1 \\
- b_2 \\
- b_3 \\
- \end{bmatrix}
- \)</dd>
- <dd><code>inliers</code> - Output vector indicating which points are inliers (1-inlier, 0-outlier).</dd>
- <dd><code>ransacThreshold</code> - Maximum reprojection error in the RANSAC algorithm to consider a point as
- an inlier.
- between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation
- significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.
- The function estimates an optimal 3D translation between two 3D point sets using the
- RANSAC algorithm.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="estimateTranslation3D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-double-double-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>estimateTranslation3D</h4>
- <pre>public static int estimateTranslation3D(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> out,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- double ransacThreshold,
- double confidence)</pre>
- <div class="block">Computes an optimal translation between two 3D point sets.
- It computes
- \(
- \begin{bmatrix}
- x\\
- y\\
- z\\
- \end{bmatrix}
- =
- \begin{bmatrix}
- X\\
- Y\\
- Z\\
- \end{bmatrix}
- +
- \begin{bmatrix}
- b_1\\
- b_2\\
- b_3\\
- \end{bmatrix}
- \)</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>src</code> - First input 3D point set containing \((X,Y,Z)\).</dd>
- <dd><code>dst</code> - Second input 3D point set containing \((x,y,z)\).</dd>
- <dd><code>out</code> - Output 3D translation vector \(3 \times 1\) of the form
- \(
- \begin{bmatrix}
- b_1 \\
- b_2 \\
- b_3 \\
- \end{bmatrix}
- \)</dd>
- <dd><code>inliers</code> - Output vector indicating which points are inliers (1-inlier, 0-outlier).</dd>
- <dd><code>ransacThreshold</code> - Maximum reprojection error in the RANSAC algorithm to consider a point as
- an inlier.</dd>
- <dd><code>confidence</code> - Confidence level, between 0 and 1, for the estimated transformation. Anything
- between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation
- significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.
- The function estimates an optimal 3D translation between two 3D point sets using the
- RANSAC algorithm.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="filterHomographyDecompByVisibleRefpoints-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <ul class="blockList">
- <li class="blockList">
- <h4>filterHomographyDecompByVisibleRefpoints</h4>
- <pre>public static void filterHomographyDecompByVisibleRefpoints(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rotations,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> normals,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> beforePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> afterPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> possibleSolutions)</pre>
- <div class="block">Filters homography decompositions based on additional information.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>rotations</code> - Vector of rotation matrices.</dd>
- <dd><code>normals</code> - Vector of plane normal matrices.</dd>
- <dd><code>beforePoints</code> - Vector of (rectified) visible reference points before the homography is applied</dd>
- <dd><code>afterPoints</code> - Vector of (rectified) visible reference points after the homography is applied</dd>
- <dd><code>possibleSolutions</code> - Vector of int indices representing the viable solution set after filtering
- This function is intended to filter the output of the #decomposeHomographyMat based on additional
- information as described in CITE: Malis2007 . The summary of the method: the #decomposeHomographyMat function
- returns 2 unique solutions and their "opposites" for a total of 4 solutions. If we have access to the
- sets of points visible in the camera frame before and after the homography transformation is applied,
- we can determine which are the true potential solutions and which are the opposites by verifying which
- homographies are consistent with all visible reference points being in front of the camera. The inputs
- are left unchanged; the filtered solution set is returned as indices into the existing one.</dd>
- </dl>
- </li>
- </ul>
- <a name="filterHomographyDecompByVisibleRefpoints-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
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- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>filterHomographyDecompByVisibleRefpoints</h4>
- <pre>public static void filterHomographyDecompByVisibleRefpoints(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rotations,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> normals,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> beforePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> afterPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> possibleSolutions,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> pointsMask)</pre>
- <div class="block">Filters homography decompositions based on additional information.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>rotations</code> - Vector of rotation matrices.</dd>
- <dd><code>normals</code> - Vector of plane normal matrices.</dd>
- <dd><code>beforePoints</code> - Vector of (rectified) visible reference points before the homography is applied</dd>
- <dd><code>afterPoints</code> - Vector of (rectified) visible reference points after the homography is applied</dd>
- <dd><code>possibleSolutions</code> - Vector of int indices representing the viable solution set after filtering</dd>
- <dd><code>pointsMask</code> - optional Mat/Vector of 8u type representing the mask for the inliers as given by the #findHomography function
- This function is intended to filter the output of the #decomposeHomographyMat based on additional
- information as described in CITE: Malis2007 . The summary of the method: the #decomposeHomographyMat function
- returns 2 unique solutions and their "opposites" for a total of 4 solutions. If we have access to the
- sets of points visible in the camera frame before and after the homography transformation is applied,
- we can determine which are the true potential solutions and which are the opposites by verifying which
- homographies are consistent with all visible reference points being in front of the camera. The inputs
- are left unchanged; the filtered solution set is returned as indices into the existing one.</dd>
- </dl>
- </li>
- </ul>
- <a name="filterSpeckles-org.opencv.core.Mat-double-int-double-">
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- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>filterSpeckles</h4>
- <pre>public static void filterSpeckles(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> img,
- double newVal,
- int maxSpeckleSize,
- double maxDiff)</pre>
- <div class="block">Filters off small noise blobs (speckles) in the disparity map</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>img</code> - The input 16-bit signed disparity image</dd>
- <dd><code>newVal</code> - The disparity value used to paint-off the speckles</dd>
- <dd><code>maxSpeckleSize</code> - The maximum speckle size to consider it a speckle. Larger blobs are not
- affected by the algorithm</dd>
- <dd><code>maxDiff</code> - Maximum difference between neighbor disparity pixels to put them into the same
- blob. Note that since StereoBM, StereoSGBM and may be other algorithms return a fixed-point
- disparity map, where disparity values are multiplied by 16, this scale factor should be taken into
- account when specifying this parameter value.</dd>
- </dl>
- </li>
- </ul>
- <a name="filterSpeckles-org.opencv.core.Mat-double-int-double-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>filterSpeckles</h4>
- <pre>public static void filterSpeckles(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> img,
- double newVal,
- int maxSpeckleSize,
- double maxDiff,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> buf)</pre>
- <div class="block">Filters off small noise blobs (speckles) in the disparity map</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>img</code> - The input 16-bit signed disparity image</dd>
- <dd><code>newVal</code> - The disparity value used to paint-off the speckles</dd>
- <dd><code>maxSpeckleSize</code> - The maximum speckle size to consider it a speckle. Larger blobs are not
- affected by the algorithm</dd>
- <dd><code>maxDiff</code> - Maximum difference between neighbor disparity pixels to put them into the same
- blob. Note that since StereoBM, StereoSGBM and may be other algorithms return a fixed-point
- disparity map, where disparity values are multiplied by 16, this scale factor should be taken into
- account when specifying this parameter value.</dd>
- <dd><code>buf</code> - The optional temporary buffer to avoid memory allocation within the function.</dd>
- </dl>
- </li>
- </ul>
- <a name="find4QuadCornerSubpix-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>find4QuadCornerSubpix</h4>
- <pre>public static boolean find4QuadCornerSubpix(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> img,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> corners,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> region_size)</pre>
- </li>
- </ul>
- <a name="findChessboardCorners-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.MatOfPoint2f-">
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- <h4>findChessboardCorners</h4>
- <pre>public static boolean findChessboardCorners(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> patternSize,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> corners)</pre>
- <div class="block">Finds the positions of internal corners of the chessboard.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>image</code> - Source chessboard view. It must be an 8-bit grayscale or color image.</dd>
- <dd><code>patternSize</code> - Number of inner corners per a chessboard row and column
- ( patternSize = cv::Size(points_per_row,points_per_colum) = cv::Size(columns,rows) ).</dd>
- <dd><code>corners</code> - Output array of detected corners.
- <ul>
- <li>
- REF: CALIB_CB_ADAPTIVE_THRESH Use adaptive thresholding to convert the image to black
- and white, rather than a fixed threshold level (computed from the average image brightness).
- </li>
- <li>
- REF: CALIB_CB_NORMALIZE_IMAGE Normalize the image gamma with #equalizeHist before
- applying fixed or adaptive thresholding.
- </li>
- <li>
- REF: CALIB_CB_FILTER_QUADS Use additional criteria (like contour area, perimeter,
- square-like shape) to filter out false quads extracted at the contour retrieval stage.
- </li>
- <li>
- REF: CALIB_CB_FAST_CHECK Run a fast check on the image that looks for chessboard corners,
- and shortcut the call if none is found. This can drastically speed up the call in the
- degenerate condition when no chessboard is observed.
- </li>
- </ul>
- The function attempts to determine whether the input image is a view of the chessboard pattern and
- locate the internal chessboard corners. The function returns a non-zero value if all of the corners
- are found and they are placed in a certain order (row by row, left to right in every row).
- Otherwise, if the function fails to find all the corners or reorder them, it returns 0. For example,
- a regular chessboard has 8 x 8 squares and 7 x 7 internal corners, that is, points where the black
- squares touch each other. The detected coordinates are approximate, and to determine their positions
- more accurately, the function calls #cornerSubPix. You also may use the function #cornerSubPix with
- different parameters if returned coordinates are not accurate enough.
- Sample usage of detecting and drawing chessboard corners: :
- <code>
- Size patternsize(8,6); //interior number of corners
- Mat gray = ....; //source image
- vector<Point2f> corners; //this will be filled by the detected corners
- //CALIB_CB_FAST_CHECK saves a lot of time on images
- //that do not contain any chessboard corners
- bool patternfound = findChessboardCorners(gray, patternsize, corners,
- CALIB_CB_ADAPTIVE_THRESH + CALIB_CB_NORMALIZE_IMAGE
- + CALIB_CB_FAST_CHECK);
- if(patternfound)
- cornerSubPix(gray, corners, Size(11, 11), Size(-1, -1),
- TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
- drawChessboardCorners(img, patternsize, Mat(corners), patternfound);
- </code>
- <b>Note:</b> The function requires white space (like a square-thick border, the wider the better) around
- the board to make the detection more robust in various environments. Otherwise, if there is no
- border and the background is dark, the outer black squares cannot be segmented properly and so the
- square grouping and ordering algorithm fails.
- Use gen_pattern.py (REF: tutorial_camera_calibration_pattern) to create checkerboard.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findChessboardCorners-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.MatOfPoint2f-int-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findChessboardCorners</h4>
- <pre>public static boolean findChessboardCorners(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> patternSize,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> corners,
- int flags)</pre>
- <div class="block">Finds the positions of internal corners of the chessboard.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>image</code> - Source chessboard view. It must be an 8-bit grayscale or color image.</dd>
- <dd><code>patternSize</code> - Number of inner corners per a chessboard row and column
- ( patternSize = cv::Size(points_per_row,points_per_colum) = cv::Size(columns,rows) ).</dd>
- <dd><code>corners</code> - Output array of detected corners.</dd>
- <dd><code>flags</code> - Various operation flags that can be zero or a combination of the following values:
- <ul>
- <li>
- REF: CALIB_CB_ADAPTIVE_THRESH Use adaptive thresholding to convert the image to black
- and white, rather than a fixed threshold level (computed from the average image brightness).
- </li>
- <li>
- REF: CALIB_CB_NORMALIZE_IMAGE Normalize the image gamma with #equalizeHist before
- applying fixed or adaptive thresholding.
- </li>
- <li>
- REF: CALIB_CB_FILTER_QUADS Use additional criteria (like contour area, perimeter,
- square-like shape) to filter out false quads extracted at the contour retrieval stage.
- </li>
- <li>
- REF: CALIB_CB_FAST_CHECK Run a fast check on the image that looks for chessboard corners,
- and shortcut the call if none is found. This can drastically speed up the call in the
- degenerate condition when no chessboard is observed.
- </li>
- </ul>
- The function attempts to determine whether the input image is a view of the chessboard pattern and
- locate the internal chessboard corners. The function returns a non-zero value if all of the corners
- are found and they are placed in a certain order (row by row, left to right in every row).
- Otherwise, if the function fails to find all the corners or reorder them, it returns 0. For example,
- a regular chessboard has 8 x 8 squares and 7 x 7 internal corners, that is, points where the black
- squares touch each other. The detected coordinates are approximate, and to determine their positions
- more accurately, the function calls #cornerSubPix. You also may use the function #cornerSubPix with
- different parameters if returned coordinates are not accurate enough.
- Sample usage of detecting and drawing chessboard corners: :
- <code>
- Size patternsize(8,6); //interior number of corners
- Mat gray = ....; //source image
- vector<Point2f> corners; //this will be filled by the detected corners
- //CALIB_CB_FAST_CHECK saves a lot of time on images
- //that do not contain any chessboard corners
- bool patternfound = findChessboardCorners(gray, patternsize, corners,
- CALIB_CB_ADAPTIVE_THRESH + CALIB_CB_NORMALIZE_IMAGE
- + CALIB_CB_FAST_CHECK);
- if(patternfound)
- cornerSubPix(gray, corners, Size(11, 11), Size(-1, -1),
- TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
- drawChessboardCorners(img, patternsize, Mat(corners), patternfound);
- </code>
- <b>Note:</b> The function requires white space (like a square-thick border, the wider the better) around
- the board to make the detection more robust in various environments. Otherwise, if there is no
- border and the background is dark, the outer black squares cannot be segmented properly and so the
- square grouping and ordering algorithm fails.
- Use gen_pattern.py (REF: tutorial_camera_calibration_pattern) to create checkerboard.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findChessboardCornersSB-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findChessboardCornersSB</h4>
- <pre>public static boolean findChessboardCornersSB(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> patternSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> corners)</pre>
- </li>
- </ul>
- <a name="findChessboardCornersSB-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-int-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findChessboardCornersSB</h4>
- <pre>public static boolean findChessboardCornersSB(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> patternSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> corners,
- int flags)</pre>
- </li>
- </ul>
- <a name="findChessboardCornersSBWithMeta-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-int-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findChessboardCornersSBWithMeta</h4>
- <pre>public static boolean findChessboardCornersSBWithMeta(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> patternSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> corners,
- int flags,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> meta)</pre>
- <div class="block">Finds the positions of internal corners of the chessboard using a sector based approach.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>image</code> - Source chessboard view. It must be an 8-bit grayscale or color image.</dd>
- <dd><code>patternSize</code> - Number of inner corners per a chessboard row and column
- ( patternSize = cv::Size(points_per_row,points_per_colum) = cv::Size(columns,rows) ).</dd>
- <dd><code>corners</code> - Output array of detected corners.</dd>
- <dd><code>flags</code> - Various operation flags that can be zero or a combination of the following values:
- <ul>
- <li>
- REF: CALIB_CB_NORMALIZE_IMAGE Normalize the image gamma with equalizeHist before detection.
- </li>
- <li>
- REF: CALIB_CB_EXHAUSTIVE Run an exhaustive search to improve detection rate.
- </li>
- <li>
- REF: CALIB_CB_ACCURACY Up sample input image to improve sub-pixel accuracy due to aliasing effects.
- </li>
- <li>
- REF: CALIB_CB_LARGER The detected pattern is allowed to be larger than patternSize (see description).
- </li>
- <li>
- REF: CALIB_CB_MARKER The detected pattern must have a marker (see description).
- This should be used if an accurate camera calibration is required.
- </li>
- </ul></dd>
- <dd><code>meta</code> - Optional output arrray of detected corners (CV_8UC1 and size = cv::Size(columns,rows)).
- Each entry stands for one corner of the pattern and can have one of the following values:
- <ul>
- <li>
- 0 = no meta data attached
- </li>
- <li>
- 1 = left-top corner of a black cell
- </li>
- <li>
- 2 = left-top corner of a white cell
- </li>
- <li>
- 3 = left-top corner of a black cell with a white marker dot
- </li>
- <li>
- 4 = left-top corner of a white cell with a black marker dot (pattern origin in case of markers otherwise first corner)
- </li>
- </ul>
- The function is analog to #findChessboardCorners but uses a localized radon
- transformation approximated by box filters being more robust to all sort of
- noise, faster on larger images and is able to directly return the sub-pixel
- position of the internal chessboard corners. The Method is based on the paper
- CITE: duda2018 "Accurate Detection and Localization of Checkerboard Corners for
- Calibration" demonstrating that the returned sub-pixel positions are more
- accurate than the one returned by cornerSubPix allowing a precise camera
- calibration for demanding applications.
- In the case, the flags REF: CALIB_CB_LARGER or REF: CALIB_CB_MARKER are given,
- the result can be recovered from the optional meta array. Both flags are
- helpful to use calibration patterns exceeding the field of view of the camera.
- These oversized patterns allow more accurate calibrations as corners can be
- utilized, which are as close as possible to the image borders. For a
- consistent coordinate system across all images, the optional marker (see image
- below) can be used to move the origin of the board to the location where the
- black circle is located.
- <b>Note:</b> The function requires a white boarder with roughly the same width as one
- of the checkerboard fields around the whole board to improve the detection in
- various environments. In addition, because of the localized radon
- transformation it is beneficial to use round corners for the field corners
- which are located on the outside of the board. The following figure illustrates
- a sample checkerboard optimized for the detection. However, any other checkerboard
- can be used as well.
- Use gen_pattern.py (REF: tutorial_camera_calibration_pattern) to create checkerboard.
- </dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findCirclesGrid-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findCirclesGrid</h4>
- <pre>public static boolean findCirclesGrid(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> patternSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> centers)</pre>
- </li>
- </ul>
- <a name="findCirclesGrid-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-int-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findCirclesGrid</h4>
- <pre>public static boolean findCirclesGrid(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> image,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> patternSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> centers,
- int flags)</pre>
- </li>
- </ul>
- <a name="findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findEssentialMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findEssentialMat(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2)</pre>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of N (N >= 5) 2D points from the first image. The point coordinates should
- be floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .
- are feature points from cameras with same focal length and principal point.
- <ul>
- <li>
- REF: RANSAC for the RANSAC algorithm.
- </li>
- <li>
- REF: LMEDS for the LMedS algorithm.
- </li>
- </ul>
- line in pixels, beyond which the point is considered an outlier and is not used for computing the
- final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
- point localization, image resolution, and the image noise.
- confidence (probability) that the estimated matrix is correct.
- for the other points. The array is computed only in the RANSAC and LMedS methods.
- This function differs from the one above that it computes camera intrinsic matrix from focal length and
- principal point:
- \(A =
- \begin{bmatrix}
- f & 0 & x_{pp} \\
- 0 & f & y_{pp} \\
- 0 & 0 & 1
- \end{bmatrix}\)</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-double-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findEssentialMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findEssentialMat(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- double focal)</pre>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of N (N >= 5) 2D points from the first image. The point coordinates should
- be floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>focal</code> - focal length of the camera. Note that this function assumes that points1 and points2
- are feature points from cameras with same focal length and principal point.
- <ul>
- <li>
- REF: RANSAC for the RANSAC algorithm.
- </li>
- <li>
- REF: LMEDS for the LMedS algorithm.
- </li>
- </ul>
- line in pixels, beyond which the point is considered an outlier and is not used for computing the
- final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
- point localization, image resolution, and the image noise.
- confidence (probability) that the estimated matrix is correct.
- for the other points. The array is computed only in the RANSAC and LMedS methods.
- This function differs from the one above that it computes camera intrinsic matrix from focal length and
- principal point:
- \(A =
- \begin{bmatrix}
- f & 0 & x_{pp} \\
- 0 & f & y_{pp} \\
- 0 & 0 & 1
- \end{bmatrix}\)</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Point-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findEssentialMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findEssentialMat(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- double focal,
- <a href="../../../org/opencv/core/Point.html" title="class in org.opencv.core">Point</a> pp)</pre>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of N (N >= 5) 2D points from the first image. The point coordinates should
- be floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>focal</code> - focal length of the camera. Note that this function assumes that points1 and points2
- are feature points from cameras with same focal length and principal point.</dd>
- <dd><code>pp</code> - principal point of the camera.
- <ul>
- <li>
- REF: RANSAC for the RANSAC algorithm.
- </li>
- <li>
- REF: LMEDS for the LMedS algorithm.
- </li>
- </ul>
- line in pixels, beyond which the point is considered an outlier and is not used for computing the
- final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
- point localization, image resolution, and the image noise.
- confidence (probability) that the estimated matrix is correct.
- for the other points. The array is computed only in the RANSAC and LMedS methods.
- This function differs from the one above that it computes camera intrinsic matrix from focal length and
- principal point:
- \(A =
- \begin{bmatrix}
- f & 0 & x_{pp} \\
- 0 & f & y_{pp} \\
- 0 & 0 & 1
- \end{bmatrix}\)</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Point-int-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findEssentialMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findEssentialMat(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- double focal,
- <a href="../../../org/opencv/core/Point.html" title="class in org.opencv.core">Point</a> pp,
- int method)</pre>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of N (N >= 5) 2D points from the first image. The point coordinates should
- be floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>focal</code> - focal length of the camera. Note that this function assumes that points1 and points2
- are feature points from cameras with same focal length and principal point.</dd>
- <dd><code>pp</code> - principal point of the camera.</dd>
- <dd><code>method</code> - Method for computing a fundamental matrix.
- <ul>
- <li>
- REF: RANSAC for the RANSAC algorithm.
- </li>
- <li>
- REF: LMEDS for the LMedS algorithm.
- </li>
- </ul>
- line in pixels, beyond which the point is considered an outlier and is not used for computing the
- final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
- point localization, image resolution, and the image noise.
- confidence (probability) that the estimated matrix is correct.
- for the other points. The array is computed only in the RANSAC and LMedS methods.
- This function differs from the one above that it computes camera intrinsic matrix from focal length and
- principal point:
- \(A =
- \begin{bmatrix}
- f & 0 & x_{pp} \\
- 0 & f & y_{pp} \\
- 0 & 0 & 1
- \end{bmatrix}\)</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Point-int-double-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findEssentialMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findEssentialMat(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- double focal,
- <a href="../../../org/opencv/core/Point.html" title="class in org.opencv.core">Point</a> pp,
- int method,
- double prob)</pre>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of N (N >= 5) 2D points from the first image. The point coordinates should
- be floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>focal</code> - focal length of the camera. Note that this function assumes that points1 and points2
- are feature points from cameras with same focal length and principal point.</dd>
- <dd><code>pp</code> - principal point of the camera.</dd>
- <dd><code>method</code> - Method for computing a fundamental matrix.
- <ul>
- <li>
- REF: RANSAC for the RANSAC algorithm.
- </li>
- <li>
- REF: LMEDS for the LMedS algorithm.
- </li>
- </ul>
- line in pixels, beyond which the point is considered an outlier and is not used for computing the
- final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
- point localization, image resolution, and the image noise.</dd>
- <dd><code>prob</code> - Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of
- confidence (probability) that the estimated matrix is correct.
- for the other points. The array is computed only in the RANSAC and LMedS methods.
- This function differs from the one above that it computes camera intrinsic matrix from focal length and
- principal point:
- \(A =
- \begin{bmatrix}
- f & 0 & x_{pp} \\
- 0 & f & y_{pp} \\
- 0 & 0 & 1
- \end{bmatrix}\)</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Point-int-double-double-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findEssentialMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findEssentialMat(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- double focal,
- <a href="../../../org/opencv/core/Point.html" title="class in org.opencv.core">Point</a> pp,
- int method,
- double prob,
- double threshold)</pre>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of N (N >= 5) 2D points from the first image. The point coordinates should
- be floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>focal</code> - focal length of the camera. Note that this function assumes that points1 and points2
- are feature points from cameras with same focal length and principal point.</dd>
- <dd><code>pp</code> - principal point of the camera.</dd>
- <dd><code>method</code> - Method for computing a fundamental matrix.
- <ul>
- <li>
- REF: RANSAC for the RANSAC algorithm.
- </li>
- <li>
- REF: LMEDS for the LMedS algorithm.
- </li>
- </ul></dd>
- <dd><code>threshold</code> - Parameter used for RANSAC. It is the maximum distance from a point to an epipolar
- line in pixels, beyond which the point is considered an outlier and is not used for computing the
- final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
- point localization, image resolution, and the image noise.</dd>
- <dd><code>prob</code> - Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of
- confidence (probability) that the estimated matrix is correct.
- for the other points. The array is computed only in the RANSAC and LMedS methods.
- This function differs from the one above that it computes camera intrinsic matrix from focal length and
- principal point:
- \(A =
- \begin{bmatrix}
- f & 0 & x_{pp} \\
- 0 & f & y_{pp} \\
- 0 & 0 & 1
- \end{bmatrix}\)</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Point-int-double-double-int-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findEssentialMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findEssentialMat(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- double focal,
- <a href="../../../org/opencv/core/Point.html" title="class in org.opencv.core">Point</a> pp,
- int method,
- double prob,
- double threshold,
- int maxIters)</pre>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of N (N >= 5) 2D points from the first image. The point coordinates should
- be floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>focal</code> - focal length of the camera. Note that this function assumes that points1 and points2
- are feature points from cameras with same focal length and principal point.</dd>
- <dd><code>pp</code> - principal point of the camera.</dd>
- <dd><code>method</code> - Method for computing a fundamental matrix.
- <ul>
- <li>
- REF: RANSAC for the RANSAC algorithm.
- </li>
- <li>
- REF: LMEDS for the LMedS algorithm.
- </li>
- </ul></dd>
- <dd><code>threshold</code> - Parameter used for RANSAC. It is the maximum distance from a point to an epipolar
- line in pixels, beyond which the point is considered an outlier and is not used for computing the
- final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
- point localization, image resolution, and the image noise.</dd>
- <dd><code>prob</code> - Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of
- confidence (probability) that the estimated matrix is correct.
- for the other points. The array is computed only in the RANSAC and LMedS methods.</dd>
- <dd><code>maxIters</code> - The maximum number of robust method iterations.
- This function differs from the one above that it computes camera intrinsic matrix from focal length and
- principal point:
- \(A =
- \begin{bmatrix}
- f & 0 & x_{pp} \\
- 0 & f & y_{pp} \\
- 0 & 0 & 1
- \end{bmatrix}\)</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Point-int-double-double-int-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findEssentialMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findEssentialMat(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- double focal,
- <a href="../../../org/opencv/core/Point.html" title="class in org.opencv.core">Point</a> pp,
- int method,
- double prob,
- double threshold,
- int maxIters,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask)</pre>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of N (N >= 5) 2D points from the first image. The point coordinates should
- be floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>focal</code> - focal length of the camera. Note that this function assumes that points1 and points2
- are feature points from cameras with same focal length and principal point.</dd>
- <dd><code>pp</code> - principal point of the camera.</dd>
- <dd><code>method</code> - Method for computing a fundamental matrix.
- <ul>
- <li>
- REF: RANSAC for the RANSAC algorithm.
- </li>
- <li>
- REF: LMEDS for the LMedS algorithm.
- </li>
- </ul></dd>
- <dd><code>threshold</code> - Parameter used for RANSAC. It is the maximum distance from a point to an epipolar
- line in pixels, beyond which the point is considered an outlier and is not used for computing the
- final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
- point localization, image resolution, and the image noise.</dd>
- <dd><code>prob</code> - Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of
- confidence (probability) that the estimated matrix is correct.</dd>
- <dd><code>mask</code> - Output array of N elements, every element of which is set to 0 for outliers and to 1
- for the other points. The array is computed only in the RANSAC and LMedS methods.</dd>
- <dd><code>maxIters</code> - The maximum number of robust method iterations.
- This function differs from the one above that it computes camera intrinsic matrix from focal length and
- principal point:
- \(A =
- \begin{bmatrix}
- f & 0 & x_{pp} \\
- 0 & f & y_{pp} \\
- 0 & 0 & 1
- \end{bmatrix}\)</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findEssentialMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findEssentialMat(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix)</pre>
- <div class="block">Calculates an essential matrix from the corresponding points in two images.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of N (N >= 5) 2D points from the first image. The point coordinates should
- be floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>cameraMatrix</code> - Camera intrinsic matrix \(\cameramatrix{A}\) .
- Note that this function assumes that points1 and points2 are feature points from cameras with the
- same camera intrinsic matrix. If this assumption does not hold for your use case, use
- #undistortPoints with <code>P = cv::NoArray()</code> for both cameras to transform image points
- to normalized image coordinates, which are valid for the identity camera intrinsic matrix. When
- passing these coordinates, pass the identity matrix for this parameter.
- <ul>
- <li>
- REF: RANSAC for the RANSAC algorithm.
- </li>
- <li>
- REF: LMEDS for the LMedS algorithm.
- </li>
- </ul>
- confidence (probability) that the estimated matrix is correct.
- line in pixels, beyond which the point is considered an outlier and is not used for computing the
- final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
- point localization, image resolution, and the image noise.
- for the other points. The array is computed only in the RANSAC and LMedS methods.
- This function estimates essential matrix based on the five-point algorithm solver in CITE: Nister03 .
- CITE: SteweniusCFS is also a related. The epipolar geometry is described by the following equation:
- \([p_2; 1]^T K^{-T} E K^{-1} [p_1; 1] = 0\)
- where \(E\) is an essential matrix, \(p_1\) and \(p_2\) are corresponding points in the first and the
- second images, respectively. The result of this function may be passed further to
- #decomposeEssentialMat or #recoverPose to recover the relative pose between cameras.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findEssentialMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findEssentialMat(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- int method)</pre>
- <div class="block">Calculates an essential matrix from the corresponding points in two images.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of N (N >= 5) 2D points from the first image. The point coordinates should
- be floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>cameraMatrix</code> - Camera intrinsic matrix \(\cameramatrix{A}\) .
- Note that this function assumes that points1 and points2 are feature points from cameras with the
- same camera intrinsic matrix. If this assumption does not hold for your use case, use
- #undistortPoints with <code>P = cv::NoArray()</code> for both cameras to transform image points
- to normalized image coordinates, which are valid for the identity camera intrinsic matrix. When
- passing these coordinates, pass the identity matrix for this parameter.</dd>
- <dd><code>method</code> - Method for computing an essential matrix.
- <ul>
- <li>
- REF: RANSAC for the RANSAC algorithm.
- </li>
- <li>
- REF: LMEDS for the LMedS algorithm.
- </li>
- </ul>
- confidence (probability) that the estimated matrix is correct.
- line in pixels, beyond which the point is considered an outlier and is not used for computing the
- final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
- point localization, image resolution, and the image noise.
- for the other points. The array is computed only in the RANSAC and LMedS methods.
- This function estimates essential matrix based on the five-point algorithm solver in CITE: Nister03 .
- CITE: SteweniusCFS is also a related. The epipolar geometry is described by the following equation:
- \([p_2; 1]^T K^{-T} E K^{-1} [p_1; 1] = 0\)
- where \(E\) is an essential matrix, \(p_1\) and \(p_2\) are corresponding points in the first and the
- second images, respectively. The result of this function may be passed further to
- #decomposeEssentialMat or #recoverPose to recover the relative pose between cameras.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findEssentialMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findEssentialMat(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- int method,
- double prob)</pre>
- <div class="block">Calculates an essential matrix from the corresponding points in two images.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of N (N >= 5) 2D points from the first image. The point coordinates should
- be floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>cameraMatrix</code> - Camera intrinsic matrix \(\cameramatrix{A}\) .
- Note that this function assumes that points1 and points2 are feature points from cameras with the
- same camera intrinsic matrix. If this assumption does not hold for your use case, use
- #undistortPoints with <code>P = cv::NoArray()</code> for both cameras to transform image points
- to normalized image coordinates, which are valid for the identity camera intrinsic matrix. When
- passing these coordinates, pass the identity matrix for this parameter.</dd>
- <dd><code>method</code> - Method for computing an essential matrix.
- <ul>
- <li>
- REF: RANSAC for the RANSAC algorithm.
- </li>
- <li>
- REF: LMEDS for the LMedS algorithm.
- </li>
- </ul></dd>
- <dd><code>prob</code> - Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of
- confidence (probability) that the estimated matrix is correct.
- line in pixels, beyond which the point is considered an outlier and is not used for computing the
- final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
- point localization, image resolution, and the image noise.
- for the other points. The array is computed only in the RANSAC and LMedS methods.
- This function estimates essential matrix based on the five-point algorithm solver in CITE: Nister03 .
- CITE: SteweniusCFS is also a related. The epipolar geometry is described by the following equation:
- \([p_2; 1]^T K^{-T} E K^{-1} [p_1; 1] = 0\)
- where \(E\) is an essential matrix, \(p_1\) and \(p_2\) are corresponding points in the first and the
- second images, respectively. The result of this function may be passed further to
- #decomposeEssentialMat or #recoverPose to recover the relative pose between cameras.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-double-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findEssentialMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findEssentialMat(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- int method,
- double prob,
- double threshold)</pre>
- <div class="block">Calculates an essential matrix from the corresponding points in two images.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of N (N >= 5) 2D points from the first image. The point coordinates should
- be floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>cameraMatrix</code> - Camera intrinsic matrix \(\cameramatrix{A}\) .
- Note that this function assumes that points1 and points2 are feature points from cameras with the
- same camera intrinsic matrix. If this assumption does not hold for your use case, use
- #undistortPoints with <code>P = cv::NoArray()</code> for both cameras to transform image points
- to normalized image coordinates, which are valid for the identity camera intrinsic matrix. When
- passing these coordinates, pass the identity matrix for this parameter.</dd>
- <dd><code>method</code> - Method for computing an essential matrix.
- <ul>
- <li>
- REF: RANSAC for the RANSAC algorithm.
- </li>
- <li>
- REF: LMEDS for the LMedS algorithm.
- </li>
- </ul></dd>
- <dd><code>prob</code> - Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of
- confidence (probability) that the estimated matrix is correct.</dd>
- <dd><code>threshold</code> - Parameter used for RANSAC. It is the maximum distance from a point to an epipolar
- line in pixels, beyond which the point is considered an outlier and is not used for computing the
- final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
- point localization, image resolution, and the image noise.
- for the other points. The array is computed only in the RANSAC and LMedS methods.
- This function estimates essential matrix based on the five-point algorithm solver in CITE: Nister03 .
- CITE: SteweniusCFS is also a related. The epipolar geometry is described by the following equation:
- \([p_2; 1]^T K^{-T} E K^{-1} [p_1; 1] = 0\)
- where \(E\) is an essential matrix, \(p_1\) and \(p_2\) are corresponding points in the first and the
- second images, respectively. The result of this function may be passed further to
- #decomposeEssentialMat or #recoverPose to recover the relative pose between cameras.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-double-int-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findEssentialMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findEssentialMat(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- int method,
- double prob,
- double threshold,
- int maxIters)</pre>
- <div class="block">Calculates an essential matrix from the corresponding points in two images.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of N (N >= 5) 2D points from the first image. The point coordinates should
- be floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>cameraMatrix</code> - Camera intrinsic matrix \(\cameramatrix{A}\) .
- Note that this function assumes that points1 and points2 are feature points from cameras with the
- same camera intrinsic matrix. If this assumption does not hold for your use case, use
- #undistortPoints with <code>P = cv::NoArray()</code> for both cameras to transform image points
- to normalized image coordinates, which are valid for the identity camera intrinsic matrix. When
- passing these coordinates, pass the identity matrix for this parameter.</dd>
- <dd><code>method</code> - Method for computing an essential matrix.
- <ul>
- <li>
- REF: RANSAC for the RANSAC algorithm.
- </li>
- <li>
- REF: LMEDS for the LMedS algorithm.
- </li>
- </ul></dd>
- <dd><code>prob</code> - Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of
- confidence (probability) that the estimated matrix is correct.</dd>
- <dd><code>threshold</code> - Parameter used for RANSAC. It is the maximum distance from a point to an epipolar
- line in pixels, beyond which the point is considered an outlier and is not used for computing the
- final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
- point localization, image resolution, and the image noise.
- for the other points. The array is computed only in the RANSAC and LMedS methods.</dd>
- <dd><code>maxIters</code> - The maximum number of robust method iterations.
- This function estimates essential matrix based on the five-point algorithm solver in CITE: Nister03 .
- CITE: SteweniusCFS is also a related. The epipolar geometry is described by the following equation:
- \([p_2; 1]^T K^{-T} E K^{-1} [p_1; 1] = 0\)
- where \(E\) is an essential matrix, \(p_1\) and \(p_2\) are corresponding points in the first and the
- second images, respectively. The result of this function may be passed further to
- #decomposeEssentialMat or #recoverPose to recover the relative pose between cameras.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-double-int-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findEssentialMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findEssentialMat(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- int method,
- double prob,
- double threshold,
- int maxIters,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask)</pre>
- <div class="block">Calculates an essential matrix from the corresponding points in two images.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of N (N >= 5) 2D points from the first image. The point coordinates should
- be floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>cameraMatrix</code> - Camera intrinsic matrix \(\cameramatrix{A}\) .
- Note that this function assumes that points1 and points2 are feature points from cameras with the
- same camera intrinsic matrix. If this assumption does not hold for your use case, use
- #undistortPoints with <code>P = cv::NoArray()</code> for both cameras to transform image points
- to normalized image coordinates, which are valid for the identity camera intrinsic matrix. When
- passing these coordinates, pass the identity matrix for this parameter.</dd>
- <dd><code>method</code> - Method for computing an essential matrix.
- <ul>
- <li>
- REF: RANSAC for the RANSAC algorithm.
- </li>
- <li>
- REF: LMEDS for the LMedS algorithm.
- </li>
- </ul></dd>
- <dd><code>prob</code> - Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of
- confidence (probability) that the estimated matrix is correct.</dd>
- <dd><code>threshold</code> - Parameter used for RANSAC. It is the maximum distance from a point to an epipolar
- line in pixels, beyond which the point is considered an outlier and is not used for computing the
- final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
- point localization, image resolution, and the image noise.</dd>
- <dd><code>mask</code> - Output array of N elements, every element of which is set to 0 for outliers and to 1
- for the other points. The array is computed only in the RANSAC and LMedS methods.</dd>
- <dd><code>maxIters</code> - The maximum number of robust method iterations.
- This function estimates essential matrix based on the five-point algorithm solver in CITE: Nister03 .
- CITE: SteweniusCFS is also a related. The epipolar geometry is described by the following equation:
- \([p_2; 1]^T K^{-T} E K^{-1} [p_1; 1] = 0\)
- where \(E\) is an essential matrix, \(p_1\) and \(p_2\) are corresponding points in the first and the
- second images, respectively. The result of this function may be passed further to
- #decomposeEssentialMat or #recoverPose to recover the relative pose between cameras.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findEssentialMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findEssentialMat(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2)</pre>
- <div class="block">Calculates an essential matrix from the corresponding points in two images from potentially two different cameras.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of N (N >= 5) 2D points from the first image. The point coordinates should
- be floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>cameraMatrix1</code> - Camera matrix \(K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) .
- Note that this function assumes that points1 and points2 are feature points from cameras with the
- same camera matrix. If this assumption does not hold for your use case, use
- #undistortPoints with <code>P = cv::NoArray()</code> for both cameras to transform image points
- to normalized image coordinates, which are valid for the identity camera matrix. When
- passing these coordinates, pass the identity matrix for this parameter.</dd>
- <dd><code>cameraMatrix2</code> - Camera matrix \(K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) .
- Note that this function assumes that points1 and points2 are feature points from cameras with the
- same camera matrix. If this assumption does not hold for your use case, use
- #undistortPoints with <code>P = cv::NoArray()</code> for both cameras to transform image points
- to normalized image coordinates, which are valid for the identity camera matrix. When
- passing these coordinates, pass the identity matrix for this parameter.</dd>
- <dd><code>distCoeffs1</code> - Input vector of distortion coefficients
- \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\)
- of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.</dd>
- <dd><code>distCoeffs2</code> - Input vector of distortion coefficients
- \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\)
- of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.
- <ul>
- <li>
- REF: RANSAC for the RANSAC algorithm.
- </li>
- <li>
- REF: LMEDS for the LMedS algorithm.
- </li>
- </ul>
- confidence (probability) that the estimated matrix is correct.
- line in pixels, beyond which the point is considered an outlier and is not used for computing the
- final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
- point localization, image resolution, and the image noise.
- for the other points. The array is computed only in the RANSAC and LMedS methods.
- This function estimates essential matrix based on the five-point algorithm solver in CITE: Nister03 .
- CITE: SteweniusCFS is also a related. The epipolar geometry is described by the following equation:
- \([p_2; 1]^T K^{-T} E K^{-1} [p_1; 1] = 0\)
- where \(E\) is an essential matrix, \(p_1\) and \(p_2\) are corresponding points in the first and the
- second images, respectively. The result of this function may be passed further to
- #decomposeEssentialMat or #recoverPose to recover the relative pose between cameras.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findEssentialMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findEssentialMat(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- int method)</pre>
- <div class="block">Calculates an essential matrix from the corresponding points in two images from potentially two different cameras.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of N (N >= 5) 2D points from the first image. The point coordinates should
- be floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>cameraMatrix1</code> - Camera matrix \(K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) .
- Note that this function assumes that points1 and points2 are feature points from cameras with the
- same camera matrix. If this assumption does not hold for your use case, use
- #undistortPoints with <code>P = cv::NoArray()</code> for both cameras to transform image points
- to normalized image coordinates, which are valid for the identity camera matrix. When
- passing these coordinates, pass the identity matrix for this parameter.</dd>
- <dd><code>cameraMatrix2</code> - Camera matrix \(K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) .
- Note that this function assumes that points1 and points2 are feature points from cameras with the
- same camera matrix. If this assumption does not hold for your use case, use
- #undistortPoints with <code>P = cv::NoArray()</code> for both cameras to transform image points
- to normalized image coordinates, which are valid for the identity camera matrix. When
- passing these coordinates, pass the identity matrix for this parameter.</dd>
- <dd><code>distCoeffs1</code> - Input vector of distortion coefficients
- \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\)
- of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.</dd>
- <dd><code>distCoeffs2</code> - Input vector of distortion coefficients
- \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\)
- of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.</dd>
- <dd><code>method</code> - Method for computing an essential matrix.
- <ul>
- <li>
- REF: RANSAC for the RANSAC algorithm.
- </li>
- <li>
- REF: LMEDS for the LMedS algorithm.
- </li>
- </ul>
- confidence (probability) that the estimated matrix is correct.
- line in pixels, beyond which the point is considered an outlier and is not used for computing the
- final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
- point localization, image resolution, and the image noise.
- for the other points. The array is computed only in the RANSAC and LMedS methods.
- This function estimates essential matrix based on the five-point algorithm solver in CITE: Nister03 .
- CITE: SteweniusCFS is also a related. The epipolar geometry is described by the following equation:
- \([p_2; 1]^T K^{-T} E K^{-1} [p_1; 1] = 0\)
- where \(E\) is an essential matrix, \(p_1\) and \(p_2\) are corresponding points in the first and the
- second images, respectively. The result of this function may be passed further to
- #decomposeEssentialMat or #recoverPose to recover the relative pose between cameras.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findEssentialMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findEssentialMat(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- int method,
- double prob)</pre>
- <div class="block">Calculates an essential matrix from the corresponding points in two images from potentially two different cameras.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of N (N >= 5) 2D points from the first image. The point coordinates should
- be floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>cameraMatrix1</code> - Camera matrix \(K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) .
- Note that this function assumes that points1 and points2 are feature points from cameras with the
- same camera matrix. If this assumption does not hold for your use case, use
- #undistortPoints with <code>P = cv::NoArray()</code> for both cameras to transform image points
- to normalized image coordinates, which are valid for the identity camera matrix. When
- passing these coordinates, pass the identity matrix for this parameter.</dd>
- <dd><code>cameraMatrix2</code> - Camera matrix \(K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) .
- Note that this function assumes that points1 and points2 are feature points from cameras with the
- same camera matrix. If this assumption does not hold for your use case, use
- #undistortPoints with <code>P = cv::NoArray()</code> for both cameras to transform image points
- to normalized image coordinates, which are valid for the identity camera matrix. When
- passing these coordinates, pass the identity matrix for this parameter.</dd>
- <dd><code>distCoeffs1</code> - Input vector of distortion coefficients
- \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\)
- of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.</dd>
- <dd><code>distCoeffs2</code> - Input vector of distortion coefficients
- \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\)
- of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.</dd>
- <dd><code>method</code> - Method for computing an essential matrix.
- <ul>
- <li>
- REF: RANSAC for the RANSAC algorithm.
- </li>
- <li>
- REF: LMEDS for the LMedS algorithm.
- </li>
- </ul></dd>
- <dd><code>prob</code> - Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of
- confidence (probability) that the estimated matrix is correct.
- line in pixels, beyond which the point is considered an outlier and is not used for computing the
- final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
- point localization, image resolution, and the image noise.
- for the other points. The array is computed only in the RANSAC and LMedS methods.
- This function estimates essential matrix based on the five-point algorithm solver in CITE: Nister03 .
- CITE: SteweniusCFS is also a related. The epipolar geometry is described by the following equation:
- \([p_2; 1]^T K^{-T} E K^{-1} [p_1; 1] = 0\)
- where \(E\) is an essential matrix, \(p_1\) and \(p_2\) are corresponding points in the first and the
- second images, respectively. The result of this function may be passed further to
- #decomposeEssentialMat or #recoverPose to recover the relative pose between cameras.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-double-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findEssentialMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findEssentialMat(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- int method,
- double prob,
- double threshold)</pre>
- <div class="block">Calculates an essential matrix from the corresponding points in two images from potentially two different cameras.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of N (N >= 5) 2D points from the first image. The point coordinates should
- be floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>cameraMatrix1</code> - Camera matrix \(K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) .
- Note that this function assumes that points1 and points2 are feature points from cameras with the
- same camera matrix. If this assumption does not hold for your use case, use
- #undistortPoints with <code>P = cv::NoArray()</code> for both cameras to transform image points
- to normalized image coordinates, which are valid for the identity camera matrix. When
- passing these coordinates, pass the identity matrix for this parameter.</dd>
- <dd><code>cameraMatrix2</code> - Camera matrix \(K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) .
- Note that this function assumes that points1 and points2 are feature points from cameras with the
- same camera matrix. If this assumption does not hold for your use case, use
- #undistortPoints with <code>P = cv::NoArray()</code> for both cameras to transform image points
- to normalized image coordinates, which are valid for the identity camera matrix. When
- passing these coordinates, pass the identity matrix for this parameter.</dd>
- <dd><code>distCoeffs1</code> - Input vector of distortion coefficients
- \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\)
- of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.</dd>
- <dd><code>distCoeffs2</code> - Input vector of distortion coefficients
- \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\)
- of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.</dd>
- <dd><code>method</code> - Method for computing an essential matrix.
- <ul>
- <li>
- REF: RANSAC for the RANSAC algorithm.
- </li>
- <li>
- REF: LMEDS for the LMedS algorithm.
- </li>
- </ul></dd>
- <dd><code>prob</code> - Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of
- confidence (probability) that the estimated matrix is correct.</dd>
- <dd><code>threshold</code> - Parameter used for RANSAC. It is the maximum distance from a point to an epipolar
- line in pixels, beyond which the point is considered an outlier and is not used for computing the
- final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
- point localization, image resolution, and the image noise.
- for the other points. The array is computed only in the RANSAC and LMedS methods.
- This function estimates essential matrix based on the five-point algorithm solver in CITE: Nister03 .
- CITE: SteweniusCFS is also a related. The epipolar geometry is described by the following equation:
- \([p_2; 1]^T K^{-T} E K^{-1} [p_1; 1] = 0\)
- where \(E\) is an essential matrix, \(p_1\) and \(p_2\) are corresponding points in the first and the
- second images, respectively. The result of this function may be passed further to
- #decomposeEssentialMat or #recoverPose to recover the relative pose between cameras.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-double-org.opencv.core.Mat-">
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- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findEssentialMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findEssentialMat(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- int method,
- double prob,
- double threshold,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask)</pre>
- <div class="block">Calculates an essential matrix from the corresponding points in two images from potentially two different cameras.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of N (N >= 5) 2D points from the first image. The point coordinates should
- be floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>cameraMatrix1</code> - Camera matrix \(K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) .
- Note that this function assumes that points1 and points2 are feature points from cameras with the
- same camera matrix. If this assumption does not hold for your use case, use
- #undistortPoints with <code>P = cv::NoArray()</code> for both cameras to transform image points
- to normalized image coordinates, which are valid for the identity camera matrix. When
- passing these coordinates, pass the identity matrix for this parameter.</dd>
- <dd><code>cameraMatrix2</code> - Camera matrix \(K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) .
- Note that this function assumes that points1 and points2 are feature points from cameras with the
- same camera matrix. If this assumption does not hold for your use case, use
- #undistortPoints with <code>P = cv::NoArray()</code> for both cameras to transform image points
- to normalized image coordinates, which are valid for the identity camera matrix. When
- passing these coordinates, pass the identity matrix for this parameter.</dd>
- <dd><code>distCoeffs1</code> - Input vector of distortion coefficients
- \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\)
- of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.</dd>
- <dd><code>distCoeffs2</code> - Input vector of distortion coefficients
- \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\)
- of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.</dd>
- <dd><code>method</code> - Method for computing an essential matrix.
- <ul>
- <li>
- REF: RANSAC for the RANSAC algorithm.
- </li>
- <li>
- REF: LMEDS for the LMedS algorithm.
- </li>
- </ul></dd>
- <dd><code>prob</code> - Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of
- confidence (probability) that the estimated matrix is correct.</dd>
- <dd><code>threshold</code> - Parameter used for RANSAC. It is the maximum distance from a point to an epipolar
- line in pixels, beyond which the point is considered an outlier and is not used for computing the
- final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
- point localization, image resolution, and the image noise.</dd>
- <dd><code>mask</code> - Output array of N elements, every element of which is set to 0 for outliers and to 1
- for the other points. The array is computed only in the RANSAC and LMedS methods.
- This function estimates essential matrix based on the five-point algorithm solver in CITE: Nister03 .
- CITE: SteweniusCFS is also a related. The epipolar geometry is described by the following equation:
- \([p_2; 1]^T K^{-T} E K^{-1} [p_1; 1] = 0\)
- where \(E\) is an essential matrix, \(p_1\) and \(p_2\) are corresponding points in the first and the
- second images, respectively. The result of this function may be passed further to
- #decomposeEssentialMat or #recoverPose to recover the relative pose between cameras.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findEssentialMat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.calib3d.UsacParams-">
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- </a>
- <ul class="blockList">
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- <h4>findEssentialMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findEssentialMat(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dist_coeff1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dist_coeff2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask,
- <a href="../../../org/opencv/calib3d/UsacParams.html" title="class in org.opencv.calib3d">UsacParams</a> params)</pre>
- </li>
- </ul>
- <a name="findFundamentalMat-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findFundamentalMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findFundamentalMat(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points1,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points2)</pre>
- </li>
- </ul>
- <a name="findFundamentalMat-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-int-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findFundamentalMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findFundamentalMat(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points1,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points2,
- int method)</pre>
- </li>
- </ul>
- <a name="findFundamentalMat-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-int-double-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findFundamentalMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findFundamentalMat(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points1,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points2,
- int method,
- double ransacReprojThreshold)</pre>
- </li>
- </ul>
- <a name="findFundamentalMat-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-int-double-double-">
- <!-- -->
- </a>
- <ul class="blockList">
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- <h4>findFundamentalMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findFundamentalMat(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points1,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points2,
- int method,
- double ransacReprojThreshold,
- double confidence)</pre>
- </li>
- </ul>
- <a name="findFundamentalMat-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-int-double-double-int-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findFundamentalMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findFundamentalMat(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points1,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points2,
- int method,
- double ransacReprojThreshold,
- double confidence,
- int maxIters)</pre>
- <div class="block">Calculates a fundamental matrix from the corresponding points in two images.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of N points from the first image. The point coordinates should be
- floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>method</code> - Method for computing a fundamental matrix.
- <ul>
- <li>
- REF: FM_7POINT for a 7-point algorithm. \(N = 7\)
- </li>
- <li>
- REF: FM_8POINT for an 8-point algorithm. \(N \ge 8\)
- </li>
- <li>
- REF: FM_RANSAC for the RANSAC algorithm. \(N \ge 8\)
- </li>
- <li>
- REF: FM_LMEDS for the LMedS algorithm. \(N \ge 8\)
- </li>
- </ul></dd>
- <dd><code>ransacReprojThreshold</code> - Parameter used only for RANSAC. It is the maximum distance from a point to an epipolar
- line in pixels, beyond which the point is considered an outlier and is not used for computing the
- final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
- point localization, image resolution, and the image noise.</dd>
- <dd><code>confidence</code> - Parameter used for the RANSAC and LMedS methods only. It specifies a desirable level
- of confidence (probability) that the estimated matrix is correct.</dd>
- <dd><code>maxIters</code> - The maximum number of robust method iterations.
- The epipolar geometry is described by the following equation:
- \([p_2; 1]^T F [p_1; 1] = 0\)
- where \(F\) is a fundamental matrix, \(p_1\) and \(p_2\) are corresponding points in the first and the
- second images, respectively.
- The function calculates the fundamental matrix using one of four methods listed above and returns
- the found fundamental matrix. Normally just one matrix is found. But in case of the 7-point
- algorithm, the function may return up to 3 solutions ( \(9 \times 3\) matrix that stores all 3
- matrices sequentially).
- The calculated fundamental matrix may be passed further to #computeCorrespondEpilines that finds the
- epipolar lines corresponding to the specified points. It can also be passed to
- #stereoRectifyUncalibrated to compute the rectification transformation. :
- <code>
- // Example. Estimation of fundamental matrix using the RANSAC algorithm
- int point_count = 100;
- vector<Point2f> points1(point_count);
- vector<Point2f> points2(point_count);
- // initialize the points here ...
- for( int i = 0; i < point_count; i++ )
- {
- points1[i] = ...;
- points2[i] = ...;
- }
- Mat fundamental_matrix =
- findFundamentalMat(points1, points2, FM_RANSAC, 3, 0.99);
- </code></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findFundamentalMat-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-int-double-double-int-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findFundamentalMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findFundamentalMat(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points1,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points2,
- int method,
- double ransacReprojThreshold,
- double confidence,
- int maxIters,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask)</pre>
- <div class="block">Calculates a fundamental matrix from the corresponding points in two images.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of N points from the first image. The point coordinates should be
- floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>method</code> - Method for computing a fundamental matrix.
- <ul>
- <li>
- REF: FM_7POINT for a 7-point algorithm. \(N = 7\)
- </li>
- <li>
- REF: FM_8POINT for an 8-point algorithm. \(N \ge 8\)
- </li>
- <li>
- REF: FM_RANSAC for the RANSAC algorithm. \(N \ge 8\)
- </li>
- <li>
- REF: FM_LMEDS for the LMedS algorithm. \(N \ge 8\)
- </li>
- </ul></dd>
- <dd><code>ransacReprojThreshold</code> - Parameter used only for RANSAC. It is the maximum distance from a point to an epipolar
- line in pixels, beyond which the point is considered an outlier and is not used for computing the
- final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
- point localization, image resolution, and the image noise.</dd>
- <dd><code>confidence</code> - Parameter used for the RANSAC and LMedS methods only. It specifies a desirable level
- of confidence (probability) that the estimated matrix is correct.</dd>
- <dd><code>mask</code> - optional output mask</dd>
- <dd><code>maxIters</code> - The maximum number of robust method iterations.
- The epipolar geometry is described by the following equation:
- \([p_2; 1]^T F [p_1; 1] = 0\)
- where \(F\) is a fundamental matrix, \(p_1\) and \(p_2\) are corresponding points in the first and the
- second images, respectively.
- The function calculates the fundamental matrix using one of four methods listed above and returns
- the found fundamental matrix. Normally just one matrix is found. But in case of the 7-point
- algorithm, the function may return up to 3 solutions ( \(9 \times 3\) matrix that stores all 3
- matrices sequentially).
- The calculated fundamental matrix may be passed further to #computeCorrespondEpilines that finds the
- epipolar lines corresponding to the specified points. It can also be passed to
- #stereoRectifyUncalibrated to compute the rectification transformation. :
- <code>
- // Example. Estimation of fundamental matrix using the RANSAC algorithm
- int point_count = 100;
- vector<Point2f> points1(point_count);
- vector<Point2f> points2(point_count);
- // initialize the points here ...
- for( int i = 0; i < point_count; i++ )
- {
- points1[i] = ...;
- points2[i] = ...;
- }
- Mat fundamental_matrix =
- findFundamentalMat(points1, points2, FM_RANSAC, 3, 0.99);
- </code></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findFundamentalMat-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-int-double-double-org.opencv.core.Mat-">
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- </a>
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- <h4>findFundamentalMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findFundamentalMat(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points1,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points2,
- int method,
- double ransacReprojThreshold,
- double confidence,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask)</pre>
- </li>
- </ul>
- <a name="findFundamentalMat-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-org.opencv.core.Mat-org.opencv.calib3d.UsacParams-">
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- </a>
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- <h4>findFundamentalMat</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findFundamentalMat(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points1,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask,
- <a href="../../../org/opencv/calib3d/UsacParams.html" title="class in org.opencv.calib3d">UsacParams</a> params)</pre>
- </li>
- </ul>
- <a name="findHomography-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findHomography</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findHomography(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> srcPoints,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> dstPoints)</pre>
- <div class="block">Finds a perspective transformation between two planes.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>srcPoints</code> - Coordinates of the points in the original plane, a matrix of the type CV_32FC2
- or vector<Point2f> .</dd>
- <dd><code>dstPoints</code> - Coordinates of the points in the target plane, a matrix of the type CV_32FC2 or
- a vector<Point2f> .
- <ul>
- <li>
- <b>0</b> - a regular method using all the points, i.e., the least squares method
- </li>
- <li>
- REF: RANSAC - RANSAC-based robust method
- </li>
- <li>
- REF: LMEDS - Least-Median robust method
- </li>
- <li>
- REF: RHO - PROSAC-based robust method
- </li>
- </ul>
- (used in the RANSAC and RHO methods only). That is, if
- \(\| \texttt{dstPoints} _i - \texttt{convertPointsHomogeneous} ( \texttt{H} \cdot \texttt{srcPoints} _i) \|_2 > \texttt{ransacReprojThreshold}\)
- then the point \(i\) is considered as an outlier. If srcPoints and dstPoints are measured in pixels,
- it usually makes sense to set this parameter somewhere in the range of 1 to 10.
- mask values are ignored.
- The function finds and returns the perspective transformation \(H\) between the source and the
- destination planes:
- \(s_i \vecthree{x'_i}{y'_i}{1} \sim H \vecthree{x_i}{y_i}{1}\)
- so that the back-projection error
- \(\sum _i \left ( x'_i- \frac{h_{11} x_i + h_{12} y_i + h_{13}}{h_{31} x_i + h_{32} y_i + h_{33}} \right )^2+ \left ( y'_i- \frac{h_{21} x_i + h_{22} y_i + h_{23}}{h_{31} x_i + h_{32} y_i + h_{33}} \right )^2\)
- is minimized. If the parameter method is set to the default value 0, the function uses all the point
- pairs to compute an initial homography estimate with a simple least-squares scheme.
- However, if not all of the point pairs ( \(srcPoints_i\), \(dstPoints_i\) ) fit the rigid perspective
- transformation (that is, there are some outliers), this initial estimate will be poor. In this case,
- you can use one of the three robust methods. The methods RANSAC, LMeDS and RHO try many different
- random subsets of the corresponding point pairs (of four pairs each, collinear pairs are discarded), estimate the homography matrix
- using this subset and a simple least-squares algorithm, and then compute the quality/goodness of the
- computed homography (which is the number of inliers for RANSAC or the least median re-projection error for
- LMeDS). The best subset is then used to produce the initial estimate of the homography matrix and
- the mask of inliers/outliers.
- Regardless of the method, robust or not, the computed homography matrix is refined further (using
- inliers only in case of a robust method) with the Levenberg-Marquardt method to reduce the
- re-projection error even more.
- The methods RANSAC and RHO can handle practically any ratio of outliers but need a threshold to
- distinguish inliers from outliers. The method LMeDS does not need any threshold but it works
- correctly only when there are more than 50% of inliers. Finally, if there are no outliers and the
- noise is rather small, use the default method (method=0).
- The function is used to find initial intrinsic and extrinsic matrices. Homography matrix is
- determined up to a scale. Thus, it is normalized so that \(h_{33}=1\). Note that whenever an \(H\) matrix
- cannot be estimated, an empty one will be returned.
- SEE:
- getAffineTransform, estimateAffine2D, estimateAffinePartial2D, getPerspectiveTransform, warpPerspective,
- perspectiveTransform</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findHomography-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-int-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findHomography</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findHomography(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> srcPoints,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> dstPoints,
- int method)</pre>
- <div class="block">Finds a perspective transformation between two planes.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>srcPoints</code> - Coordinates of the points in the original plane, a matrix of the type CV_32FC2
- or vector<Point2f> .</dd>
- <dd><code>dstPoints</code> - Coordinates of the points in the target plane, a matrix of the type CV_32FC2 or
- a vector<Point2f> .</dd>
- <dd><code>method</code> - Method used to compute a homography matrix. The following methods are possible:
- <ul>
- <li>
- <b>0</b> - a regular method using all the points, i.e., the least squares method
- </li>
- <li>
- REF: RANSAC - RANSAC-based robust method
- </li>
- <li>
- REF: LMEDS - Least-Median robust method
- </li>
- <li>
- REF: RHO - PROSAC-based robust method
- </li>
- </ul>
- (used in the RANSAC and RHO methods only). That is, if
- \(\| \texttt{dstPoints} _i - \texttt{convertPointsHomogeneous} ( \texttt{H} \cdot \texttt{srcPoints} _i) \|_2 > \texttt{ransacReprojThreshold}\)
- then the point \(i\) is considered as an outlier. If srcPoints and dstPoints are measured in pixels,
- it usually makes sense to set this parameter somewhere in the range of 1 to 10.
- mask values are ignored.
- The function finds and returns the perspective transformation \(H\) between the source and the
- destination planes:
- \(s_i \vecthree{x'_i}{y'_i}{1} \sim H \vecthree{x_i}{y_i}{1}\)
- so that the back-projection error
- \(\sum _i \left ( x'_i- \frac{h_{11} x_i + h_{12} y_i + h_{13}}{h_{31} x_i + h_{32} y_i + h_{33}} \right )^2+ \left ( y'_i- \frac{h_{21} x_i + h_{22} y_i + h_{23}}{h_{31} x_i + h_{32} y_i + h_{33}} \right )^2\)
- is minimized. If the parameter method is set to the default value 0, the function uses all the point
- pairs to compute an initial homography estimate with a simple least-squares scheme.
- However, if not all of the point pairs ( \(srcPoints_i\), \(dstPoints_i\) ) fit the rigid perspective
- transformation (that is, there are some outliers), this initial estimate will be poor. In this case,
- you can use one of the three robust methods. The methods RANSAC, LMeDS and RHO try many different
- random subsets of the corresponding point pairs (of four pairs each, collinear pairs are discarded), estimate the homography matrix
- using this subset and a simple least-squares algorithm, and then compute the quality/goodness of the
- computed homography (which is the number of inliers for RANSAC or the least median re-projection error for
- LMeDS). The best subset is then used to produce the initial estimate of the homography matrix and
- the mask of inliers/outliers.
- Regardless of the method, robust or not, the computed homography matrix is refined further (using
- inliers only in case of a robust method) with the Levenberg-Marquardt method to reduce the
- re-projection error even more.
- The methods RANSAC and RHO can handle practically any ratio of outliers but need a threshold to
- distinguish inliers from outliers. The method LMeDS does not need any threshold but it works
- correctly only when there are more than 50% of inliers. Finally, if there are no outliers and the
- noise is rather small, use the default method (method=0).
- The function is used to find initial intrinsic and extrinsic matrices. Homography matrix is
- determined up to a scale. Thus, it is normalized so that \(h_{33}=1\). Note that whenever an \(H\) matrix
- cannot be estimated, an empty one will be returned.
- SEE:
- getAffineTransform, estimateAffine2D, estimateAffinePartial2D, getPerspectiveTransform, warpPerspective,
- perspectiveTransform</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findHomography-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-int-double-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findHomography</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findHomography(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> srcPoints,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> dstPoints,
- int method,
- double ransacReprojThreshold)</pre>
- <div class="block">Finds a perspective transformation between two planes.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>srcPoints</code> - Coordinates of the points in the original plane, a matrix of the type CV_32FC2
- or vector<Point2f> .</dd>
- <dd><code>dstPoints</code> - Coordinates of the points in the target plane, a matrix of the type CV_32FC2 or
- a vector<Point2f> .</dd>
- <dd><code>method</code> - Method used to compute a homography matrix. The following methods are possible:
- <ul>
- <li>
- <b>0</b> - a regular method using all the points, i.e., the least squares method
- </li>
- <li>
- REF: RANSAC - RANSAC-based robust method
- </li>
- <li>
- REF: LMEDS - Least-Median robust method
- </li>
- <li>
- REF: RHO - PROSAC-based robust method
- </li>
- </ul></dd>
- <dd><code>ransacReprojThreshold</code> - Maximum allowed reprojection error to treat a point pair as an inlier
- (used in the RANSAC and RHO methods only). That is, if
- \(\| \texttt{dstPoints} _i - \texttt{convertPointsHomogeneous} ( \texttt{H} \cdot \texttt{srcPoints} _i) \|_2 > \texttt{ransacReprojThreshold}\)
- then the point \(i\) is considered as an outlier. If srcPoints and dstPoints are measured in pixels,
- it usually makes sense to set this parameter somewhere in the range of 1 to 10.
- mask values are ignored.
- The function finds and returns the perspective transformation \(H\) between the source and the
- destination planes:
- \(s_i \vecthree{x'_i}{y'_i}{1} \sim H \vecthree{x_i}{y_i}{1}\)
- so that the back-projection error
- \(\sum _i \left ( x'_i- \frac{h_{11} x_i + h_{12} y_i + h_{13}}{h_{31} x_i + h_{32} y_i + h_{33}} \right )^2+ \left ( y'_i- \frac{h_{21} x_i + h_{22} y_i + h_{23}}{h_{31} x_i + h_{32} y_i + h_{33}} \right )^2\)
- is minimized. If the parameter method is set to the default value 0, the function uses all the point
- pairs to compute an initial homography estimate with a simple least-squares scheme.
- However, if not all of the point pairs ( \(srcPoints_i\), \(dstPoints_i\) ) fit the rigid perspective
- transformation (that is, there are some outliers), this initial estimate will be poor. In this case,
- you can use one of the three robust methods. The methods RANSAC, LMeDS and RHO try many different
- random subsets of the corresponding point pairs (of four pairs each, collinear pairs are discarded), estimate the homography matrix
- using this subset and a simple least-squares algorithm, and then compute the quality/goodness of the
- computed homography (which is the number of inliers for RANSAC or the least median re-projection error for
- LMeDS). The best subset is then used to produce the initial estimate of the homography matrix and
- the mask of inliers/outliers.
- Regardless of the method, robust or not, the computed homography matrix is refined further (using
- inliers only in case of a robust method) with the Levenberg-Marquardt method to reduce the
- re-projection error even more.
- The methods RANSAC and RHO can handle practically any ratio of outliers but need a threshold to
- distinguish inliers from outliers. The method LMeDS does not need any threshold but it works
- correctly only when there are more than 50% of inliers. Finally, if there are no outliers and the
- noise is rather small, use the default method (method=0).
- The function is used to find initial intrinsic and extrinsic matrices. Homography matrix is
- determined up to a scale. Thus, it is normalized so that \(h_{33}=1\). Note that whenever an \(H\) matrix
- cannot be estimated, an empty one will be returned.
- SEE:
- getAffineTransform, estimateAffine2D, estimateAffinePartial2D, getPerspectiveTransform, warpPerspective,
- perspectiveTransform</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findHomography-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-int-double-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findHomography</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findHomography(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> srcPoints,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> dstPoints,
- int method,
- double ransacReprojThreshold,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask)</pre>
- <div class="block">Finds a perspective transformation between two planes.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>srcPoints</code> - Coordinates of the points in the original plane, a matrix of the type CV_32FC2
- or vector<Point2f> .</dd>
- <dd><code>dstPoints</code> - Coordinates of the points in the target plane, a matrix of the type CV_32FC2 or
- a vector<Point2f> .</dd>
- <dd><code>method</code> - Method used to compute a homography matrix. The following methods are possible:
- <ul>
- <li>
- <b>0</b> - a regular method using all the points, i.e., the least squares method
- </li>
- <li>
- REF: RANSAC - RANSAC-based robust method
- </li>
- <li>
- REF: LMEDS - Least-Median robust method
- </li>
- <li>
- REF: RHO - PROSAC-based robust method
- </li>
- </ul></dd>
- <dd><code>ransacReprojThreshold</code> - Maximum allowed reprojection error to treat a point pair as an inlier
- (used in the RANSAC and RHO methods only). That is, if
- \(\| \texttt{dstPoints} _i - \texttt{convertPointsHomogeneous} ( \texttt{H} \cdot \texttt{srcPoints} _i) \|_2 > \texttt{ransacReprojThreshold}\)
- then the point \(i\) is considered as an outlier. If srcPoints and dstPoints are measured in pixels,
- it usually makes sense to set this parameter somewhere in the range of 1 to 10.</dd>
- <dd><code>mask</code> - Optional output mask set by a robust method ( RANSAC or LMeDS ). Note that the input
- mask values are ignored.
- The function finds and returns the perspective transformation \(H\) between the source and the
- destination planes:
- \(s_i \vecthree{x'_i}{y'_i}{1} \sim H \vecthree{x_i}{y_i}{1}\)
- so that the back-projection error
- \(\sum _i \left ( x'_i- \frac{h_{11} x_i + h_{12} y_i + h_{13}}{h_{31} x_i + h_{32} y_i + h_{33}} \right )^2+ \left ( y'_i- \frac{h_{21} x_i + h_{22} y_i + h_{23}}{h_{31} x_i + h_{32} y_i + h_{33}} \right )^2\)
- is minimized. If the parameter method is set to the default value 0, the function uses all the point
- pairs to compute an initial homography estimate with a simple least-squares scheme.
- However, if not all of the point pairs ( \(srcPoints_i\), \(dstPoints_i\) ) fit the rigid perspective
- transformation (that is, there are some outliers), this initial estimate will be poor. In this case,
- you can use one of the three robust methods. The methods RANSAC, LMeDS and RHO try many different
- random subsets of the corresponding point pairs (of four pairs each, collinear pairs are discarded), estimate the homography matrix
- using this subset and a simple least-squares algorithm, and then compute the quality/goodness of the
- computed homography (which is the number of inliers for RANSAC or the least median re-projection error for
- LMeDS). The best subset is then used to produce the initial estimate of the homography matrix and
- the mask of inliers/outliers.
- Regardless of the method, robust or not, the computed homography matrix is refined further (using
- inliers only in case of a robust method) with the Levenberg-Marquardt method to reduce the
- re-projection error even more.
- The methods RANSAC and RHO can handle practically any ratio of outliers but need a threshold to
- distinguish inliers from outliers. The method LMeDS does not need any threshold but it works
- correctly only when there are more than 50% of inliers. Finally, if there are no outliers and the
- noise is rather small, use the default method (method=0).
- The function is used to find initial intrinsic and extrinsic matrices. Homography matrix is
- determined up to a scale. Thus, it is normalized so that \(h_{33}=1\). Note that whenever an \(H\) matrix
- cannot be estimated, an empty one will be returned.
- SEE:
- getAffineTransform, estimateAffine2D, estimateAffinePartial2D, getPerspectiveTransform, warpPerspective,
- perspectiveTransform</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findHomography-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-int-double-org.opencv.core.Mat-int-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findHomography</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findHomography(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> srcPoints,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> dstPoints,
- int method,
- double ransacReprojThreshold,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask,
- int maxIters)</pre>
- <div class="block">Finds a perspective transformation between two planes.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>srcPoints</code> - Coordinates of the points in the original plane, a matrix of the type CV_32FC2
- or vector<Point2f> .</dd>
- <dd><code>dstPoints</code> - Coordinates of the points in the target plane, a matrix of the type CV_32FC2 or
- a vector<Point2f> .</dd>
- <dd><code>method</code> - Method used to compute a homography matrix. The following methods are possible:
- <ul>
- <li>
- <b>0</b> - a regular method using all the points, i.e., the least squares method
- </li>
- <li>
- REF: RANSAC - RANSAC-based robust method
- </li>
- <li>
- REF: LMEDS - Least-Median robust method
- </li>
- <li>
- REF: RHO - PROSAC-based robust method
- </li>
- </ul></dd>
- <dd><code>ransacReprojThreshold</code> - Maximum allowed reprojection error to treat a point pair as an inlier
- (used in the RANSAC and RHO methods only). That is, if
- \(\| \texttt{dstPoints} _i - \texttt{convertPointsHomogeneous} ( \texttt{H} \cdot \texttt{srcPoints} _i) \|_2 > \texttt{ransacReprojThreshold}\)
- then the point \(i\) is considered as an outlier. If srcPoints and dstPoints are measured in pixels,
- it usually makes sense to set this parameter somewhere in the range of 1 to 10.</dd>
- <dd><code>mask</code> - Optional output mask set by a robust method ( RANSAC or LMeDS ). Note that the input
- mask values are ignored.</dd>
- <dd><code>maxIters</code> - The maximum number of RANSAC iterations.
- The function finds and returns the perspective transformation \(H\) between the source and the
- destination planes:
- \(s_i \vecthree{x'_i}{y'_i}{1} \sim H \vecthree{x_i}{y_i}{1}\)
- so that the back-projection error
- \(\sum _i \left ( x'_i- \frac{h_{11} x_i + h_{12} y_i + h_{13}}{h_{31} x_i + h_{32} y_i + h_{33}} \right )^2+ \left ( y'_i- \frac{h_{21} x_i + h_{22} y_i + h_{23}}{h_{31} x_i + h_{32} y_i + h_{33}} \right )^2\)
- is minimized. If the parameter method is set to the default value 0, the function uses all the point
- pairs to compute an initial homography estimate with a simple least-squares scheme.
- However, if not all of the point pairs ( \(srcPoints_i\), \(dstPoints_i\) ) fit the rigid perspective
- transformation (that is, there are some outliers), this initial estimate will be poor. In this case,
- you can use one of the three robust methods. The methods RANSAC, LMeDS and RHO try many different
- random subsets of the corresponding point pairs (of four pairs each, collinear pairs are discarded), estimate the homography matrix
- using this subset and a simple least-squares algorithm, and then compute the quality/goodness of the
- computed homography (which is the number of inliers for RANSAC or the least median re-projection error for
- LMeDS). The best subset is then used to produce the initial estimate of the homography matrix and
- the mask of inliers/outliers.
- Regardless of the method, robust or not, the computed homography matrix is refined further (using
- inliers only in case of a robust method) with the Levenberg-Marquardt method to reduce the
- re-projection error even more.
- The methods RANSAC and RHO can handle practically any ratio of outliers but need a threshold to
- distinguish inliers from outliers. The method LMeDS does not need any threshold but it works
- correctly only when there are more than 50% of inliers. Finally, if there are no outliers and the
- noise is rather small, use the default method (method=0).
- The function is used to find initial intrinsic and extrinsic matrices. Homography matrix is
- determined up to a scale. Thus, it is normalized so that \(h_{33}=1\). Note that whenever an \(H\) matrix
- cannot be estimated, an empty one will be returned.
- SEE:
- getAffineTransform, estimateAffine2D, estimateAffinePartial2D, getPerspectiveTransform, warpPerspective,
- perspectiveTransform</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findHomography-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-int-double-org.opencv.core.Mat-int-double-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findHomography</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findHomography(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> srcPoints,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> dstPoints,
- int method,
- double ransacReprojThreshold,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask,
- int maxIters,
- double confidence)</pre>
- <div class="block">Finds a perspective transformation between two planes.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>srcPoints</code> - Coordinates of the points in the original plane, a matrix of the type CV_32FC2
- or vector<Point2f> .</dd>
- <dd><code>dstPoints</code> - Coordinates of the points in the target plane, a matrix of the type CV_32FC2 or
- a vector<Point2f> .</dd>
- <dd><code>method</code> - Method used to compute a homography matrix. The following methods are possible:
- <ul>
- <li>
- <b>0</b> - a regular method using all the points, i.e., the least squares method
- </li>
- <li>
- REF: RANSAC - RANSAC-based robust method
- </li>
- <li>
- REF: LMEDS - Least-Median robust method
- </li>
- <li>
- REF: RHO - PROSAC-based robust method
- </li>
- </ul></dd>
- <dd><code>ransacReprojThreshold</code> - Maximum allowed reprojection error to treat a point pair as an inlier
- (used in the RANSAC and RHO methods only). That is, if
- \(\| \texttt{dstPoints} _i - \texttt{convertPointsHomogeneous} ( \texttt{H} \cdot \texttt{srcPoints} _i) \|_2 > \texttt{ransacReprojThreshold}\)
- then the point \(i\) is considered as an outlier. If srcPoints and dstPoints are measured in pixels,
- it usually makes sense to set this parameter somewhere in the range of 1 to 10.</dd>
- <dd><code>mask</code> - Optional output mask set by a robust method ( RANSAC or LMeDS ). Note that the input
- mask values are ignored.</dd>
- <dd><code>maxIters</code> - The maximum number of RANSAC iterations.</dd>
- <dd><code>confidence</code> - Confidence level, between 0 and 1.
- The function finds and returns the perspective transformation \(H\) between the source and the
- destination planes:
- \(s_i \vecthree{x'_i}{y'_i}{1} \sim H \vecthree{x_i}{y_i}{1}\)
- so that the back-projection error
- \(\sum _i \left ( x'_i- \frac{h_{11} x_i + h_{12} y_i + h_{13}}{h_{31} x_i + h_{32} y_i + h_{33}} \right )^2+ \left ( y'_i- \frac{h_{21} x_i + h_{22} y_i + h_{23}}{h_{31} x_i + h_{32} y_i + h_{33}} \right )^2\)
- is minimized. If the parameter method is set to the default value 0, the function uses all the point
- pairs to compute an initial homography estimate with a simple least-squares scheme.
- However, if not all of the point pairs ( \(srcPoints_i\), \(dstPoints_i\) ) fit the rigid perspective
- transformation (that is, there are some outliers), this initial estimate will be poor. In this case,
- you can use one of the three robust methods. The methods RANSAC, LMeDS and RHO try many different
- random subsets of the corresponding point pairs (of four pairs each, collinear pairs are discarded), estimate the homography matrix
- using this subset and a simple least-squares algorithm, and then compute the quality/goodness of the
- computed homography (which is the number of inliers for RANSAC or the least median re-projection error for
- LMeDS). The best subset is then used to produce the initial estimate of the homography matrix and
- the mask of inliers/outliers.
- Regardless of the method, robust or not, the computed homography matrix is refined further (using
- inliers only in case of a robust method) with the Levenberg-Marquardt method to reduce the
- re-projection error even more.
- The methods RANSAC and RHO can handle practically any ratio of outliers but need a threshold to
- distinguish inliers from outliers. The method LMeDS does not need any threshold but it works
- correctly only when there are more than 50% of inliers. Finally, if there are no outliers and the
- noise is rather small, use the default method (method=0).
- The function is used to find initial intrinsic and extrinsic matrices. Homography matrix is
- determined up to a scale. Thus, it is normalized so that \(h_{33}=1\). Note that whenever an \(H\) matrix
- cannot be estimated, an empty one will be returned.
- SEE:
- getAffineTransform, estimateAffine2D, estimateAffinePartial2D, getPerspectiveTransform, warpPerspective,
- perspectiveTransform</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="findHomography-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-org.opencv.core.Mat-org.opencv.calib3d.UsacParams-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>findHomography</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> findHomography(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> srcPoints,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> dstPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask,
- <a href="../../../org/opencv/calib3d/UsacParams.html" title="class in org.opencv.calib3d">UsacParams</a> params)</pre>
- </li>
- </ul>
- <a name="fisheye_calibrate-java.util.List-java.util.List-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-">
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- <h4>fisheye_calibrate</h4>
- <pre>public static double fisheye_calibrate(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> image_size,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs)</pre>
- <div class="block">Performs camera calibration</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - vector of vectors of calibration pattern points in the calibration pattern
- coordinate space.</dd>
- <dd><code>imagePoints</code> - vector of vectors of the projections of calibration pattern points.
- imagePoints.size() and objectPoints.size() and imagePoints[i].size() must be equal to
- objectPoints[i].size() for each i.</dd>
- <dd><code>image_size</code> - Size of the image used only to initialize the camera intrinsic matrix.</dd>
- <dd><code>K</code> - Output 3x3 floating-point camera intrinsic matrix
- \(\cameramatrix{A}\) . If
- REF: fisheye::CALIB_USE_INTRINSIC_GUESS is specified, some or all of fx, fy, cx, cy must be
- initialized before calling the function.</dd>
- <dd><code>D</code> - Output vector of distortion coefficients \(\distcoeffsfisheye\).</dd>
- <dd><code>rvecs</code> - Output vector of rotation vectors (see Rodrigues ) estimated for each pattern view.
- That is, each k-th rotation vector together with the corresponding k-th translation vector (see
- the next output parameter description) brings the calibration pattern from the model coordinate
- space (in which object points are specified) to the world coordinate space, that is, a real
- position of the calibration pattern in the k-th pattern view (k=0.. *M* -1).</dd>
- <dd><code>tvecs</code> - Output vector of translation vectors estimated for each pattern view.
- <ul>
- <li>
- REF: fisheye::CALIB_USE_INTRINSIC_GUESS cameraMatrix contains valid initial values of
- fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially set to the image
- center ( imageSize is used), and focal distances are computed in a least-squares fashion.
- </li>
- <li>
- REF: fisheye::CALIB_RECOMPUTE_EXTRINSIC Extrinsic will be recomputed after each iteration
- of intrinsic optimization.
- </li>
- <li>
- REF: fisheye::CALIB_CHECK_COND The functions will check validity of condition number.
- </li>
- <li>
- REF: fisheye::CALIB_FIX_SKEW Skew coefficient (alpha) is set to zero and stay zero.
- </li>
- <li>
- REF: fisheye::CALIB_FIX_K1,..., REF: fisheye::CALIB_FIX_K4 Selected distortion coefficients
- are set to zeros and stay zero.
- </li>
- <li>
- REF: fisheye::CALIB_FIX_PRINCIPAL_POINT The principal point is not changed during the global
- optimization. It stays at the center or at a different location specified when REF: fisheye::CALIB_USE_INTRINSIC_GUESS is set too.
- </li>
- <li>
- REF: fisheye::CALIB_FIX_FOCAL_LENGTH The focal length is not changed during the global
- optimization. It is the \(max(width,height)/\pi\) or the provided \(f_x\), \(f_y\) when REF: fisheye::CALIB_USE_INTRINSIC_GUESS is set too.
- </li>
- </ul></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="fisheye_calibrate-java.util.List-java.util.List-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-int-">
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- <h4>fisheye_calibrate</h4>
- <pre>public static double fisheye_calibrate(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> image_size,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- int flags)</pre>
- <div class="block">Performs camera calibration</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - vector of vectors of calibration pattern points in the calibration pattern
- coordinate space.</dd>
- <dd><code>imagePoints</code> - vector of vectors of the projections of calibration pattern points.
- imagePoints.size() and objectPoints.size() and imagePoints[i].size() must be equal to
- objectPoints[i].size() for each i.</dd>
- <dd><code>image_size</code> - Size of the image used only to initialize the camera intrinsic matrix.</dd>
- <dd><code>K</code> - Output 3x3 floating-point camera intrinsic matrix
- \(\cameramatrix{A}\) . If
- REF: fisheye::CALIB_USE_INTRINSIC_GUESS is specified, some or all of fx, fy, cx, cy must be
- initialized before calling the function.</dd>
- <dd><code>D</code> - Output vector of distortion coefficients \(\distcoeffsfisheye\).</dd>
- <dd><code>rvecs</code> - Output vector of rotation vectors (see Rodrigues ) estimated for each pattern view.
- That is, each k-th rotation vector together with the corresponding k-th translation vector (see
- the next output parameter description) brings the calibration pattern from the model coordinate
- space (in which object points are specified) to the world coordinate space, that is, a real
- position of the calibration pattern in the k-th pattern view (k=0.. *M* -1).</dd>
- <dd><code>tvecs</code> - Output vector of translation vectors estimated for each pattern view.</dd>
- <dd><code>flags</code> - Different flags that may be zero or a combination of the following values:
- <ul>
- <li>
- REF: fisheye::CALIB_USE_INTRINSIC_GUESS cameraMatrix contains valid initial values of
- fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially set to the image
- center ( imageSize is used), and focal distances are computed in a least-squares fashion.
- </li>
- <li>
- REF: fisheye::CALIB_RECOMPUTE_EXTRINSIC Extrinsic will be recomputed after each iteration
- of intrinsic optimization.
- </li>
- <li>
- REF: fisheye::CALIB_CHECK_COND The functions will check validity of condition number.
- </li>
- <li>
- REF: fisheye::CALIB_FIX_SKEW Skew coefficient (alpha) is set to zero and stay zero.
- </li>
- <li>
- REF: fisheye::CALIB_FIX_K1,..., REF: fisheye::CALIB_FIX_K4 Selected distortion coefficients
- are set to zeros and stay zero.
- </li>
- <li>
- REF: fisheye::CALIB_FIX_PRINCIPAL_POINT The principal point is not changed during the global
- optimization. It stays at the center or at a different location specified when REF: fisheye::CALIB_USE_INTRINSIC_GUESS is set too.
- </li>
- <li>
- REF: fisheye::CALIB_FIX_FOCAL_LENGTH The focal length is not changed during the global
- optimization. It is the \(max(width,height)/\pi\) or the provided \(f_x\), \(f_y\) when REF: fisheye::CALIB_USE_INTRINSIC_GUESS is set too.
- </li>
- </ul></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="fisheye_calibrate-java.util.List-java.util.List-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-int-org.opencv.core.TermCriteria-">
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- <h4>fisheye_calibrate</h4>
- <pre>public static double fisheye_calibrate(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> image_size,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- int flags,
- <a href="../../../org/opencv/core/TermCriteria.html" title="class in org.opencv.core">TermCriteria</a> criteria)</pre>
- <div class="block">Performs camera calibration</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - vector of vectors of calibration pattern points in the calibration pattern
- coordinate space.</dd>
- <dd><code>imagePoints</code> - vector of vectors of the projections of calibration pattern points.
- imagePoints.size() and objectPoints.size() and imagePoints[i].size() must be equal to
- objectPoints[i].size() for each i.</dd>
- <dd><code>image_size</code> - Size of the image used only to initialize the camera intrinsic matrix.</dd>
- <dd><code>K</code> - Output 3x3 floating-point camera intrinsic matrix
- \(\cameramatrix{A}\) . If
- REF: fisheye::CALIB_USE_INTRINSIC_GUESS is specified, some or all of fx, fy, cx, cy must be
- initialized before calling the function.</dd>
- <dd><code>D</code> - Output vector of distortion coefficients \(\distcoeffsfisheye\).</dd>
- <dd><code>rvecs</code> - Output vector of rotation vectors (see Rodrigues ) estimated for each pattern view.
- That is, each k-th rotation vector together with the corresponding k-th translation vector (see
- the next output parameter description) brings the calibration pattern from the model coordinate
- space (in which object points are specified) to the world coordinate space, that is, a real
- position of the calibration pattern in the k-th pattern view (k=0.. *M* -1).</dd>
- <dd><code>tvecs</code> - Output vector of translation vectors estimated for each pattern view.</dd>
- <dd><code>flags</code> - Different flags that may be zero or a combination of the following values:
- <ul>
- <li>
- REF: fisheye::CALIB_USE_INTRINSIC_GUESS cameraMatrix contains valid initial values of
- fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially set to the image
- center ( imageSize is used), and focal distances are computed in a least-squares fashion.
- </li>
- <li>
- REF: fisheye::CALIB_RECOMPUTE_EXTRINSIC Extrinsic will be recomputed after each iteration
- of intrinsic optimization.
- </li>
- <li>
- REF: fisheye::CALIB_CHECK_COND The functions will check validity of condition number.
- </li>
- <li>
- REF: fisheye::CALIB_FIX_SKEW Skew coefficient (alpha) is set to zero and stay zero.
- </li>
- <li>
- REF: fisheye::CALIB_FIX_K1,..., REF: fisheye::CALIB_FIX_K4 Selected distortion coefficients
- are set to zeros and stay zero.
- </li>
- <li>
- REF: fisheye::CALIB_FIX_PRINCIPAL_POINT The principal point is not changed during the global
- optimization. It stays at the center or at a different location specified when REF: fisheye::CALIB_USE_INTRINSIC_GUESS is set too.
- </li>
- <li>
- REF: fisheye::CALIB_FIX_FOCAL_LENGTH The focal length is not changed during the global
- optimization. It is the \(max(width,height)/\pi\) or the provided \(f_x\), \(f_y\) when REF: fisheye::CALIB_USE_INTRINSIC_GUESS is set too.
- </li>
- </ul></dd>
- <dd><code>criteria</code> - Termination criteria for the iterative optimization algorithm.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="fisheye_distortPoints-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>fisheye_distortPoints</h4>
- <pre>public static void fisheye_distortPoints(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> undistorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D)</pre>
- <div class="block">Distorts 2D points using fisheye model.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>undistorted</code> - Array of object points, 1xN/Nx1 2-channel (or vector<Point2f> ), where N is
- the number of points in the view.</dd>
- <dd><code>K</code> - Camera intrinsic matrix \(cameramatrix{K}\).</dd>
- <dd><code>D</code> - Input vector of distortion coefficients \(\distcoeffsfisheye\).</dd>
- <dd><code>distorted</code> - Output array of image points, 1xN/Nx1 2-channel, or vector<Point2f> .
- Note that the function assumes the camera intrinsic matrix of the undistorted points to be identity.
- This means if you want to distort image points you have to multiply them with \(K^{-1}\).</dd>
- </dl>
- </li>
- </ul>
- <a name="fisheye_distortPoints-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-double-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>fisheye_distortPoints</h4>
- <pre>public static void fisheye_distortPoints(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> undistorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- double alpha)</pre>
- <div class="block">Distorts 2D points using fisheye model.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>undistorted</code> - Array of object points, 1xN/Nx1 2-channel (or vector<Point2f> ), where N is
- the number of points in the view.</dd>
- <dd><code>K</code> - Camera intrinsic matrix \(cameramatrix{K}\).</dd>
- <dd><code>D</code> - Input vector of distortion coefficients \(\distcoeffsfisheye\).</dd>
- <dd><code>alpha</code> - The skew coefficient.</dd>
- <dd><code>distorted</code> - Output array of image points, 1xN/Nx1 2-channel, or vector<Point2f> .
- Note that the function assumes the camera intrinsic matrix of the undistorted points to be identity.
- This means if you want to distort image points you have to multiply them with \(K^{-1}\).</dd>
- </dl>
- </li>
- </ul>
- <a name="fisheye_estimateNewCameraMatrixForUndistortRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <h4>fisheye_estimateNewCameraMatrixForUndistortRectify</h4>
- <pre>public static void fisheye_estimateNewCameraMatrixForUndistortRectify(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> image_size,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P)</pre>
- <div class="block">Estimates new camera intrinsic matrix for undistortion or rectification.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>K</code> - Camera intrinsic matrix \(cameramatrix{K}\).</dd>
- <dd><code>image_size</code> - Size of the image</dd>
- <dd><code>D</code> - Input vector of distortion coefficients \(\distcoeffsfisheye\).</dd>
- <dd><code>R</code> - Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3
- 1-channel or 1x1 3-channel</dd>
- <dd><code>P</code> - New camera intrinsic matrix (3x3) or new projection matrix (3x4)
- length. Balance is in range of [0, 1].</dd>
- </dl>
- </li>
- </ul>
- <a name="fisheye_estimateNewCameraMatrixForUndistortRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-double-">
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- <h4>fisheye_estimateNewCameraMatrixForUndistortRectify</h4>
- <pre>public static void fisheye_estimateNewCameraMatrixForUndistortRectify(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> image_size,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P,
- double balance)</pre>
- <div class="block">Estimates new camera intrinsic matrix for undistortion or rectification.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>K</code> - Camera intrinsic matrix \(cameramatrix{K}\).</dd>
- <dd><code>image_size</code> - Size of the image</dd>
- <dd><code>D</code> - Input vector of distortion coefficients \(\distcoeffsfisheye\).</dd>
- <dd><code>R</code> - Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3
- 1-channel or 1x1 3-channel</dd>
- <dd><code>P</code> - New camera intrinsic matrix (3x3) or new projection matrix (3x4)</dd>
- <dd><code>balance</code> - Sets the new focal length in range between the min focal length and the max focal
- length. Balance is in range of [0, 1].</dd>
- </dl>
- </li>
- </ul>
- <a name="fisheye_estimateNewCameraMatrixForUndistortRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Size-">
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- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>fisheye_estimateNewCameraMatrixForUndistortRectify</h4>
- <pre>public static void fisheye_estimateNewCameraMatrixForUndistortRectify(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> image_size,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P,
- double balance,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> new_size)</pre>
- <div class="block">Estimates new camera intrinsic matrix for undistortion or rectification.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>K</code> - Camera intrinsic matrix \(cameramatrix{K}\).</dd>
- <dd><code>image_size</code> - Size of the image</dd>
- <dd><code>D</code> - Input vector of distortion coefficients \(\distcoeffsfisheye\).</dd>
- <dd><code>R</code> - Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3
- 1-channel or 1x1 3-channel</dd>
- <dd><code>P</code> - New camera intrinsic matrix (3x3) or new projection matrix (3x4)</dd>
- <dd><code>balance</code> - Sets the new focal length in range between the min focal length and the max focal
- length. Balance is in range of [0, 1].</dd>
- <dd><code>new_size</code> - the new size</dd>
- </dl>
- </li>
- </ul>
- <a name="fisheye_estimateNewCameraMatrixForUndistortRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Size-double-">
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- <h4>fisheye_estimateNewCameraMatrixForUndistortRectify</h4>
- <pre>public static void fisheye_estimateNewCameraMatrixForUndistortRectify(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> image_size,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P,
- double balance,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> new_size,
- double fov_scale)</pre>
- <div class="block">Estimates new camera intrinsic matrix for undistortion or rectification.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>K</code> - Camera intrinsic matrix \(cameramatrix{K}\).</dd>
- <dd><code>image_size</code> - Size of the image</dd>
- <dd><code>D</code> - Input vector of distortion coefficients \(\distcoeffsfisheye\).</dd>
- <dd><code>R</code> - Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3
- 1-channel or 1x1 3-channel</dd>
- <dd><code>P</code> - New camera intrinsic matrix (3x3) or new projection matrix (3x4)</dd>
- <dd><code>balance</code> - Sets the new focal length in range between the min focal length and the max focal
- length. Balance is in range of [0, 1].</dd>
- <dd><code>new_size</code> - the new size</dd>
- <dd><code>fov_scale</code> - Divisor for new focal length.</dd>
- </dl>
- </li>
- </ul>
- <a name="fisheye_initUndistortRectifyMap-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-int-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <ul class="blockList">
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- <h4>fisheye_initUndistortRectifyMap</h4>
- <pre>public static void fisheye_initUndistortRectifyMap(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> size,
- int m1type,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> map1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> map2)</pre>
- <div class="block">Computes undistortion and rectification maps for image transform by #remap. If D is empty zero
- distortion is used, if R or P is empty identity matrixes are used.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>K</code> - Camera intrinsic matrix \(cameramatrix{K}\).</dd>
- <dd><code>D</code> - Input vector of distortion coefficients \(\distcoeffsfisheye\).</dd>
- <dd><code>R</code> - Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3
- 1-channel or 1x1 3-channel</dd>
- <dd><code>P</code> - New camera intrinsic matrix (3x3) or new projection matrix (3x4)</dd>
- <dd><code>size</code> - Undistorted image size.</dd>
- <dd><code>m1type</code> - Type of the first output map that can be CV_32FC1 or CV_16SC2 . See #convertMaps
- for details.</dd>
- <dd><code>map1</code> - The first output map.</dd>
- <dd><code>map2</code> - The second output map.</dd>
- </dl>
- </li>
- </ul>
- <a name="fisheye_projectPoints-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <h4>fisheye_projectPoints</h4>
- <pre>public static void fisheye_projectPoints(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D)</pre>
- </li>
- </ul>
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- <pre>public static void fisheye_projectPoints(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- double alpha)</pre>
- </li>
- </ul>
- <a name="fisheye_projectPoints-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Mat-">
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- <h4>fisheye_projectPoints</h4>
- <pre>public static void fisheye_projectPoints(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- double alpha,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> jacobian)</pre>
- </li>
- </ul>
- <a name="fisheye_stereoCalibrate-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <pre>public static double fisheye_stereoCalibrate(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T)</pre>
- </li>
- </ul>
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- <pre>public static double fisheye_stereoCalibrate(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- int flags)</pre>
- </li>
- </ul>
- <a name="fisheye_stereoCalibrate-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-int-org.opencv.core.TermCriteria-">
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- <h4>fisheye_stereoCalibrate</h4>
- <pre>public static double fisheye_stereoCalibrate(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- int flags,
- <a href="../../../org/opencv/core/TermCriteria.html" title="class in org.opencv.core">TermCriteria</a> criteria)</pre>
- </li>
- </ul>
- <a name="fisheye_stereoCalibrate-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-">
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- <h4>fisheye_stereoCalibrate</h4>
- <pre>public static double fisheye_stereoCalibrate(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs)</pre>
- <div class="block">Performs stereo calibration</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Vector of vectors of the calibration pattern points.</dd>
- <dd><code>imagePoints1</code> - Vector of vectors of the projections of the calibration pattern points,
- observed by the first camera.</dd>
- <dd><code>imagePoints2</code> - Vector of vectors of the projections of the calibration pattern points,
- observed by the second camera.</dd>
- <dd><code>K1</code> - Input/output first camera intrinsic matrix:
- \(\vecthreethree{f_x^{(j)}}{0}{c_x^{(j)}}{0}{f_y^{(j)}}{c_y^{(j)}}{0}{0}{1}\) , \(j = 0,\, 1\) . If
- any of REF: fisheye::CALIB_USE_INTRINSIC_GUESS , REF: fisheye::CALIB_FIX_INTRINSIC are specified,
- some or all of the matrix components must be initialized.</dd>
- <dd><code>D1</code> - Input/output vector of distortion coefficients \(\distcoeffsfisheye\) of 4 elements.</dd>
- <dd><code>K2</code> - Input/output second camera intrinsic matrix. The parameter is similar to K1 .</dd>
- <dd><code>D2</code> - Input/output lens distortion coefficients for the second camera. The parameter is
- similar to D1 .</dd>
- <dd><code>imageSize</code> - Size of the image used only to initialize camera intrinsic matrix.</dd>
- <dd><code>R</code> - Output rotation matrix between the 1st and the 2nd camera coordinate systems.</dd>
- <dd><code>T</code> - Output translation vector between the coordinate systems of the cameras.</dd>
- <dd><code>rvecs</code> - Output vector of rotation vectors ( REF: Rodrigues ) estimated for each pattern view in the
- coordinate system of the first camera of the stereo pair (e.g. std::vector<cv::Mat>). More in detail, each
- i-th rotation vector together with the corresponding i-th translation vector (see the next output parameter
- description) brings the calibration pattern from the object coordinate space (in which object points are
- specified) to the camera coordinate space of the first camera of the stereo pair. In more technical terms,
- the tuple of the i-th rotation and translation vector performs a change of basis from object coordinate space
- to camera coordinate space of the first camera of the stereo pair.</dd>
- <dd><code>tvecs</code> - Output vector of translation vectors estimated for each pattern view, see parameter description
- of previous output parameter ( rvecs ).
- <ul>
- <li>
- REF: fisheye::CALIB_FIX_INTRINSIC Fix K1, K2? and D1, D2? so that only R, T matrices
- are estimated.
- </li>
- <li>
- REF: fisheye::CALIB_USE_INTRINSIC_GUESS K1, K2 contains valid initial values of
- fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially set to the image
- center (imageSize is used), and focal distances are computed in a least-squares fashion.
- </li>
- <li>
- REF: fisheye::CALIB_RECOMPUTE_EXTRINSIC Extrinsic will be recomputed after each iteration
- of intrinsic optimization.
- </li>
- <li>
- REF: fisheye::CALIB_CHECK_COND The functions will check validity of condition number.
- </li>
- <li>
- REF: fisheye::CALIB_FIX_SKEW Skew coefficient (alpha) is set to zero and stay zero.
- </li>
- <li>
- REF: fisheye::CALIB_FIX_K1,..., REF: fisheye::CALIB_FIX_K4 Selected distortion coefficients are set to zeros and stay
- zero.
- </li>
- </ul></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="fisheye_stereoCalibrate-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-int-">
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- <h4>fisheye_stereoCalibrate</h4>
- <pre>public static double fisheye_stereoCalibrate(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- int flags)</pre>
- <div class="block">Performs stereo calibration</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Vector of vectors of the calibration pattern points.</dd>
- <dd><code>imagePoints1</code> - Vector of vectors of the projections of the calibration pattern points,
- observed by the first camera.</dd>
- <dd><code>imagePoints2</code> - Vector of vectors of the projections of the calibration pattern points,
- observed by the second camera.</dd>
- <dd><code>K1</code> - Input/output first camera intrinsic matrix:
- \(\vecthreethree{f_x^{(j)}}{0}{c_x^{(j)}}{0}{f_y^{(j)}}{c_y^{(j)}}{0}{0}{1}\) , \(j = 0,\, 1\) . If
- any of REF: fisheye::CALIB_USE_INTRINSIC_GUESS , REF: fisheye::CALIB_FIX_INTRINSIC are specified,
- some or all of the matrix components must be initialized.</dd>
- <dd><code>D1</code> - Input/output vector of distortion coefficients \(\distcoeffsfisheye\) of 4 elements.</dd>
- <dd><code>K2</code> - Input/output second camera intrinsic matrix. The parameter is similar to K1 .</dd>
- <dd><code>D2</code> - Input/output lens distortion coefficients for the second camera. The parameter is
- similar to D1 .</dd>
- <dd><code>imageSize</code> - Size of the image used only to initialize camera intrinsic matrix.</dd>
- <dd><code>R</code> - Output rotation matrix between the 1st and the 2nd camera coordinate systems.</dd>
- <dd><code>T</code> - Output translation vector between the coordinate systems of the cameras.</dd>
- <dd><code>rvecs</code> - Output vector of rotation vectors ( REF: Rodrigues ) estimated for each pattern view in the
- coordinate system of the first camera of the stereo pair (e.g. std::vector<cv::Mat>). More in detail, each
- i-th rotation vector together with the corresponding i-th translation vector (see the next output parameter
- description) brings the calibration pattern from the object coordinate space (in which object points are
- specified) to the camera coordinate space of the first camera of the stereo pair. In more technical terms,
- the tuple of the i-th rotation and translation vector performs a change of basis from object coordinate space
- to camera coordinate space of the first camera of the stereo pair.</dd>
- <dd><code>tvecs</code> - Output vector of translation vectors estimated for each pattern view, see parameter description
- of previous output parameter ( rvecs ).</dd>
- <dd><code>flags</code> - Different flags that may be zero or a combination of the following values:
- <ul>
- <li>
- REF: fisheye::CALIB_FIX_INTRINSIC Fix K1, K2? and D1, D2? so that only R, T matrices
- are estimated.
- </li>
- <li>
- REF: fisheye::CALIB_USE_INTRINSIC_GUESS K1, K2 contains valid initial values of
- fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially set to the image
- center (imageSize is used), and focal distances are computed in a least-squares fashion.
- </li>
- <li>
- REF: fisheye::CALIB_RECOMPUTE_EXTRINSIC Extrinsic will be recomputed after each iteration
- of intrinsic optimization.
- </li>
- <li>
- REF: fisheye::CALIB_CHECK_COND The functions will check validity of condition number.
- </li>
- <li>
- REF: fisheye::CALIB_FIX_SKEW Skew coefficient (alpha) is set to zero and stay zero.
- </li>
- <li>
- REF: fisheye::CALIB_FIX_K1,..., REF: fisheye::CALIB_FIX_K4 Selected distortion coefficients are set to zeros and stay
- zero.
- </li>
- </ul></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="fisheye_stereoCalibrate-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-int-org.opencv.core.TermCriteria-">
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- <h4>fisheye_stereoCalibrate</h4>
- <pre>public static double fisheye_stereoCalibrate(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- int flags,
- <a href="../../../org/opencv/core/TermCriteria.html" title="class in org.opencv.core">TermCriteria</a> criteria)</pre>
- <div class="block">Performs stereo calibration</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Vector of vectors of the calibration pattern points.</dd>
- <dd><code>imagePoints1</code> - Vector of vectors of the projections of the calibration pattern points,
- observed by the first camera.</dd>
- <dd><code>imagePoints2</code> - Vector of vectors of the projections of the calibration pattern points,
- observed by the second camera.</dd>
- <dd><code>K1</code> - Input/output first camera intrinsic matrix:
- \(\vecthreethree{f_x^{(j)}}{0}{c_x^{(j)}}{0}{f_y^{(j)}}{c_y^{(j)}}{0}{0}{1}\) , \(j = 0,\, 1\) . If
- any of REF: fisheye::CALIB_USE_INTRINSIC_GUESS , REF: fisheye::CALIB_FIX_INTRINSIC are specified,
- some or all of the matrix components must be initialized.</dd>
- <dd><code>D1</code> - Input/output vector of distortion coefficients \(\distcoeffsfisheye\) of 4 elements.</dd>
- <dd><code>K2</code> - Input/output second camera intrinsic matrix. The parameter is similar to K1 .</dd>
- <dd><code>D2</code> - Input/output lens distortion coefficients for the second camera. The parameter is
- similar to D1 .</dd>
- <dd><code>imageSize</code> - Size of the image used only to initialize camera intrinsic matrix.</dd>
- <dd><code>R</code> - Output rotation matrix between the 1st and the 2nd camera coordinate systems.</dd>
- <dd><code>T</code> - Output translation vector between the coordinate systems of the cameras.</dd>
- <dd><code>rvecs</code> - Output vector of rotation vectors ( REF: Rodrigues ) estimated for each pattern view in the
- coordinate system of the first camera of the stereo pair (e.g. std::vector<cv::Mat>). More in detail, each
- i-th rotation vector together with the corresponding i-th translation vector (see the next output parameter
- description) brings the calibration pattern from the object coordinate space (in which object points are
- specified) to the camera coordinate space of the first camera of the stereo pair. In more technical terms,
- the tuple of the i-th rotation and translation vector performs a change of basis from object coordinate space
- to camera coordinate space of the first camera of the stereo pair.</dd>
- <dd><code>tvecs</code> - Output vector of translation vectors estimated for each pattern view, see parameter description
- of previous output parameter ( rvecs ).</dd>
- <dd><code>flags</code> - Different flags that may be zero or a combination of the following values:
- <ul>
- <li>
- REF: fisheye::CALIB_FIX_INTRINSIC Fix K1, K2? and D1, D2? so that only R, T matrices
- are estimated.
- </li>
- <li>
- REF: fisheye::CALIB_USE_INTRINSIC_GUESS K1, K2 contains valid initial values of
- fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially set to the image
- center (imageSize is used), and focal distances are computed in a least-squares fashion.
- </li>
- <li>
- REF: fisheye::CALIB_RECOMPUTE_EXTRINSIC Extrinsic will be recomputed after each iteration
- of intrinsic optimization.
- </li>
- <li>
- REF: fisheye::CALIB_CHECK_COND The functions will check validity of condition number.
- </li>
- <li>
- REF: fisheye::CALIB_FIX_SKEW Skew coefficient (alpha) is set to zero and stay zero.
- </li>
- <li>
- REF: fisheye::CALIB_FIX_K1,..., REF: fisheye::CALIB_FIX_K4 Selected distortion coefficients are set to zeros and stay
- zero.
- </li>
- </ul></dd>
- <dd><code>criteria</code> - Termination criteria for the iterative optimization algorithm.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="fisheye_stereoRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-">
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- <ul class="blockList">
- <li class="blockList">
- <h4>fisheye_stereoRectify</h4>
- <pre>public static void fisheye_stereoRectify(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q,
- int flags)</pre>
- <div class="block">Stereo rectification for fisheye camera model</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>K1</code> - First camera intrinsic matrix.</dd>
- <dd><code>D1</code> - First camera distortion parameters.</dd>
- <dd><code>K2</code> - Second camera intrinsic matrix.</dd>
- <dd><code>D2</code> - Second camera distortion parameters.</dd>
- <dd><code>imageSize</code> - Size of the image used for stereo calibration.</dd>
- <dd><code>R</code> - Rotation matrix between the coordinate systems of the first and the second
- cameras.</dd>
- <dd><code>tvec</code> - Translation vector between coordinate systems of the cameras.</dd>
- <dd><code>R1</code> - Output 3x3 rectification transform (rotation matrix) for the first camera.</dd>
- <dd><code>R2</code> - Output 3x3 rectification transform (rotation matrix) for the second camera.</dd>
- <dd><code>P1</code> - Output 3x4 projection matrix in the new (rectified) coordinate systems for the first
- camera.</dd>
- <dd><code>P2</code> - Output 3x4 projection matrix in the new (rectified) coordinate systems for the second
- camera.</dd>
- <dd><code>Q</code> - Output \(4 \times 4\) disparity-to-depth mapping matrix (see #reprojectImageTo3D ).</dd>
- <dd><code>flags</code> - Operation flags that may be zero or REF: fisheye::CALIB_ZERO_DISPARITY . If the flag is set,
- the function makes the principal points of each camera have the same pixel coordinates in the
- rectified views. And if the flag is not set, the function may still shift the images in the
- horizontal or vertical direction (depending on the orientation of epipolar lines) to maximize the
- useful image area.
- #initUndistortRectifyMap (see the stereo_calib.cpp sample in OpenCV samples directory). When (0,0)
- is passed (default), it is set to the original imageSize . Setting it to larger value can help you
- preserve details in the original image, especially when there is a big radial distortion.
- length. Balance is in range of [0, 1].</dd>
- </dl>
- </li>
- </ul>
- <a name="fisheye_stereoRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-org.opencv.core.Size-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>fisheye_stereoRectify</h4>
- <pre>public static void fisheye_stereoRectify(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q,
- int flags,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> newImageSize)</pre>
- <div class="block">Stereo rectification for fisheye camera model</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>K1</code> - First camera intrinsic matrix.</dd>
- <dd><code>D1</code> - First camera distortion parameters.</dd>
- <dd><code>K2</code> - Second camera intrinsic matrix.</dd>
- <dd><code>D2</code> - Second camera distortion parameters.</dd>
- <dd><code>imageSize</code> - Size of the image used for stereo calibration.</dd>
- <dd><code>R</code> - Rotation matrix between the coordinate systems of the first and the second
- cameras.</dd>
- <dd><code>tvec</code> - Translation vector between coordinate systems of the cameras.</dd>
- <dd><code>R1</code> - Output 3x3 rectification transform (rotation matrix) for the first camera.</dd>
- <dd><code>R2</code> - Output 3x3 rectification transform (rotation matrix) for the second camera.</dd>
- <dd><code>P1</code> - Output 3x4 projection matrix in the new (rectified) coordinate systems for the first
- camera.</dd>
- <dd><code>P2</code> - Output 3x4 projection matrix in the new (rectified) coordinate systems for the second
- camera.</dd>
- <dd><code>Q</code> - Output \(4 \times 4\) disparity-to-depth mapping matrix (see #reprojectImageTo3D ).</dd>
- <dd><code>flags</code> - Operation flags that may be zero or REF: fisheye::CALIB_ZERO_DISPARITY . If the flag is set,
- the function makes the principal points of each camera have the same pixel coordinates in the
- rectified views. And if the flag is not set, the function may still shift the images in the
- horizontal or vertical direction (depending on the orientation of epipolar lines) to maximize the
- useful image area.</dd>
- <dd><code>newImageSize</code> - New image resolution after rectification. The same size should be passed to
- #initUndistortRectifyMap (see the stereo_calib.cpp sample in OpenCV samples directory). When (0,0)
- is passed (default), it is set to the original imageSize . Setting it to larger value can help you
- preserve details in the original image, especially when there is a big radial distortion.
- length. Balance is in range of [0, 1].</dd>
- </dl>
- </li>
- </ul>
- <a name="fisheye_stereoRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-org.opencv.core.Size-double-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>fisheye_stereoRectify</h4>
- <pre>public static void fisheye_stereoRectify(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q,
- int flags,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> newImageSize,
- double balance)</pre>
- <div class="block">Stereo rectification for fisheye camera model</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>K1</code> - First camera intrinsic matrix.</dd>
- <dd><code>D1</code> - First camera distortion parameters.</dd>
- <dd><code>K2</code> - Second camera intrinsic matrix.</dd>
- <dd><code>D2</code> - Second camera distortion parameters.</dd>
- <dd><code>imageSize</code> - Size of the image used for stereo calibration.</dd>
- <dd><code>R</code> - Rotation matrix between the coordinate systems of the first and the second
- cameras.</dd>
- <dd><code>tvec</code> - Translation vector between coordinate systems of the cameras.</dd>
- <dd><code>R1</code> - Output 3x3 rectification transform (rotation matrix) for the first camera.</dd>
- <dd><code>R2</code> - Output 3x3 rectification transform (rotation matrix) for the second camera.</dd>
- <dd><code>P1</code> - Output 3x4 projection matrix in the new (rectified) coordinate systems for the first
- camera.</dd>
- <dd><code>P2</code> - Output 3x4 projection matrix in the new (rectified) coordinate systems for the second
- camera.</dd>
- <dd><code>Q</code> - Output \(4 \times 4\) disparity-to-depth mapping matrix (see #reprojectImageTo3D ).</dd>
- <dd><code>flags</code> - Operation flags that may be zero or REF: fisheye::CALIB_ZERO_DISPARITY . If the flag is set,
- the function makes the principal points of each camera have the same pixel coordinates in the
- rectified views. And if the flag is not set, the function may still shift the images in the
- horizontal or vertical direction (depending on the orientation of epipolar lines) to maximize the
- useful image area.</dd>
- <dd><code>newImageSize</code> - New image resolution after rectification. The same size should be passed to
- #initUndistortRectifyMap (see the stereo_calib.cpp sample in OpenCV samples directory). When (0,0)
- is passed (default), it is set to the original imageSize . Setting it to larger value can help you
- preserve details in the original image, especially when there is a big radial distortion.</dd>
- <dd><code>balance</code> - Sets the new focal length in range between the min focal length and the max focal
- length. Balance is in range of [0, 1].</dd>
- </dl>
- </li>
- </ul>
- <a name="fisheye_stereoRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-org.opencv.core.Size-double-double-">
- <!-- -->
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- <ul class="blockList">
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- <h4>fisheye_stereoRectify</h4>
- <pre>public static void fisheye_stereoRectify(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q,
- int flags,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> newImageSize,
- double balance,
- double fov_scale)</pre>
- <div class="block">Stereo rectification for fisheye camera model</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>K1</code> - First camera intrinsic matrix.</dd>
- <dd><code>D1</code> - First camera distortion parameters.</dd>
- <dd><code>K2</code> - Second camera intrinsic matrix.</dd>
- <dd><code>D2</code> - Second camera distortion parameters.</dd>
- <dd><code>imageSize</code> - Size of the image used for stereo calibration.</dd>
- <dd><code>R</code> - Rotation matrix between the coordinate systems of the first and the second
- cameras.</dd>
- <dd><code>tvec</code> - Translation vector between coordinate systems of the cameras.</dd>
- <dd><code>R1</code> - Output 3x3 rectification transform (rotation matrix) for the first camera.</dd>
- <dd><code>R2</code> - Output 3x3 rectification transform (rotation matrix) for the second camera.</dd>
- <dd><code>P1</code> - Output 3x4 projection matrix in the new (rectified) coordinate systems for the first
- camera.</dd>
- <dd><code>P2</code> - Output 3x4 projection matrix in the new (rectified) coordinate systems for the second
- camera.</dd>
- <dd><code>Q</code> - Output \(4 \times 4\) disparity-to-depth mapping matrix (see #reprojectImageTo3D ).</dd>
- <dd><code>flags</code> - Operation flags that may be zero or REF: fisheye::CALIB_ZERO_DISPARITY . If the flag is set,
- the function makes the principal points of each camera have the same pixel coordinates in the
- rectified views. And if the flag is not set, the function may still shift the images in the
- horizontal or vertical direction (depending on the orientation of epipolar lines) to maximize the
- useful image area.</dd>
- <dd><code>newImageSize</code> - New image resolution after rectification. The same size should be passed to
- #initUndistortRectifyMap (see the stereo_calib.cpp sample in OpenCV samples directory). When (0,0)
- is passed (default), it is set to the original imageSize . Setting it to larger value can help you
- preserve details in the original image, especially when there is a big radial distortion.</dd>
- <dd><code>balance</code> - Sets the new focal length in range between the min focal length and the max focal
- length. Balance is in range of [0, 1].</dd>
- <dd><code>fov_scale</code> - Divisor for new focal length.</dd>
- </dl>
- </li>
- </ul>
- <a name="fisheye_undistortImage-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>fisheye_undistortImage</h4>
- <pre>public static void fisheye_undistortImage(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> undistorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D)</pre>
- <div class="block">Transforms an image to compensate for fisheye lens distortion.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>distorted</code> - image with fisheye lens distortion.</dd>
- <dd><code>undistorted</code> - Output image with compensated fisheye lens distortion.</dd>
- <dd><code>K</code> - Camera intrinsic matrix \(cameramatrix{K}\).</dd>
- <dd><code>D</code> - Input vector of distortion coefficients \(\distcoeffsfisheye\).
- may additionally scale and shift the result by using a different matrix.
- The function transforms an image to compensate radial and tangential lens distortion.
- The function is simply a combination of #fisheye::initUndistortRectifyMap (with unity R ) and #remap
- (with bilinear interpolation). See the former function for details of the transformation being
- performed.
- See below the results of undistortImage.
- <ul>
- <li>
- a\) result of undistort of perspective camera model (all possible coefficients (k_1, k_2, k_3,
- k_4, k_5, k_6) of distortion were optimized under calibration)
- <ul>
- <li>
- b\) result of #fisheye::undistortImage of fisheye camera model (all possible coefficients (k_1, k_2,
- k_3, k_4) of fisheye distortion were optimized under calibration)
- </li>
- <li>
- c\) original image was captured with fisheye lens
- </li>
- </ul>
- Pictures a) and b) almost the same. But if we consider points of image located far from the center
- of image, we can notice that on image a) these points are distorted.
- </li>
- </ul>
- </dd>
- </dl>
- </li>
- </ul>
- <a name="fisheye_undistortImage-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>fisheye_undistortImage</h4>
- <pre>public static void fisheye_undistortImage(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> undistorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Knew)</pre>
- <div class="block">Transforms an image to compensate for fisheye lens distortion.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>distorted</code> - image with fisheye lens distortion.</dd>
- <dd><code>undistorted</code> - Output image with compensated fisheye lens distortion.</dd>
- <dd><code>K</code> - Camera intrinsic matrix \(cameramatrix{K}\).</dd>
- <dd><code>D</code> - Input vector of distortion coefficients \(\distcoeffsfisheye\).</dd>
- <dd><code>Knew</code> - Camera intrinsic matrix of the distorted image. By default, it is the identity matrix but you
- may additionally scale and shift the result by using a different matrix.
- The function transforms an image to compensate radial and tangential lens distortion.
- The function is simply a combination of #fisheye::initUndistortRectifyMap (with unity R ) and #remap
- (with bilinear interpolation). See the former function for details of the transformation being
- performed.
- See below the results of undistortImage.
- <ul>
- <li>
- a\) result of undistort of perspective camera model (all possible coefficients (k_1, k_2, k_3,
- k_4, k_5, k_6) of distortion were optimized under calibration)
- <ul>
- <li>
- b\) result of #fisheye::undistortImage of fisheye camera model (all possible coefficients (k_1, k_2,
- k_3, k_4) of fisheye distortion were optimized under calibration)
- </li>
- <li>
- c\) original image was captured with fisheye lens
- </li>
- </ul>
- Pictures a) and b) almost the same. But if we consider points of image located far from the center
- of image, we can notice that on image a) these points are distorted.
- </li>
- </ul>
- </dd>
- </dl>
- </li>
- </ul>
- <a name="fisheye_undistortImage-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-">
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- </a>
- <ul class="blockList">
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- <h4>fisheye_undistortImage</h4>
- <pre>public static void fisheye_undistortImage(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> undistorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Knew,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> new_size)</pre>
- <div class="block">Transforms an image to compensate for fisheye lens distortion.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>distorted</code> - image with fisheye lens distortion.</dd>
- <dd><code>undistorted</code> - Output image with compensated fisheye lens distortion.</dd>
- <dd><code>K</code> - Camera intrinsic matrix \(cameramatrix{K}\).</dd>
- <dd><code>D</code> - Input vector of distortion coefficients \(\distcoeffsfisheye\).</dd>
- <dd><code>Knew</code> - Camera intrinsic matrix of the distorted image. By default, it is the identity matrix but you
- may additionally scale and shift the result by using a different matrix.</dd>
- <dd><code>new_size</code> - the new size
- The function transforms an image to compensate radial and tangential lens distortion.
- The function is simply a combination of #fisheye::initUndistortRectifyMap (with unity R ) and #remap
- (with bilinear interpolation). See the former function for details of the transformation being
- performed.
- See below the results of undistortImage.
- <ul>
- <li>
- a\) result of undistort of perspective camera model (all possible coefficients (k_1, k_2, k_3,
- k_4, k_5, k_6) of distortion were optimized under calibration)
- <ul>
- <li>
- b\) result of #fisheye::undistortImage of fisheye camera model (all possible coefficients (k_1, k_2,
- k_3, k_4) of fisheye distortion were optimized under calibration)
- </li>
- <li>
- c\) original image was captured with fisheye lens
- </li>
- </ul>
- Pictures a) and b) almost the same. But if we consider points of image located far from the center
- of image, we can notice that on image a) these points are distorted.
- </li>
- </ul>
- </dd>
- </dl>
- </li>
- </ul>
- <a name="fisheye_undistortPoints-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>fisheye_undistortPoints</h4>
- <pre>public static void fisheye_undistortPoints(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> undistorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D)</pre>
- <div class="block">Undistorts 2D points using fisheye model</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>distorted</code> - Array of object points, 1xN/Nx1 2-channel (or vector<Point2f> ), where N is the
- number of points in the view.</dd>
- <dd><code>K</code> - Camera intrinsic matrix \(cameramatrix{K}\).</dd>
- <dd><code>D</code> - Input vector of distortion coefficients \(\distcoeffsfisheye\).
- 1-channel or 1x1 3-channel</dd>
- <dd><code>undistorted</code> - Output array of image points, 1xN/Nx1 2-channel, or vector<Point2f> .</dd>
- </dl>
- </li>
- </ul>
- <a name="fisheye_undistortPoints-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>fisheye_undistortPoints</h4>
- <pre>public static void fisheye_undistortPoints(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> undistorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R)</pre>
- <div class="block">Undistorts 2D points using fisheye model</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>distorted</code> - Array of object points, 1xN/Nx1 2-channel (or vector<Point2f> ), where N is the
- number of points in the view.</dd>
- <dd><code>K</code> - Camera intrinsic matrix \(cameramatrix{K}\).</dd>
- <dd><code>D</code> - Input vector of distortion coefficients \(\distcoeffsfisheye\).</dd>
- <dd><code>R</code> - Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3
- 1-channel or 1x1 3-channel</dd>
- <dd><code>undistorted</code> - Output array of image points, 1xN/Nx1 2-channel, or vector<Point2f> .</dd>
- </dl>
- </li>
- </ul>
- <a name="fisheye_undistortPoints-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>fisheye_undistortPoints</h4>
- <pre>public static void fisheye_undistortPoints(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> undistorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P)</pre>
- <div class="block">Undistorts 2D points using fisheye model</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>distorted</code> - Array of object points, 1xN/Nx1 2-channel (or vector<Point2f> ), where N is the
- number of points in the view.</dd>
- <dd><code>K</code> - Camera intrinsic matrix \(cameramatrix{K}\).</dd>
- <dd><code>D</code> - Input vector of distortion coefficients \(\distcoeffsfisheye\).</dd>
- <dd><code>R</code> - Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3
- 1-channel or 1x1 3-channel</dd>
- <dd><code>P</code> - New camera intrinsic matrix (3x3) or new projection matrix (3x4)</dd>
- <dd><code>undistorted</code> - Output array of image points, 1xN/Nx1 2-channel, or vector<Point2f> .</dd>
- </dl>
- </li>
- </ul>
- <a name="fisheye_undistortPoints-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.TermCriteria-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>fisheye_undistortPoints</h4>
- <pre>public static void fisheye_undistortPoints(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> undistorted,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> K,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> D,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P,
- <a href="../../../org/opencv/core/TermCriteria.html" title="class in org.opencv.core">TermCriteria</a> criteria)</pre>
- <div class="block">Undistorts 2D points using fisheye model</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>distorted</code> - Array of object points, 1xN/Nx1 2-channel (or vector<Point2f> ), where N is the
- number of points in the view.</dd>
- <dd><code>K</code> - Camera intrinsic matrix \(cameramatrix{K}\).</dd>
- <dd><code>D</code> - Input vector of distortion coefficients \(\distcoeffsfisheye\).</dd>
- <dd><code>R</code> - Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3
- 1-channel or 1x1 3-channel</dd>
- <dd><code>P</code> - New camera intrinsic matrix (3x3) or new projection matrix (3x4)</dd>
- <dd><code>criteria</code> - Termination criteria</dd>
- <dd><code>undistorted</code> - Output array of image points, 1xN/Nx1 2-channel, or vector<Point2f> .</dd>
- </dl>
- </li>
- </ul>
- <a name="getDefaultNewCameraMatrix-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>getDefaultNewCameraMatrix</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> getDefaultNewCameraMatrix(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix)</pre>
- <div class="block">Returns the default new camera matrix.
- The function returns the camera matrix that is either an exact copy of the input cameraMatrix (when
- centerPrinicipalPoint=false ), or the modified one (when centerPrincipalPoint=true).
- In the latter case, the new camera matrix will be:
- \(\begin{bmatrix} f_x && 0 && ( \texttt{imgSize.width} -1)*0.5 \\ 0 && f_y && ( \texttt{imgSize.height} -1)*0.5 \\ 0 && 0 && 1 \end{bmatrix} ,\)
- where \(f_x\) and \(f_y\) are \((0,0)\) and \((1,1)\) elements of cameraMatrix, respectively.
- By default, the undistortion functions in OpenCV (see #initUndistortRectifyMap, #undistort) do not
- move the principal point. However, when you work with stereo, it is important to move the principal
- points in both views to the same y-coordinate (which is required by most of stereo correspondence
- algorithms), and may be to the same x-coordinate too. So, you can form the new camera matrix for
- each view where the principal points are located at the center.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>cameraMatrix</code> - Input camera matrix.
- parameter indicates whether this location should be at the image center or not.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="getDefaultNewCameraMatrix-org.opencv.core.Mat-org.opencv.core.Size-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>getDefaultNewCameraMatrix</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> getDefaultNewCameraMatrix(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imgsize)</pre>
- <div class="block">Returns the default new camera matrix.
- The function returns the camera matrix that is either an exact copy of the input cameraMatrix (when
- centerPrinicipalPoint=false ), or the modified one (when centerPrincipalPoint=true).
- In the latter case, the new camera matrix will be:
- \(\begin{bmatrix} f_x && 0 && ( \texttt{imgSize.width} -1)*0.5 \\ 0 && f_y && ( \texttt{imgSize.height} -1)*0.5 \\ 0 && 0 && 1 \end{bmatrix} ,\)
- where \(f_x\) and \(f_y\) are \((0,0)\) and \((1,1)\) elements of cameraMatrix, respectively.
- By default, the undistortion functions in OpenCV (see #initUndistortRectifyMap, #undistort) do not
- move the principal point. However, when you work with stereo, it is important to move the principal
- points in both views to the same y-coordinate (which is required by most of stereo correspondence
- algorithms), and may be to the same x-coordinate too. So, you can form the new camera matrix for
- each view where the principal points are located at the center.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>cameraMatrix</code> - Input camera matrix.</dd>
- <dd><code>imgsize</code> - Camera view image size in pixels.
- parameter indicates whether this location should be at the image center or not.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="getDefaultNewCameraMatrix-org.opencv.core.Mat-org.opencv.core.Size-boolean-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>getDefaultNewCameraMatrix</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> getDefaultNewCameraMatrix(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imgsize,
- boolean centerPrincipalPoint)</pre>
- <div class="block">Returns the default new camera matrix.
- The function returns the camera matrix that is either an exact copy of the input cameraMatrix (when
- centerPrinicipalPoint=false ), or the modified one (when centerPrincipalPoint=true).
- In the latter case, the new camera matrix will be:
- \(\begin{bmatrix} f_x && 0 && ( \texttt{imgSize.width} -1)*0.5 \\ 0 && f_y && ( \texttt{imgSize.height} -1)*0.5 \\ 0 && 0 && 1 \end{bmatrix} ,\)
- where \(f_x\) and \(f_y\) are \((0,0)\) and \((1,1)\) elements of cameraMatrix, respectively.
- By default, the undistortion functions in OpenCV (see #initUndistortRectifyMap, #undistort) do not
- move the principal point. However, when you work with stereo, it is important to move the principal
- points in both views to the same y-coordinate (which is required by most of stereo correspondence
- algorithms), and may be to the same x-coordinate too. So, you can form the new camera matrix for
- each view where the principal points are located at the center.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>cameraMatrix</code> - Input camera matrix.</dd>
- <dd><code>imgsize</code> - Camera view image size in pixels.</dd>
- <dd><code>centerPrincipalPoint</code> - Location of the principal point in the new camera matrix. The
- parameter indicates whether this location should be at the image center or not.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="getOptimalNewCameraMatrix-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-double-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>getOptimalNewCameraMatrix</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> getOptimalNewCameraMatrix(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- double alpha)</pre>
- <div class="block">Returns the new camera intrinsic matrix based on the free scaling parameter.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>cameraMatrix</code> - Input camera intrinsic matrix.</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are
- assumed.</dd>
- <dd><code>imageSize</code> - Original image size.</dd>
- <dd><code>alpha</code> - Free scaling parameter between 0 (when all the pixels in the undistorted image are
- valid) and 1 (when all the source image pixels are retained in the undistorted image). See
- #stereoRectify for details.
- undistorted image. See roi1, roi2 description in #stereoRectify .
- principal point should be at the image center or not. By default, the principal point is chosen to
- best fit a subset of the source image (determined by alpha) to the corrected image.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>new_camera_matrix Output new camera intrinsic matrix.
- The function computes and returns the optimal new camera intrinsic matrix based on the free scaling parameter.
- By varying this parameter, you may retrieve only sensible pixels alpha=0 , keep all the original
- image pixels if there is valuable information in the corners alpha=1 , or get something in between.
- When alpha>0 , the undistorted result is likely to have some black pixels corresponding to
- "virtual" pixels outside of the captured distorted image. The original camera intrinsic matrix, distortion
- coefficients, the computed new camera intrinsic matrix, and newImageSize should be passed to
- #initUndistortRectifyMap to produce the maps for #remap .</dd>
- </dl>
- </li>
- </ul>
- <a name="getOptimalNewCameraMatrix-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-double-org.opencv.core.Size-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>getOptimalNewCameraMatrix</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> getOptimalNewCameraMatrix(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- double alpha,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> newImgSize)</pre>
- <div class="block">Returns the new camera intrinsic matrix based on the free scaling parameter.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>cameraMatrix</code> - Input camera intrinsic matrix.</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are
- assumed.</dd>
- <dd><code>imageSize</code> - Original image size.</dd>
- <dd><code>alpha</code> - Free scaling parameter between 0 (when all the pixels in the undistorted image are
- valid) and 1 (when all the source image pixels are retained in the undistorted image). See
- #stereoRectify for details.</dd>
- <dd><code>newImgSize</code> - Image size after rectification. By default, it is set to imageSize .
- undistorted image. See roi1, roi2 description in #stereoRectify .
- principal point should be at the image center or not. By default, the principal point is chosen to
- best fit a subset of the source image (determined by alpha) to the corrected image.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>new_camera_matrix Output new camera intrinsic matrix.
- The function computes and returns the optimal new camera intrinsic matrix based on the free scaling parameter.
- By varying this parameter, you may retrieve only sensible pixels alpha=0 , keep all the original
- image pixels if there is valuable information in the corners alpha=1 , or get something in between.
- When alpha>0 , the undistorted result is likely to have some black pixels corresponding to
- "virtual" pixels outside of the captured distorted image. The original camera intrinsic matrix, distortion
- coefficients, the computed new camera intrinsic matrix, and newImageSize should be passed to
- #initUndistortRectifyMap to produce the maps for #remap .</dd>
- </dl>
- </li>
- </ul>
- <a name="getOptimalNewCameraMatrix-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-double-org.opencv.core.Size-org.opencv.core.Rect-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>getOptimalNewCameraMatrix</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> getOptimalNewCameraMatrix(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- double alpha,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> newImgSize,
- <a href="../../../org/opencv/core/Rect.html" title="class in org.opencv.core">Rect</a> validPixROI)</pre>
- <div class="block">Returns the new camera intrinsic matrix based on the free scaling parameter.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>cameraMatrix</code> - Input camera intrinsic matrix.</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are
- assumed.</dd>
- <dd><code>imageSize</code> - Original image size.</dd>
- <dd><code>alpha</code> - Free scaling parameter between 0 (when all the pixels in the undistorted image are
- valid) and 1 (when all the source image pixels are retained in the undistorted image). See
- #stereoRectify for details.</dd>
- <dd><code>newImgSize</code> - Image size after rectification. By default, it is set to imageSize .</dd>
- <dd><code>validPixROI</code> - Optional output rectangle that outlines all-good-pixels region in the
- undistorted image. See roi1, roi2 description in #stereoRectify .
- principal point should be at the image center or not. By default, the principal point is chosen to
- best fit a subset of the source image (determined by alpha) to the corrected image.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>new_camera_matrix Output new camera intrinsic matrix.
- The function computes and returns the optimal new camera intrinsic matrix based on the free scaling parameter.
- By varying this parameter, you may retrieve only sensible pixels alpha=0 , keep all the original
- image pixels if there is valuable information in the corners alpha=1 , or get something in between.
- When alpha>0 , the undistorted result is likely to have some black pixels corresponding to
- "virtual" pixels outside of the captured distorted image. The original camera intrinsic matrix, distortion
- coefficients, the computed new camera intrinsic matrix, and newImageSize should be passed to
- #initUndistortRectifyMap to produce the maps for #remap .</dd>
- </dl>
- </li>
- </ul>
- <a name="getOptimalNewCameraMatrix-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-double-org.opencv.core.Size-org.opencv.core.Rect-boolean-">
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- <h4>getOptimalNewCameraMatrix</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> getOptimalNewCameraMatrix(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- double alpha,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> newImgSize,
- <a href="../../../org/opencv/core/Rect.html" title="class in org.opencv.core">Rect</a> validPixROI,
- boolean centerPrincipalPoint)</pre>
- <div class="block">Returns the new camera intrinsic matrix based on the free scaling parameter.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>cameraMatrix</code> - Input camera intrinsic matrix.</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are
- assumed.</dd>
- <dd><code>imageSize</code> - Original image size.</dd>
- <dd><code>alpha</code> - Free scaling parameter between 0 (when all the pixels in the undistorted image are
- valid) and 1 (when all the source image pixels are retained in the undistorted image). See
- #stereoRectify for details.</dd>
- <dd><code>newImgSize</code> - Image size after rectification. By default, it is set to imageSize .</dd>
- <dd><code>validPixROI</code> - Optional output rectangle that outlines all-good-pixels region in the
- undistorted image. See roi1, roi2 description in #stereoRectify .</dd>
- <dd><code>centerPrincipalPoint</code> - Optional flag that indicates whether in the new camera intrinsic matrix the
- principal point should be at the image center or not. By default, the principal point is chosen to
- best fit a subset of the source image (determined by alpha) to the corrected image.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>new_camera_matrix Output new camera intrinsic matrix.
- The function computes and returns the optimal new camera intrinsic matrix based on the free scaling parameter.
- By varying this parameter, you may retrieve only sensible pixels alpha=0 , keep all the original
- image pixels if there is valuable information in the corners alpha=1 , or get something in between.
- When alpha>0 , the undistorted result is likely to have some black pixels corresponding to
- "virtual" pixels outside of the captured distorted image. The original camera intrinsic matrix, distortion
- coefficients, the computed new camera intrinsic matrix, and newImageSize should be passed to
- #initUndistortRectifyMap to produce the maps for #remap .</dd>
- </dl>
- </li>
- </ul>
- <a name="getValidDisparityROI-org.opencv.core.Rect-org.opencv.core.Rect-int-int-int-">
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- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>getValidDisparityROI</h4>
- <pre>public static <a href="../../../org/opencv/core/Rect.html" title="class in org.opencv.core">Rect</a> getValidDisparityROI(<a href="../../../org/opencv/core/Rect.html" title="class in org.opencv.core">Rect</a> roi1,
- <a href="../../../org/opencv/core/Rect.html" title="class in org.opencv.core">Rect</a> roi2,
- int minDisparity,
- int numberOfDisparities,
- int blockSize)</pre>
- </li>
- </ul>
- <a name="initCameraMatrix2D-java.util.List-java.util.List-org.opencv.core.Size-">
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- </a>
- <ul class="blockList">
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- <h4>initCameraMatrix2D</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> initCameraMatrix2D(java.util.List<<a href="../../../org/opencv/core/MatOfPoint3f.html" title="class in org.opencv.core">MatOfPoint3f</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize)</pre>
- <div class="block">Finds an initial camera intrinsic matrix from 3D-2D point correspondences.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Vector of vectors of the calibration pattern points in the calibration pattern
- coordinate space. In the old interface all the per-view vectors are concatenated. See
- #calibrateCamera for details.</dd>
- <dd><code>imagePoints</code> - Vector of vectors of the projections of the calibration pattern points. In the
- old interface all the per-view vectors are concatenated.</dd>
- <dd><code>imageSize</code> - Image size in pixels used to initialize the principal point.
- Otherwise, \(f_x = f_y \cdot \texttt{aspectRatio}\) .
- The function estimates and returns an initial camera intrinsic matrix for the camera calibration process.
- Currently, the function only supports planar calibration patterns, which are patterns where each
- object point has z-coordinate =0.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="initCameraMatrix2D-java.util.List-java.util.List-org.opencv.core.Size-double-">
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- <h4>initCameraMatrix2D</h4>
- <pre>public static <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> initCameraMatrix2D(java.util.List<<a href="../../../org/opencv/core/MatOfPoint3f.html" title="class in org.opencv.core">MatOfPoint3f</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a>> imagePoints,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- double aspectRatio)</pre>
- <div class="block">Finds an initial camera intrinsic matrix from 3D-2D point correspondences.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Vector of vectors of the calibration pattern points in the calibration pattern
- coordinate space. In the old interface all the per-view vectors are concatenated. See
- #calibrateCamera for details.</dd>
- <dd><code>imagePoints</code> - Vector of vectors of the projections of the calibration pattern points. In the
- old interface all the per-view vectors are concatenated.</dd>
- <dd><code>imageSize</code> - Image size in pixels used to initialize the principal point.</dd>
- <dd><code>aspectRatio</code> - If it is zero or negative, both \(f_x\) and \(f_y\) are estimated independently.
- Otherwise, \(f_x = f_y \cdot \texttt{aspectRatio}\) .
- The function estimates and returns an initial camera intrinsic matrix for the camera calibration process.
- Currently, the function only supports planar calibration patterns, which are patterns where each
- object point has z-coordinate =0.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="initInverseRectificationMap-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-int-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <h4>initInverseRectificationMap</h4>
- <pre>public static void initInverseRectificationMap(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> newCameraMatrix,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> size,
- int m1type,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> map1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> map2)</pre>
- <div class="block">Computes the projection and inverse-rectification transformation map. In essense, this is the inverse of
- #initUndistortRectifyMap to accomodate stereo-rectification of projectors ('inverse-cameras') in projector-camera pairs.
- The function computes the joint projection and inverse rectification transformation and represents the
- result in the form of maps for #remap. The projected image looks like a distorted version of the original which,
- once projected by a projector, should visually match the original. In case of a monocular camera, newCameraMatrix
- is usually equal to cameraMatrix, or it can be computed by
- #getOptimalNewCameraMatrix for a better control over scaling. In case of a projector-camera pair,
- newCameraMatrix is normally set to P1 or P2 computed by #stereoRectify .
- The projector is oriented differently in the coordinate space, according to R. In case of projector-camera pairs,
- this helps align the projector (in the same manner as #initUndistortRectifyMap for the camera) to create a stereo-rectified pair. This
- allows epipolar lines on both images to become horizontal and have the same y-coordinate (in case of a horizontally aligned projector-camera pair).
- The function builds the maps for the inverse mapping algorithm that is used by #remap. That
- is, for each pixel \((u, v)\) in the destination (projected and inverse-rectified) image, the function
- computes the corresponding coordinates in the source image (that is, in the original digital image). The following process is applied:
- \(
- \begin{array}{l}
- \text{newCameraMatrix}\\
- x \leftarrow (u - {c'}_x)/{f'}_x \\
- y \leftarrow (v - {c'}_y)/{f'}_y \\
- \\\text{Undistortion}
- \\\scriptsize{\textit{though equation shown is for radial undistortion, function implements cv::undistortPoints()}}\\
- r^2 \leftarrow x^2 + y^2 \\
- \theta \leftarrow \frac{1 + k_1 r^2 + k_2 r^4 + k_3 r^6}{1 + k_4 r^2 + k_5 r^4 + k_6 r^6}\\
- x' \leftarrow \frac{x}{\theta} \\
- y' \leftarrow \frac{y}{\theta} \\
- \\\text{Rectification}\\
- {[X\,Y\,W]} ^T \leftarrow R*[x' \, y' \, 1]^T \\
- x'' \leftarrow X/W \\
- y'' \leftarrow Y/W \\
- \\\text{cameraMatrix}\\
- map_x(u,v) \leftarrow x'' f_x + c_x \\
- map_y(u,v) \leftarrow y'' f_y + c_y
- \end{array}
- \)
- where \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\)
- are the distortion coefficients vector distCoeffs.
- In case of a stereo-rectified projector-camera pair, this function is called for the projector while #initUndistortRectifyMap is called for the camera head.
- This is done after #stereoRectify, which in turn is called after #stereoCalibrate. If the projector-camera pair
- is not calibrated, it is still possible to compute the rectification transformations directly from
- the fundamental matrix using #stereoRectifyUncalibrated. For the projector and camera, the function computes
- homography H as the rectification transformation in a pixel domain, not a rotation matrix R in 3D
- space. R can be computed from H as
- \(\texttt{R} = \texttt{cameraMatrix} ^{-1} \cdot \texttt{H} \cdot \texttt{cameraMatrix}\)
- where cameraMatrix can be chosen arbitrarily.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>cameraMatrix</code> - Input camera matrix \(A=\vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\)
- of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.</dd>
- <dd><code>R</code> - Optional rectification transformation in the object space (3x3 matrix). R1 or R2,
- computed by #stereoRectify can be passed here. If the matrix is empty, the identity transformation
- is assumed.</dd>
- <dd><code>newCameraMatrix</code> - New camera matrix \(A'=\vecthreethree{f_x'}{0}{c_x'}{0}{f_y'}{c_y'}{0}{0}{1}\).</dd>
- <dd><code>size</code> - Distorted image size.</dd>
- <dd><code>m1type</code> - Type of the first output map. Can be CV_32FC1, CV_32FC2 or CV_16SC2, see #convertMaps</dd>
- <dd><code>map1</code> - The first output map for #remap.</dd>
- <dd><code>map2</code> - The second output map for #remap.</dd>
- </dl>
- </li>
- </ul>
- <a name="initUndistortRectifyMap-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-int-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <h4>initUndistortRectifyMap</h4>
- <pre>public static void initUndistortRectifyMap(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> newCameraMatrix,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> size,
- int m1type,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> map1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> map2)</pre>
- <div class="block">Computes the undistortion and rectification transformation map.
- The function computes the joint undistortion and rectification transformation and represents the
- result in the form of maps for #remap. The undistorted image looks like original, as if it is
- captured with a camera using the camera matrix =newCameraMatrix and zero distortion. In case of a
- monocular camera, newCameraMatrix is usually equal to cameraMatrix, or it can be computed by
- #getOptimalNewCameraMatrix for a better control over scaling. In case of a stereo camera,
- newCameraMatrix is normally set to P1 or P2 computed by #stereoRectify .
- Also, this new camera is oriented differently in the coordinate space, according to R. That, for
- example, helps to align two heads of a stereo camera so that the epipolar lines on both images
- become horizontal and have the same y- coordinate (in case of a horizontally aligned stereo camera).
- The function actually builds the maps for the inverse mapping algorithm that is used by #remap. That
- is, for each pixel \((u, v)\) in the destination (corrected and rectified) image, the function
- computes the corresponding coordinates in the source image (that is, in the original image from
- camera). The following process is applied:
- \(
- \begin{array}{l}
- x \leftarrow (u - {c'}_x)/{f'}_x \\
- y \leftarrow (v - {c'}_y)/{f'}_y \\
- {[X\,Y\,W]} ^T \leftarrow R^{-1}*[x \, y \, 1]^T \\
- x' \leftarrow X/W \\
- y' \leftarrow Y/W \\
- r^2 \leftarrow x'^2 + y'^2 \\
- x'' \leftarrow x' \frac{1 + k_1 r^2 + k_2 r^4 + k_3 r^6}{1 + k_4 r^2 + k_5 r^4 + k_6 r^6}
- + 2p_1 x' y' + p_2(r^2 + 2 x'^2) + s_1 r^2 + s_2 r^4\\
- y'' \leftarrow y' \frac{1 + k_1 r^2 + k_2 r^4 + k_3 r^6}{1 + k_4 r^2 + k_5 r^4 + k_6 r^6}
- + p_1 (r^2 + 2 y'^2) + 2 p_2 x' y' + s_3 r^2 + s_4 r^4 \\
- s\vecthree{x'''}{y'''}{1} =
- \vecthreethree{R_{33}(\tau_x, \tau_y)}{0}{-R_{13}((\tau_x, \tau_y)}
- {0}{R_{33}(\tau_x, \tau_y)}{-R_{23}(\tau_x, \tau_y)}
- {0}{0}{1} R(\tau_x, \tau_y) \vecthree{x''}{y''}{1}\\
- map_x(u,v) \leftarrow x''' f_x + c_x \\
- map_y(u,v) \leftarrow y''' f_y + c_y
- \end{array}
- \)
- where \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\)
- are the distortion coefficients.
- In case of a stereo camera, this function is called twice: once for each camera head, after
- #stereoRectify, which in its turn is called after #stereoCalibrate. But if the stereo camera
- was not calibrated, it is still possible to compute the rectification transformations directly from
- the fundamental matrix using #stereoRectifyUncalibrated. For each camera, the function computes
- homography H as the rectification transformation in a pixel domain, not a rotation matrix R in 3D
- space. R can be computed from H as
- \(\texttt{R} = \texttt{cameraMatrix} ^{-1} \cdot \texttt{H} \cdot \texttt{cameraMatrix}\)
- where cameraMatrix can be chosen arbitrarily.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>cameraMatrix</code> - Input camera matrix \(A=\vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\)
- of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.</dd>
- <dd><code>R</code> - Optional rectification transformation in the object space (3x3 matrix). R1 or R2 ,
- computed by #stereoRectify can be passed here. If the matrix is empty, the identity transformation
- is assumed. In #initUndistortRectifyMap R assumed to be an identity matrix.</dd>
- <dd><code>newCameraMatrix</code> - New camera matrix \(A'=\vecthreethree{f_x'}{0}{c_x'}{0}{f_y'}{c_y'}{0}{0}{1}\).</dd>
- <dd><code>size</code> - Undistorted image size.</dd>
- <dd><code>m1type</code> - Type of the first output map that can be CV_32FC1, CV_32FC2 or CV_16SC2, see #convertMaps</dd>
- <dd><code>map1</code> - The first output map.</dd>
- <dd><code>map2</code> - The second output map.</dd>
- </dl>
- </li>
- </ul>
- <a name="matMulDeriv-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
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- <h4>matMulDeriv</h4>
- <pre>public static void matMulDeriv(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> A,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> B,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dABdA,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dABdB)</pre>
- <div class="block">Computes partial derivatives of the matrix product for each multiplied matrix.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>A</code> - First multiplied matrix.</dd>
- <dd><code>B</code> - Second multiplied matrix.</dd>
- <dd><code>dABdA</code> - First output derivative matrix d(A\*B)/dA of size
- \(\texttt{A.rows*B.cols} \times {A.rows*A.cols}\) .</dd>
- <dd><code>dABdB</code> - Second output derivative matrix d(A\*B)/dB of size
- \(\texttt{A.rows*B.cols} \times {B.rows*B.cols}\) .
- The function computes partial derivatives of the elements of the matrix product \(A*B\) with regard to
- the elements of each of the two input matrices. The function is used to compute the Jacobian
- matrices in #stereoCalibrate but can also be used in any other similar optimization function.</dd>
- </dl>
- </li>
- </ul>
- <a name="projectPoints-org.opencv.core.MatOfPoint3f-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.MatOfDouble-org.opencv.core.MatOfPoint2f-">
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- <h4>projectPoints</h4>
- <pre>public static void projectPoints(<a href="../../../org/opencv/core/MatOfPoint3f.html" title="class in org.opencv.core">MatOfPoint3f</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/MatOfDouble.html" title="class in org.opencv.core">MatOfDouble</a> distCoeffs,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> imagePoints)</pre>
- <div class="block">Projects 3D points to an image plane.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Array of object points expressed wrt. the world coordinate frame. A 3xN/Nx3
- 1-channel or 1xN/Nx1 3-channel (or vector<Point3f> ), where N is the number of points in the view.</dd>
- <dd><code>rvec</code> - The rotation vector (REF: Rodrigues) that, together with tvec, performs a change of
- basis from world to camera coordinate system, see REF: calibrateCamera for details.</dd>
- <dd><code>tvec</code> - The translation vector, see parameter description above.</dd>
- <dd><code>cameraMatrix</code> - Camera intrinsic matrix \(\cameramatrix{A}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\) . If the vector is empty, the zero distortion coefficients are assumed.</dd>
- <dd><code>imagePoints</code> - Output array of image points, 1xN/Nx1 2-channel, or
- vector<Point2f> .
- points with respect to components of the rotation vector, translation vector, focal lengths,
- coordinates of the principal point and the distortion coefficients. In the old interface different
- components of the jacobian are returned via different output parameters.
- function assumes that the aspect ratio (\(f_x / f_y\)) is fixed and correspondingly adjusts the
- jacobian matrix.
- The function computes the 2D projections of 3D points to the image plane, given intrinsic and
- extrinsic camera parameters. Optionally, the function computes Jacobians -matrices of partial
- derivatives of image points coordinates (as functions of all the input parameters) with respect to
- the particular parameters, intrinsic and/or extrinsic. The Jacobians are used during the global
- optimization in REF: calibrateCamera, REF: solvePnP, and REF: stereoCalibrate. The function itself
- can also be used to compute a re-projection error, given the current intrinsic and extrinsic
- parameters.
- <b>Note:</b> By setting rvec = tvec = \([0, 0, 0]\), or by setting cameraMatrix to a 3x3 identity matrix,
- or by passing zero distortion coefficients, one can get various useful partial cases of the
- function. This means, one can compute the distorted coordinates for a sparse set of points or apply
- a perspective transformation (and also compute the derivatives) in the ideal zero-distortion setup.</dd>
- </dl>
- </li>
- </ul>
- <a name="projectPoints-org.opencv.core.MatOfPoint3f-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.MatOfDouble-org.opencv.core.MatOfPoint2f-org.opencv.core.Mat-">
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- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>projectPoints</h4>
- <pre>public static void projectPoints(<a href="../../../org/opencv/core/MatOfPoint3f.html" title="class in org.opencv.core">MatOfPoint3f</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/MatOfDouble.html" title="class in org.opencv.core">MatOfDouble</a> distCoeffs,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> jacobian)</pre>
- <div class="block">Projects 3D points to an image plane.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Array of object points expressed wrt. the world coordinate frame. A 3xN/Nx3
- 1-channel or 1xN/Nx1 3-channel (or vector<Point3f> ), where N is the number of points in the view.</dd>
- <dd><code>rvec</code> - The rotation vector (REF: Rodrigues) that, together with tvec, performs a change of
- basis from world to camera coordinate system, see REF: calibrateCamera for details.</dd>
- <dd><code>tvec</code> - The translation vector, see parameter description above.</dd>
- <dd><code>cameraMatrix</code> - Camera intrinsic matrix \(\cameramatrix{A}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\) . If the vector is empty, the zero distortion coefficients are assumed.</dd>
- <dd><code>imagePoints</code> - Output array of image points, 1xN/Nx1 2-channel, or
- vector<Point2f> .</dd>
- <dd><code>jacobian</code> - Optional output 2Nx(10+<numDistCoeffs>) jacobian matrix of derivatives of image
- points with respect to components of the rotation vector, translation vector, focal lengths,
- coordinates of the principal point and the distortion coefficients. In the old interface different
- components of the jacobian are returned via different output parameters.
- function assumes that the aspect ratio (\(f_x / f_y\)) is fixed and correspondingly adjusts the
- jacobian matrix.
- The function computes the 2D projections of 3D points to the image plane, given intrinsic and
- extrinsic camera parameters. Optionally, the function computes Jacobians -matrices of partial
- derivatives of image points coordinates (as functions of all the input parameters) with respect to
- the particular parameters, intrinsic and/or extrinsic. The Jacobians are used during the global
- optimization in REF: calibrateCamera, REF: solvePnP, and REF: stereoCalibrate. The function itself
- can also be used to compute a re-projection error, given the current intrinsic and extrinsic
- parameters.
- <b>Note:</b> By setting rvec = tvec = \([0, 0, 0]\), or by setting cameraMatrix to a 3x3 identity matrix,
- or by passing zero distortion coefficients, one can get various useful partial cases of the
- function. This means, one can compute the distorted coordinates for a sparse set of points or apply
- a perspective transformation (and also compute the derivatives) in the ideal zero-distortion setup.</dd>
- </dl>
- </li>
- </ul>
- <a name="projectPoints-org.opencv.core.MatOfPoint3f-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.MatOfDouble-org.opencv.core.MatOfPoint2f-org.opencv.core.Mat-double-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>projectPoints</h4>
- <pre>public static void projectPoints(<a href="../../../org/opencv/core/MatOfPoint3f.html" title="class in org.opencv.core">MatOfPoint3f</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/MatOfDouble.html" title="class in org.opencv.core">MatOfDouble</a> distCoeffs,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> jacobian,
- double aspectRatio)</pre>
- <div class="block">Projects 3D points to an image plane.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Array of object points expressed wrt. the world coordinate frame. A 3xN/Nx3
- 1-channel or 1xN/Nx1 3-channel (or vector<Point3f> ), where N is the number of points in the view.</dd>
- <dd><code>rvec</code> - The rotation vector (REF: Rodrigues) that, together with tvec, performs a change of
- basis from world to camera coordinate system, see REF: calibrateCamera for details.</dd>
- <dd><code>tvec</code> - The translation vector, see parameter description above.</dd>
- <dd><code>cameraMatrix</code> - Camera intrinsic matrix \(\cameramatrix{A}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\) . If the vector is empty, the zero distortion coefficients are assumed.</dd>
- <dd><code>imagePoints</code> - Output array of image points, 1xN/Nx1 2-channel, or
- vector<Point2f> .</dd>
- <dd><code>jacobian</code> - Optional output 2Nx(10+<numDistCoeffs>) jacobian matrix of derivatives of image
- points with respect to components of the rotation vector, translation vector, focal lengths,
- coordinates of the principal point and the distortion coefficients. In the old interface different
- components of the jacobian are returned via different output parameters.</dd>
- <dd><code>aspectRatio</code> - Optional "fixed aspect ratio" parameter. If the parameter is not 0, the
- function assumes that the aspect ratio (\(f_x / f_y\)) is fixed and correspondingly adjusts the
- jacobian matrix.
- The function computes the 2D projections of 3D points to the image plane, given intrinsic and
- extrinsic camera parameters. Optionally, the function computes Jacobians -matrices of partial
- derivatives of image points coordinates (as functions of all the input parameters) with respect to
- the particular parameters, intrinsic and/or extrinsic. The Jacobians are used during the global
- optimization in REF: calibrateCamera, REF: solvePnP, and REF: stereoCalibrate. The function itself
- can also be used to compute a re-projection error, given the current intrinsic and extrinsic
- parameters.
- <b>Note:</b> By setting rvec = tvec = \([0, 0, 0]\), or by setting cameraMatrix to a 3x3 identity matrix,
- or by passing zero distortion coefficients, one can get various useful partial cases of the
- function. This means, one can compute the distorted coordinates for a sparse set of points or apply
- a perspective transformation (and also compute the derivatives) in the ideal zero-distortion setup.</dd>
- </dl>
- </li>
- </ul>
- <a name="recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>recoverPose</h4>
- <pre>public static int recoverPose(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t)</pre>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>E</code> - The input essential matrix.</dd>
- <dd><code>points1</code> - Array of N 2D points from the first image. The point coordinates should be
- floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>R</code> - Output rotation matrix. Together with the translation vector, this matrix makes up a tuple
- that performs a change of basis from the first camera's coordinate system to the second camera's
- coordinate system. Note that, in general, t can not be used for this tuple, see the parameter
- description below.</dd>
- <dd><code>t</code> - Output translation vector. This vector is obtained by REF: decomposeEssentialMat and
- therefore is only known up to scale, i.e. t is the direction of the translation vector and has unit
- length.
- are feature points from cameras with same focal length and principal point.
- inliers in points1 and points2 for the given essential matrix E. Only these inliers will be used to
- recover pose. In the output mask only inliers which pass the chirality check.
- This function differs from the one above that it computes camera intrinsic matrix from focal length and
- principal point:
- \(A =
- \begin{bmatrix}
- f & 0 & x_{pp} \\
- 0 & f & y_{pp} \\
- 0 & 0 & 1
- \end{bmatrix}\)</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-double-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>recoverPose</h4>
- <pre>public static int recoverPose(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t,
- double focal)</pre>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>E</code> - The input essential matrix.</dd>
- <dd><code>points1</code> - Array of N 2D points from the first image. The point coordinates should be
- floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>R</code> - Output rotation matrix. Together with the translation vector, this matrix makes up a tuple
- that performs a change of basis from the first camera's coordinate system to the second camera's
- coordinate system. Note that, in general, t can not be used for this tuple, see the parameter
- description below.</dd>
- <dd><code>t</code> - Output translation vector. This vector is obtained by REF: decomposeEssentialMat and
- therefore is only known up to scale, i.e. t is the direction of the translation vector and has unit
- length.</dd>
- <dd><code>focal</code> - Focal length of the camera. Note that this function assumes that points1 and points2
- are feature points from cameras with same focal length and principal point.
- inliers in points1 and points2 for the given essential matrix E. Only these inliers will be used to
- recover pose. In the output mask only inliers which pass the chirality check.
- This function differs from the one above that it computes camera intrinsic matrix from focal length and
- principal point:
- \(A =
- \begin{bmatrix}
- f & 0 & x_{pp} \\
- 0 & f & y_{pp} \\
- 0 & 0 & 1
- \end{bmatrix}\)</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Point-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>recoverPose</h4>
- <pre>public static int recoverPose(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t,
- double focal,
- <a href="../../../org/opencv/core/Point.html" title="class in org.opencv.core">Point</a> pp)</pre>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>E</code> - The input essential matrix.</dd>
- <dd><code>points1</code> - Array of N 2D points from the first image. The point coordinates should be
- floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>R</code> - Output rotation matrix. Together with the translation vector, this matrix makes up a tuple
- that performs a change of basis from the first camera's coordinate system to the second camera's
- coordinate system. Note that, in general, t can not be used for this tuple, see the parameter
- description below.</dd>
- <dd><code>t</code> - Output translation vector. This vector is obtained by REF: decomposeEssentialMat and
- therefore is only known up to scale, i.e. t is the direction of the translation vector and has unit
- length.</dd>
- <dd><code>focal</code> - Focal length of the camera. Note that this function assumes that points1 and points2
- are feature points from cameras with same focal length and principal point.</dd>
- <dd><code>pp</code> - principal point of the camera.
- inliers in points1 and points2 for the given essential matrix E. Only these inliers will be used to
- recover pose. In the output mask only inliers which pass the chirality check.
- This function differs from the one above that it computes camera intrinsic matrix from focal length and
- principal point:
- \(A =
- \begin{bmatrix}
- f & 0 & x_{pp} \\
- 0 & f & y_{pp} \\
- 0 & 0 & 1
- \end{bmatrix}\)</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Point-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>recoverPose</h4>
- <pre>public static int recoverPose(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t,
- double focal,
- <a href="../../../org/opencv/core/Point.html" title="class in org.opencv.core">Point</a> pp,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask)</pre>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>E</code> - The input essential matrix.</dd>
- <dd><code>points1</code> - Array of N 2D points from the first image. The point coordinates should be
- floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>R</code> - Output rotation matrix. Together with the translation vector, this matrix makes up a tuple
- that performs a change of basis from the first camera's coordinate system to the second camera's
- coordinate system. Note that, in general, t can not be used for this tuple, see the parameter
- description below.</dd>
- <dd><code>t</code> - Output translation vector. This vector is obtained by REF: decomposeEssentialMat and
- therefore is only known up to scale, i.e. t is the direction of the translation vector and has unit
- length.</dd>
- <dd><code>focal</code> - Focal length of the camera. Note that this function assumes that points1 and points2
- are feature points from cameras with same focal length and principal point.</dd>
- <dd><code>pp</code> - principal point of the camera.</dd>
- <dd><code>mask</code> - Input/output mask for inliers in points1 and points2. If it is not empty, then it marks
- inliers in points1 and points2 for the given essential matrix E. Only these inliers will be used to
- recover pose. In the output mask only inliers which pass the chirality check.
- This function differs from the one above that it computes camera intrinsic matrix from focal length and
- principal point:
- \(A =
- \begin{bmatrix}
- f & 0 & x_{pp} \\
- 0 & f & y_{pp} \\
- 0 & 0 & 1
- \end{bmatrix}\)</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>recoverPose</h4>
- <pre>public static int recoverPose(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t)</pre>
- <div class="block">Recovers the relative camera rotation and the translation from an estimated essential
- matrix and the corresponding points in two images, using chirality check. Returns the number of
- inliers that pass the check.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>E</code> - The input essential matrix.</dd>
- <dd><code>points1</code> - Array of N 2D points from the first image. The point coordinates should be
- floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>cameraMatrix</code> - Camera intrinsic matrix \(\cameramatrix{A}\) .
- Note that this function assumes that points1 and points2 are feature points from cameras with the
- same camera intrinsic matrix.</dd>
- <dd><code>R</code> - Output rotation matrix. Together with the translation vector, this matrix makes up a tuple
- that performs a change of basis from the first camera's coordinate system to the second camera's
- coordinate system. Note that, in general, t can not be used for this tuple, see the parameter
- described below.</dd>
- <dd><code>t</code> - Output translation vector. This vector is obtained by REF: decomposeEssentialMat and
- therefore is only known up to scale, i.e. t is the direction of the translation vector and has unit
- length.
- inliers in points1 and points2 for the given essential matrix E. Only these inliers will be used to
- recover pose. In the output mask only inliers which pass the chirality check.
- This function decomposes an essential matrix using REF: decomposeEssentialMat and then verifies
- possible pose hypotheses by doing chirality check. The chirality check means that the
- triangulated 3D points should have positive depth. Some details can be found in CITE: Nister03.
- This function can be used to process the output E and mask from REF: findEssentialMat. In this
- scenario, points1 and points2 are the same input for #findEssentialMat :
- <code>
- // Example. Estimation of fundamental matrix using the RANSAC algorithm
- int point_count = 100;
- vector<Point2f> points1(point_count);
- vector<Point2f> points2(point_count);
- // initialize the points here ...
- for( int i = 0; i < point_count; i++ )
- {
- points1[i] = ...;
- points2[i] = ...;
- }
- // cametra matrix with both focal lengths = 1, and principal point = (0, 0)
- Mat cameraMatrix = Mat::eye(3, 3, CV_64F);
- Mat E, R, t, mask;
- E = findEssentialMat(points1, points2, cameraMatrix, RANSAC, 0.999, 1.0, mask);
- recoverPose(E, points1, points2, cameraMatrix, R, t, mask);
- </code></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-double-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>recoverPose</h4>
- <pre>public static int recoverPose(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t,
- double distanceThresh)</pre>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>E</code> - The input essential matrix.</dd>
- <dd><code>points1</code> - Array of N 2D points from the first image. The point coordinates should be
- floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1.</dd>
- <dd><code>cameraMatrix</code> - Camera intrinsic matrix \(\cameramatrix{A}\) .
- Note that this function assumes that points1 and points2 are feature points from cameras with the
- same camera intrinsic matrix.</dd>
- <dd><code>R</code> - Output rotation matrix. Together with the translation vector, this matrix makes up a tuple
- that performs a change of basis from the first camera's coordinate system to the second camera's
- coordinate system. Note that, in general, t can not be used for this tuple, see the parameter
- description below.</dd>
- <dd><code>t</code> - Output translation vector. This vector is obtained by REF: decomposeEssentialMat and
- therefore is only known up to scale, i.e. t is the direction of the translation vector and has unit
- length.</dd>
- <dd><code>distanceThresh</code> - threshold distance which is used to filter out far away points (i.e. infinite
- points).
- inliers in points1 and points2 for the given essential matrix E. Only these inliers will be used to
- recover pose. In the output mask only inliers which pass the chirality check.
- This function differs from the one above that it outputs the triangulated 3D point that are used for
- the chirality check.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>recoverPose</h4>
- <pre>public static int recoverPose(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t,
- double distanceThresh,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask)</pre>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>E</code> - The input essential matrix.</dd>
- <dd><code>points1</code> - Array of N 2D points from the first image. The point coordinates should be
- floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1.</dd>
- <dd><code>cameraMatrix</code> - Camera intrinsic matrix \(\cameramatrix{A}\) .
- Note that this function assumes that points1 and points2 are feature points from cameras with the
- same camera intrinsic matrix.</dd>
- <dd><code>R</code> - Output rotation matrix. Together with the translation vector, this matrix makes up a tuple
- that performs a change of basis from the first camera's coordinate system to the second camera's
- coordinate system. Note that, in general, t can not be used for this tuple, see the parameter
- description below.</dd>
- <dd><code>t</code> - Output translation vector. This vector is obtained by REF: decomposeEssentialMat and
- therefore is only known up to scale, i.e. t is the direction of the translation vector and has unit
- length.</dd>
- <dd><code>distanceThresh</code> - threshold distance which is used to filter out far away points (i.e. infinite
- points).</dd>
- <dd><code>mask</code> - Input/output mask for inliers in points1 and points2. If it is not empty, then it marks
- inliers in points1 and points2 for the given essential matrix E. Only these inliers will be used to
- recover pose. In the output mask only inliers which pass the chirality check.
- This function differs from the one above that it outputs the triangulated 3D point that are used for
- the chirality check.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>recoverPose</h4>
- <pre>public static int recoverPose(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t,
- double distanceThresh,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> triangulatedPoints)</pre>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>E</code> - The input essential matrix.</dd>
- <dd><code>points1</code> - Array of N 2D points from the first image. The point coordinates should be
- floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1.</dd>
- <dd><code>cameraMatrix</code> - Camera intrinsic matrix \(\cameramatrix{A}\) .
- Note that this function assumes that points1 and points2 are feature points from cameras with the
- same camera intrinsic matrix.</dd>
- <dd><code>R</code> - Output rotation matrix. Together with the translation vector, this matrix makes up a tuple
- that performs a change of basis from the first camera's coordinate system to the second camera's
- coordinate system. Note that, in general, t can not be used for this tuple, see the parameter
- description below.</dd>
- <dd><code>t</code> - Output translation vector. This vector is obtained by REF: decomposeEssentialMat and
- therefore is only known up to scale, i.e. t is the direction of the translation vector and has unit
- length.</dd>
- <dd><code>distanceThresh</code> - threshold distance which is used to filter out far away points (i.e. infinite
- points).</dd>
- <dd><code>mask</code> - Input/output mask for inliers in points1 and points2. If it is not empty, then it marks
- inliers in points1 and points2 for the given essential matrix E. Only these inliers will be used to
- recover pose. In the output mask only inliers which pass the chirality check.</dd>
- <dd><code>triangulatedPoints</code> - 3D points which were reconstructed by triangulation.
- This function differs from the one above that it outputs the triangulated 3D point that are used for
- the chirality check.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>recoverPose</h4>
- <pre>public static int recoverPose(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask)</pre>
- <div class="block">Recovers the relative camera rotation and the translation from an estimated essential
- matrix and the corresponding points in two images, using chirality check. Returns the number of
- inliers that pass the check.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>E</code> - The input essential matrix.</dd>
- <dd><code>points1</code> - Array of N 2D points from the first image. The point coordinates should be
- floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>cameraMatrix</code> - Camera intrinsic matrix \(\cameramatrix{A}\) .
- Note that this function assumes that points1 and points2 are feature points from cameras with the
- same camera intrinsic matrix.</dd>
- <dd><code>R</code> - Output rotation matrix. Together with the translation vector, this matrix makes up a tuple
- that performs a change of basis from the first camera's coordinate system to the second camera's
- coordinate system. Note that, in general, t can not be used for this tuple, see the parameter
- described below.</dd>
- <dd><code>t</code> - Output translation vector. This vector is obtained by REF: decomposeEssentialMat and
- therefore is only known up to scale, i.e. t is the direction of the translation vector and has unit
- length.</dd>
- <dd><code>mask</code> - Input/output mask for inliers in points1 and points2. If it is not empty, then it marks
- inliers in points1 and points2 for the given essential matrix E. Only these inliers will be used to
- recover pose. In the output mask only inliers which pass the chirality check.
- This function decomposes an essential matrix using REF: decomposeEssentialMat and then verifies
- possible pose hypotheses by doing chirality check. The chirality check means that the
- triangulated 3D points should have positive depth. Some details can be found in CITE: Nister03.
- This function can be used to process the output E and mask from REF: findEssentialMat. In this
- scenario, points1 and points2 are the same input for #findEssentialMat :
- <code>
- // Example. Estimation of fundamental matrix using the RANSAC algorithm
- int point_count = 100;
- vector<Point2f> points1(point_count);
- vector<Point2f> points2(point_count);
- // initialize the points here ...
- for( int i = 0; i < point_count; i++ )
- {
- points1[i] = ...;
- points2[i] = ...;
- }
- // cametra matrix with both focal lengths = 1, and principal point = (0, 0)
- Mat cameraMatrix = Mat::eye(3, 3, CV_64F);
- Mat E, R, t, mask;
- E = findEssentialMat(points1, points2, cameraMatrix, RANSAC, 0.999, 1.0, mask);
- recoverPose(E, points1, points2, cameraMatrix, R, t, mask);
- </code></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>recoverPose</h4>
- <pre>public static int recoverPose(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t)</pre>
- <div class="block">Recovers the relative camera rotation and the translation from corresponding points in two images from two different cameras, using cheirality check. Returns the number of
- inliers that pass the check.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of N 2D points from the first image. The point coordinates should be
- floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>cameraMatrix1</code> - Input/output camera matrix for the first camera, the same as in
- REF: calibrateCamera. Furthermore, for the stereo case, additional flags may be used, see below.</dd>
- <dd><code>distCoeffs1</code> - Input/output vector of distortion coefficients, the same as in
- REF: calibrateCamera.</dd>
- <dd><code>cameraMatrix2</code> - Input/output camera matrix for the first camera, the same as in
- REF: calibrateCamera. Furthermore, for the stereo case, additional flags may be used, see below.</dd>
- <dd><code>distCoeffs2</code> - Input/output vector of distortion coefficients, the same as in
- REF: calibrateCamera.</dd>
- <dd><code>E</code> - The output essential matrix.</dd>
- <dd><code>R</code> - Output rotation matrix. Together with the translation vector, this matrix makes up a tuple
- that performs a change of basis from the first camera's coordinate system to the second camera's
- coordinate system. Note that, in general, t can not be used for this tuple, see the parameter
- described below.</dd>
- <dd><code>t</code> - Output translation vector. This vector is obtained by REF: decomposeEssentialMat and
- therefore is only known up to scale, i.e. t is the direction of the translation vector and has unit
- length.
- <ul>
- <li>
- REF: RANSAC for the RANSAC algorithm.
- </li>
- <li>
- REF: LMEDS for the LMedS algorithm.
- </li>
- </ul>
- confidence (probability) that the estimated matrix is correct.
- line in pixels, beyond which the point is considered an outlier and is not used for computing the
- final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
- point localization, image resolution, and the image noise.
- inliers in points1 and points2 for then given essential matrix E. Only these inliers will be used to
- recover pose. In the output mask only inliers which pass the cheirality check.
- This function decomposes an essential matrix using REF: decomposeEssentialMat and then verifies
- possible pose hypotheses by doing cheirality check. The cheirality check means that the
- triangulated 3D points should have positive depth. Some details can be found in CITE: Nister03.
- This function can be used to process the output E and mask from REF: findEssentialMat. In this
- scenario, points1 and points2 are the same input for findEssentialMat.:
- <code>
- // Example. Estimation of fundamental matrix using the RANSAC algorithm
- int point_count = 100;
- vector<Point2f> points1(point_count);
- vector<Point2f> points2(point_count);
- // initialize the points here ...
- for( int i = 0; i < point_count; i++ )
- {
- points1[i] = ...;
- points2[i] = ...;
- }
- // Input: camera calibration of both cameras, for example using intrinsic chessboard calibration.
- Mat cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2;
- // Output: Essential matrix, relative rotation and relative translation.
- Mat E, R, t, mask;
- recoverPose(points1, points2, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, E, R, t, mask);
- </code></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>recoverPose</h4>
- <pre>public static int recoverPose(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t,
- int method)</pre>
- <div class="block">Recovers the relative camera rotation and the translation from corresponding points in two images from two different cameras, using cheirality check. Returns the number of
- inliers that pass the check.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of N 2D points from the first image. The point coordinates should be
- floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>cameraMatrix1</code> - Input/output camera matrix for the first camera, the same as in
- REF: calibrateCamera. Furthermore, for the stereo case, additional flags may be used, see below.</dd>
- <dd><code>distCoeffs1</code> - Input/output vector of distortion coefficients, the same as in
- REF: calibrateCamera.</dd>
- <dd><code>cameraMatrix2</code> - Input/output camera matrix for the first camera, the same as in
- REF: calibrateCamera. Furthermore, for the stereo case, additional flags may be used, see below.</dd>
- <dd><code>distCoeffs2</code> - Input/output vector of distortion coefficients, the same as in
- REF: calibrateCamera.</dd>
- <dd><code>E</code> - The output essential matrix.</dd>
- <dd><code>R</code> - Output rotation matrix. Together with the translation vector, this matrix makes up a tuple
- that performs a change of basis from the first camera's coordinate system to the second camera's
- coordinate system. Note that, in general, t can not be used for this tuple, see the parameter
- described below.</dd>
- <dd><code>t</code> - Output translation vector. This vector is obtained by REF: decomposeEssentialMat and
- therefore is only known up to scale, i.e. t is the direction of the translation vector and has unit
- length.</dd>
- <dd><code>method</code> - Method for computing an essential matrix.
- <ul>
- <li>
- REF: RANSAC for the RANSAC algorithm.
- </li>
- <li>
- REF: LMEDS for the LMedS algorithm.
- </li>
- </ul>
- confidence (probability) that the estimated matrix is correct.
- line in pixels, beyond which the point is considered an outlier and is not used for computing the
- final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
- point localization, image resolution, and the image noise.
- inliers in points1 and points2 for then given essential matrix E. Only these inliers will be used to
- recover pose. In the output mask only inliers which pass the cheirality check.
- This function decomposes an essential matrix using REF: decomposeEssentialMat and then verifies
- possible pose hypotheses by doing cheirality check. The cheirality check means that the
- triangulated 3D points should have positive depth. Some details can be found in CITE: Nister03.
- This function can be used to process the output E and mask from REF: findEssentialMat. In this
- scenario, points1 and points2 are the same input for findEssentialMat.:
- <code>
- // Example. Estimation of fundamental matrix using the RANSAC algorithm
- int point_count = 100;
- vector<Point2f> points1(point_count);
- vector<Point2f> points2(point_count);
- // initialize the points here ...
- for( int i = 0; i < point_count; i++ )
- {
- points1[i] = ...;
- points2[i] = ...;
- }
- // Input: camera calibration of both cameras, for example using intrinsic chessboard calibration.
- Mat cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2;
- // Output: Essential matrix, relative rotation and relative translation.
- Mat E, R, t, mask;
- recoverPose(points1, points2, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, E, R, t, mask);
- </code></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>recoverPose</h4>
- <pre>public static int recoverPose(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t,
- int method,
- double prob)</pre>
- <div class="block">Recovers the relative camera rotation and the translation from corresponding points in two images from two different cameras, using cheirality check. Returns the number of
- inliers that pass the check.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of N 2D points from the first image. The point coordinates should be
- floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>cameraMatrix1</code> - Input/output camera matrix for the first camera, the same as in
- REF: calibrateCamera. Furthermore, for the stereo case, additional flags may be used, see below.</dd>
- <dd><code>distCoeffs1</code> - Input/output vector of distortion coefficients, the same as in
- REF: calibrateCamera.</dd>
- <dd><code>cameraMatrix2</code> - Input/output camera matrix for the first camera, the same as in
- REF: calibrateCamera. Furthermore, for the stereo case, additional flags may be used, see below.</dd>
- <dd><code>distCoeffs2</code> - Input/output vector of distortion coefficients, the same as in
- REF: calibrateCamera.</dd>
- <dd><code>E</code> - The output essential matrix.</dd>
- <dd><code>R</code> - Output rotation matrix. Together with the translation vector, this matrix makes up a tuple
- that performs a change of basis from the first camera's coordinate system to the second camera's
- coordinate system. Note that, in general, t can not be used for this tuple, see the parameter
- described below.</dd>
- <dd><code>t</code> - Output translation vector. This vector is obtained by REF: decomposeEssentialMat and
- therefore is only known up to scale, i.e. t is the direction of the translation vector and has unit
- length.</dd>
- <dd><code>method</code> - Method for computing an essential matrix.
- <ul>
- <li>
- REF: RANSAC for the RANSAC algorithm.
- </li>
- <li>
- REF: LMEDS for the LMedS algorithm.
- </li>
- </ul></dd>
- <dd><code>prob</code> - Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of
- confidence (probability) that the estimated matrix is correct.
- line in pixels, beyond which the point is considered an outlier and is not used for computing the
- final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
- point localization, image resolution, and the image noise.
- inliers in points1 and points2 for then given essential matrix E. Only these inliers will be used to
- recover pose. In the output mask only inliers which pass the cheirality check.
- This function decomposes an essential matrix using REF: decomposeEssentialMat and then verifies
- possible pose hypotheses by doing cheirality check. The cheirality check means that the
- triangulated 3D points should have positive depth. Some details can be found in CITE: Nister03.
- This function can be used to process the output E and mask from REF: findEssentialMat. In this
- scenario, points1 and points2 are the same input for findEssentialMat.:
- <code>
- // Example. Estimation of fundamental matrix using the RANSAC algorithm
- int point_count = 100;
- vector<Point2f> points1(point_count);
- vector<Point2f> points2(point_count);
- // initialize the points here ...
- for( int i = 0; i < point_count; i++ )
- {
- points1[i] = ...;
- points2[i] = ...;
- }
- // Input: camera calibration of both cameras, for example using intrinsic chessboard calibration.
- Mat cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2;
- // Output: Essential matrix, relative rotation and relative translation.
- Mat E, R, t, mask;
- recoverPose(points1, points2, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, E, R, t, mask);
- </code></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-double-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>recoverPose</h4>
- <pre>public static int recoverPose(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t,
- int method,
- double prob,
- double threshold)</pre>
- <div class="block">Recovers the relative camera rotation and the translation from corresponding points in two images from two different cameras, using cheirality check. Returns the number of
- inliers that pass the check.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of N 2D points from the first image. The point coordinates should be
- floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>cameraMatrix1</code> - Input/output camera matrix for the first camera, the same as in
- REF: calibrateCamera. Furthermore, for the stereo case, additional flags may be used, see below.</dd>
- <dd><code>distCoeffs1</code> - Input/output vector of distortion coefficients, the same as in
- REF: calibrateCamera.</dd>
- <dd><code>cameraMatrix2</code> - Input/output camera matrix for the first camera, the same as in
- REF: calibrateCamera. Furthermore, for the stereo case, additional flags may be used, see below.</dd>
- <dd><code>distCoeffs2</code> - Input/output vector of distortion coefficients, the same as in
- REF: calibrateCamera.</dd>
- <dd><code>E</code> - The output essential matrix.</dd>
- <dd><code>R</code> - Output rotation matrix. Together with the translation vector, this matrix makes up a tuple
- that performs a change of basis from the first camera's coordinate system to the second camera's
- coordinate system. Note that, in general, t can not be used for this tuple, see the parameter
- described below.</dd>
- <dd><code>t</code> - Output translation vector. This vector is obtained by REF: decomposeEssentialMat and
- therefore is only known up to scale, i.e. t is the direction of the translation vector and has unit
- length.</dd>
- <dd><code>method</code> - Method for computing an essential matrix.
- <ul>
- <li>
- REF: RANSAC for the RANSAC algorithm.
- </li>
- <li>
- REF: LMEDS for the LMedS algorithm.
- </li>
- </ul></dd>
- <dd><code>prob</code> - Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of
- confidence (probability) that the estimated matrix is correct.</dd>
- <dd><code>threshold</code> - Parameter used for RANSAC. It is the maximum distance from a point to an epipolar
- line in pixels, beyond which the point is considered an outlier and is not used for computing the
- final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
- point localization, image resolution, and the image noise.
- inliers in points1 and points2 for then given essential matrix E. Only these inliers will be used to
- recover pose. In the output mask only inliers which pass the cheirality check.
- This function decomposes an essential matrix using REF: decomposeEssentialMat and then verifies
- possible pose hypotheses by doing cheirality check. The cheirality check means that the
- triangulated 3D points should have positive depth. Some details can be found in CITE: Nister03.
- This function can be used to process the output E and mask from REF: findEssentialMat. In this
- scenario, points1 and points2 are the same input for findEssentialMat.:
- <code>
- // Example. Estimation of fundamental matrix using the RANSAC algorithm
- int point_count = 100;
- vector<Point2f> points1(point_count);
- vector<Point2f> points2(point_count);
- // initialize the points here ...
- for( int i = 0; i < point_count; i++ )
- {
- points1[i] = ...;
- points2[i] = ...;
- }
- // Input: camera calibration of both cameras, for example using intrinsic chessboard calibration.
- Mat cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2;
- // Output: Essential matrix, relative rotation and relative translation.
- Mat E, R, t, mask;
- recoverPose(points1, points2, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, E, R, t, mask);
- </code></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="recoverPose-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-double-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>recoverPose</h4>
- <pre>public static int recoverPose(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> t,
- int method,
- double prob,
- double threshold,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mask)</pre>
- <div class="block">Recovers the relative camera rotation and the translation from corresponding points in two images from two different cameras, using cheirality check. Returns the number of
- inliers that pass the check.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of N 2D points from the first image. The point coordinates should be
- floating-point (single or double precision).</dd>
- <dd><code>points2</code> - Array of the second image points of the same size and format as points1 .</dd>
- <dd><code>cameraMatrix1</code> - Input/output camera matrix for the first camera, the same as in
- REF: calibrateCamera. Furthermore, for the stereo case, additional flags may be used, see below.</dd>
- <dd><code>distCoeffs1</code> - Input/output vector of distortion coefficients, the same as in
- REF: calibrateCamera.</dd>
- <dd><code>cameraMatrix2</code> - Input/output camera matrix for the first camera, the same as in
- REF: calibrateCamera. Furthermore, for the stereo case, additional flags may be used, see below.</dd>
- <dd><code>distCoeffs2</code> - Input/output vector of distortion coefficients, the same as in
- REF: calibrateCamera.</dd>
- <dd><code>E</code> - The output essential matrix.</dd>
- <dd><code>R</code> - Output rotation matrix. Together with the translation vector, this matrix makes up a tuple
- that performs a change of basis from the first camera's coordinate system to the second camera's
- coordinate system. Note that, in general, t can not be used for this tuple, see the parameter
- described below.</dd>
- <dd><code>t</code> - Output translation vector. This vector is obtained by REF: decomposeEssentialMat and
- therefore is only known up to scale, i.e. t is the direction of the translation vector and has unit
- length.</dd>
- <dd><code>method</code> - Method for computing an essential matrix.
- <ul>
- <li>
- REF: RANSAC for the RANSAC algorithm.
- </li>
- <li>
- REF: LMEDS for the LMedS algorithm.
- </li>
- </ul></dd>
- <dd><code>prob</code> - Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of
- confidence (probability) that the estimated matrix is correct.</dd>
- <dd><code>threshold</code> - Parameter used for RANSAC. It is the maximum distance from a point to an epipolar
- line in pixels, beyond which the point is considered an outlier and is not used for computing the
- final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
- point localization, image resolution, and the image noise.</dd>
- <dd><code>mask</code> - Input/output mask for inliers in points1 and points2. If it is not empty, then it marks
- inliers in points1 and points2 for then given essential matrix E. Only these inliers will be used to
- recover pose. In the output mask only inliers which pass the cheirality check.
- This function decomposes an essential matrix using REF: decomposeEssentialMat and then verifies
- possible pose hypotheses by doing cheirality check. The cheirality check means that the
- triangulated 3D points should have positive depth. Some details can be found in CITE: Nister03.
- This function can be used to process the output E and mask from REF: findEssentialMat. In this
- scenario, points1 and points2 are the same input for findEssentialMat.:
- <code>
- // Example. Estimation of fundamental matrix using the RANSAC algorithm
- int point_count = 100;
- vector<Point2f> points1(point_count);
- vector<Point2f> points2(point_count);
- // initialize the points here ...
- for( int i = 0; i < point_count; i++ )
- {
- points1[i] = ...;
- points2[i] = ...;
- }
- // Input: camera calibration of both cameras, for example using intrinsic chessboard calibration.
- Mat cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2;
- // Output: Essential matrix, relative rotation and relative translation.
- Mat E, R, t, mask;
- recoverPose(points1, points2, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, E, R, t, mask);
- </code></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="rectify3Collinear-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-double-org.opencv.core.Size-org.opencv.core.Rect-org.opencv.core.Rect-int-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>rectify3Collinear</h4>
- <pre>public static float rectify3Collinear(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs3,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imgpt1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imgpt3,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R12,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T12,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R13,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T13,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P3,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q,
- double alpha,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> newImgSize,
- <a href="../../../org/opencv/core/Rect.html" title="class in org.opencv.core">Rect</a> roi1,
- <a href="../../../org/opencv/core/Rect.html" title="class in org.opencv.core">Rect</a> roi2,
- int flags)</pre>
- </li>
- </ul>
- <a name="reprojectImageTo3D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>reprojectImageTo3D</h4>
- <pre>public static void reprojectImageTo3D(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> disparity,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> _3dImage,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q)</pre>
- <div class="block">Reprojects a disparity image to 3D space.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>disparity</code> - Input single-channel 8-bit unsigned, 16-bit signed, 32-bit signed or 32-bit
- floating-point disparity image. The values of 8-bit / 16-bit signed formats are assumed to have no
- fractional bits. If the disparity is 16-bit signed format, as computed by REF: StereoBM or
- REF: StereoSGBM and maybe other algorithms, it should be divided by 16 (and scaled to float) before
- being used here.</dd>
- <dd><code>_3dImage</code> - Output 3-channel floating-point image of the same size as disparity. Each element of
- _3dImage(x,y) contains 3D coordinates of the point (x,y) computed from the disparity map. If one
- uses Q obtained by REF: stereoRectify, then the returned points are represented in the first
- camera's rectified coordinate system.</dd>
- <dd><code>Q</code> - \(4 \times 4\) perspective transformation matrix that can be obtained with
- REF: stereoRectify.
- points where the disparity was not computed). If handleMissingValues=true, then pixels with the
- minimal disparity that corresponds to the outliers (see StereoMatcher::compute ) are transformed
- to 3D points with a very large Z value (currently set to 10000).
- depth. ddepth can also be set to CV_16S, CV_32S or CV_32F.
- The function transforms a single-channel disparity map to a 3-channel image representing a 3D
- surface. That is, for each pixel (x,y) and the corresponding disparity d=disparity(x,y) , it
- computes:
- \(\begin{bmatrix}
- X \\
- Y \\
- Z \\
- W
- \end{bmatrix} = Q \begin{bmatrix}
- x \\
- y \\
- \texttt{disparity} (x,y) \\
- z
- \end{bmatrix}.\)
- SEE:
- To reproject a sparse set of points {(x,y,d),...} to 3D space, use perspectiveTransform.</dd>
- </dl>
- </li>
- </ul>
- <a name="reprojectImageTo3D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-boolean-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>reprojectImageTo3D</h4>
- <pre>public static void reprojectImageTo3D(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> disparity,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> _3dImage,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q,
- boolean handleMissingValues)</pre>
- <div class="block">Reprojects a disparity image to 3D space.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>disparity</code> - Input single-channel 8-bit unsigned, 16-bit signed, 32-bit signed or 32-bit
- floating-point disparity image. The values of 8-bit / 16-bit signed formats are assumed to have no
- fractional bits. If the disparity is 16-bit signed format, as computed by REF: StereoBM or
- REF: StereoSGBM and maybe other algorithms, it should be divided by 16 (and scaled to float) before
- being used here.</dd>
- <dd><code>_3dImage</code> - Output 3-channel floating-point image of the same size as disparity. Each element of
- _3dImage(x,y) contains 3D coordinates of the point (x,y) computed from the disparity map. If one
- uses Q obtained by REF: stereoRectify, then the returned points are represented in the first
- camera's rectified coordinate system.</dd>
- <dd><code>Q</code> - \(4 \times 4\) perspective transformation matrix that can be obtained with
- REF: stereoRectify.</dd>
- <dd><code>handleMissingValues</code> - Indicates, whether the function should handle missing values (i.e.
- points where the disparity was not computed). If handleMissingValues=true, then pixels with the
- minimal disparity that corresponds to the outliers (see StereoMatcher::compute ) are transformed
- to 3D points with a very large Z value (currently set to 10000).
- depth. ddepth can also be set to CV_16S, CV_32S or CV_32F.
- The function transforms a single-channel disparity map to a 3-channel image representing a 3D
- surface. That is, for each pixel (x,y) and the corresponding disparity d=disparity(x,y) , it
- computes:
- \(\begin{bmatrix}
- X \\
- Y \\
- Z \\
- W
- \end{bmatrix} = Q \begin{bmatrix}
- x \\
- y \\
- \texttt{disparity} (x,y) \\
- z
- \end{bmatrix}.\)
- SEE:
- To reproject a sparse set of points {(x,y,d),...} to 3D space, use perspectiveTransform.</dd>
- </dl>
- </li>
- </ul>
- <a name="reprojectImageTo3D-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-boolean-int-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>reprojectImageTo3D</h4>
- <pre>public static void reprojectImageTo3D(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> disparity,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> _3dImage,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q,
- boolean handleMissingValues,
- int ddepth)</pre>
- <div class="block">Reprojects a disparity image to 3D space.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>disparity</code> - Input single-channel 8-bit unsigned, 16-bit signed, 32-bit signed or 32-bit
- floating-point disparity image. The values of 8-bit / 16-bit signed formats are assumed to have no
- fractional bits. If the disparity is 16-bit signed format, as computed by REF: StereoBM or
- REF: StereoSGBM and maybe other algorithms, it should be divided by 16 (and scaled to float) before
- being used here.</dd>
- <dd><code>_3dImage</code> - Output 3-channel floating-point image of the same size as disparity. Each element of
- _3dImage(x,y) contains 3D coordinates of the point (x,y) computed from the disparity map. If one
- uses Q obtained by REF: stereoRectify, then the returned points are represented in the first
- camera's rectified coordinate system.</dd>
- <dd><code>Q</code> - \(4 \times 4\) perspective transformation matrix that can be obtained with
- REF: stereoRectify.</dd>
- <dd><code>handleMissingValues</code> - Indicates, whether the function should handle missing values (i.e.
- points where the disparity was not computed). If handleMissingValues=true, then pixels with the
- minimal disparity that corresponds to the outliers (see StereoMatcher::compute ) are transformed
- to 3D points with a very large Z value (currently set to 10000).</dd>
- <dd><code>ddepth</code> - The optional output array depth. If it is -1, the output image will have CV_32F
- depth. ddepth can also be set to CV_16S, CV_32S or CV_32F.
- The function transforms a single-channel disparity map to a 3-channel image representing a 3D
- surface. That is, for each pixel (x,y) and the corresponding disparity d=disparity(x,y) , it
- computes:
- \(\begin{bmatrix}
- X \\
- Y \\
- Z \\
- W
- \end{bmatrix} = Q \begin{bmatrix}
- x \\
- y \\
- \texttt{disparity} (x,y) \\
- z
- \end{bmatrix}.\)
- SEE:
- To reproject a sparse set of points {(x,y,d),...} to 3D space, use perspectiveTransform.</dd>
- </dl>
- </li>
- </ul>
- <a name="Rodrigues-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>Rodrigues</h4>
- <pre>public static void Rodrigues(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst)</pre>
- <div class="block">Converts a rotation matrix to a rotation vector or vice versa.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>src</code> - Input rotation vector (3x1 or 1x3) or rotation matrix (3x3).</dd>
- <dd><code>dst</code> - Output rotation matrix (3x3) or rotation vector (3x1 or 1x3), respectively.
- derivatives of the output array components with respect to the input array components.
- \(\begin{array}{l} \theta \leftarrow norm(r) \\ r \leftarrow r/ \theta \\ R = \cos(\theta) I + (1- \cos{\theta} ) r r^T + \sin(\theta) \vecthreethree{0}{-r_z}{r_y}{r_z}{0}{-r_x}{-r_y}{r_x}{0} \end{array}\)
- Inverse transformation can be also done easily, since
- \(\sin ( \theta ) \vecthreethree{0}{-r_z}{r_y}{r_z}{0}{-r_x}{-r_y}{r_x}{0} = \frac{R - R^T}{2}\)
- A rotation vector is a convenient and most compact representation of a rotation matrix (since any
- rotation matrix has just 3 degrees of freedom). The representation is used in the global 3D geometry
- optimization procedures like REF: calibrateCamera, REF: stereoCalibrate, or REF: solvePnP .
- <b>Note:</b> More information about the computation of the derivative of a 3D rotation matrix with respect to its exponential coordinate
- can be found in:
- <ul>
- <li>
- A Compact Formula for the Derivative of a 3-D Rotation in Exponential Coordinates, Guillermo Gallego, Anthony J. Yezzi CITE: Gallego2014ACF
- </li>
- </ul>
- <b>Note:</b> Useful information on SE(3) and Lie Groups can be found in:
- <ul>
- <li>
- A tutorial on SE(3) transformation parameterizations and on-manifold optimization, Jose-Luis Blanco CITE: blanco2010tutorial
- </li>
- <li>
- Lie Groups for 2D and 3D Transformation, Ethan Eade CITE: Eade17
- </li>
- <li>
- A micro Lie theory for state estimation in robotics, Joan Solà, Jérémie Deray, Dinesh Atchuthan CITE: Sol2018AML
- </li>
- </ul></dd>
- </dl>
- </li>
- </ul>
- <a name="Rodrigues-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>Rodrigues</h4>
- <pre>public static void Rodrigues(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> jacobian)</pre>
- <div class="block">Converts a rotation matrix to a rotation vector or vice versa.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>src</code> - Input rotation vector (3x1 or 1x3) or rotation matrix (3x3).</dd>
- <dd><code>dst</code> - Output rotation matrix (3x3) or rotation vector (3x1 or 1x3), respectively.</dd>
- <dd><code>jacobian</code> - Optional output Jacobian matrix, 3x9 or 9x3, which is a matrix of partial
- derivatives of the output array components with respect to the input array components.
- \(\begin{array}{l} \theta \leftarrow norm(r) \\ r \leftarrow r/ \theta \\ R = \cos(\theta) I + (1- \cos{\theta} ) r r^T + \sin(\theta) \vecthreethree{0}{-r_z}{r_y}{r_z}{0}{-r_x}{-r_y}{r_x}{0} \end{array}\)
- Inverse transformation can be also done easily, since
- \(\sin ( \theta ) \vecthreethree{0}{-r_z}{r_y}{r_z}{0}{-r_x}{-r_y}{r_x}{0} = \frac{R - R^T}{2}\)
- A rotation vector is a convenient and most compact representation of a rotation matrix (since any
- rotation matrix has just 3 degrees of freedom). The representation is used in the global 3D geometry
- optimization procedures like REF: calibrateCamera, REF: stereoCalibrate, or REF: solvePnP .
- <b>Note:</b> More information about the computation of the derivative of a 3D rotation matrix with respect to its exponential coordinate
- can be found in:
- <ul>
- <li>
- A Compact Formula for the Derivative of a 3-D Rotation in Exponential Coordinates, Guillermo Gallego, Anthony J. Yezzi CITE: Gallego2014ACF
- </li>
- </ul>
- <b>Note:</b> Useful information on SE(3) and Lie Groups can be found in:
- <ul>
- <li>
- A tutorial on SE(3) transformation parameterizations and on-manifold optimization, Jose-Luis Blanco CITE: blanco2010tutorial
- </li>
- <li>
- Lie Groups for 2D and 3D Transformation, Ethan Eade CITE: Eade17
- </li>
- <li>
- A micro Lie theory for state estimation in robotics, Joan Solà, Jérémie Deray, Dinesh Atchuthan CITE: Sol2018AML
- </li>
- </ul></dd>
- </dl>
- </li>
- </ul>
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- <h4>RQDecomp3x3</h4>
- <pre>public static double[] RQDecomp3x3(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mtxR,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mtxQ)</pre>
- <div class="block">Computes an RQ decomposition of 3x3 matrices.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>src</code> - 3x3 input matrix.</dd>
- <dd><code>mtxR</code> - Output 3x3 upper-triangular matrix.</dd>
- <dd><code>mtxQ</code> - Output 3x3 orthogonal matrix.
- The function computes a RQ decomposition using the given rotations. This function is used in
- #decomposeProjectionMatrix to decompose the left 3x3 submatrix of a projection matrix into a camera
- and a rotation matrix.
- It optionally returns three rotation matrices, one for each axis, and the three Euler angles in
- degrees (as the return value) that could be used in OpenGL. Note, there is always more than one
- sequence of rotations about the three principal axes that results in the same orientation of an
- object, e.g. see CITE: Slabaugh . Returned tree rotation matrices and corresponding three Euler angles
- are only one of the possible solutions.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="RQDecomp3x3-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <h4>RQDecomp3x3</h4>
- <pre>public static double[] RQDecomp3x3(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mtxR,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mtxQ,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Qx)</pre>
- <div class="block">Computes an RQ decomposition of 3x3 matrices.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>src</code> - 3x3 input matrix.</dd>
- <dd><code>mtxR</code> - Output 3x3 upper-triangular matrix.</dd>
- <dd><code>mtxQ</code> - Output 3x3 orthogonal matrix.</dd>
- <dd><code>Qx</code> - Optional output 3x3 rotation matrix around x-axis.
- The function computes a RQ decomposition using the given rotations. This function is used in
- #decomposeProjectionMatrix to decompose the left 3x3 submatrix of a projection matrix into a camera
- and a rotation matrix.
- It optionally returns three rotation matrices, one for each axis, and the three Euler angles in
- degrees (as the return value) that could be used in OpenGL. Note, there is always more than one
- sequence of rotations about the three principal axes that results in the same orientation of an
- object, e.g. see CITE: Slabaugh . Returned tree rotation matrices and corresponding three Euler angles
- are only one of the possible solutions.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="RQDecomp3x3-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <h4>RQDecomp3x3</h4>
- <pre>public static double[] RQDecomp3x3(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mtxR,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mtxQ,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Qx,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Qy)</pre>
- <div class="block">Computes an RQ decomposition of 3x3 matrices.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>src</code> - 3x3 input matrix.</dd>
- <dd><code>mtxR</code> - Output 3x3 upper-triangular matrix.</dd>
- <dd><code>mtxQ</code> - Output 3x3 orthogonal matrix.</dd>
- <dd><code>Qx</code> - Optional output 3x3 rotation matrix around x-axis.</dd>
- <dd><code>Qy</code> - Optional output 3x3 rotation matrix around y-axis.
- The function computes a RQ decomposition using the given rotations. This function is used in
- #decomposeProjectionMatrix to decompose the left 3x3 submatrix of a projection matrix into a camera
- and a rotation matrix.
- It optionally returns three rotation matrices, one for each axis, and the three Euler angles in
- degrees (as the return value) that could be used in OpenGL. Note, there is always more than one
- sequence of rotations about the three principal axes that results in the same orientation of an
- object, e.g. see CITE: Slabaugh . Returned tree rotation matrices and corresponding three Euler angles
- are only one of the possible solutions.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="RQDecomp3x3-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <h4>RQDecomp3x3</h4>
- <pre>public static double[] RQDecomp3x3(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mtxR,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> mtxQ,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Qx,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Qy,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Qz)</pre>
- <div class="block">Computes an RQ decomposition of 3x3 matrices.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>src</code> - 3x3 input matrix.</dd>
- <dd><code>mtxR</code> - Output 3x3 upper-triangular matrix.</dd>
- <dd><code>mtxQ</code> - Output 3x3 orthogonal matrix.</dd>
- <dd><code>Qx</code> - Optional output 3x3 rotation matrix around x-axis.</dd>
- <dd><code>Qy</code> - Optional output 3x3 rotation matrix around y-axis.</dd>
- <dd><code>Qz</code> - Optional output 3x3 rotation matrix around z-axis.
- The function computes a RQ decomposition using the given rotations. This function is used in
- #decomposeProjectionMatrix to decompose the left 3x3 submatrix of a projection matrix into a camera
- and a rotation matrix.
- It optionally returns three rotation matrices, one for each axis, and the three Euler angles in
- degrees (as the return value) that could be used in OpenGL. Note, there is always more than one
- sequence of rotations about the three principal axes that results in the same orientation of an
- object, e.g. see CITE: Slabaugh . Returned tree rotation matrices and corresponding three Euler angles
- are only one of the possible solutions.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="sampsonDistance-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <h4>sampsonDistance</h4>
- <pre>public static double sampsonDistance(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> pt1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> pt2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F)</pre>
- <div class="block">Calculates the Sampson Distance between two points.
- The function cv::sampsonDistance calculates and returns the first order approximation of the geometric error as:
- \(
- sd( \texttt{pt1} , \texttt{pt2} )=
- \frac{(\texttt{pt2}^t \cdot \texttt{F} \cdot \texttt{pt1})^2}
- {((\texttt{F} \cdot \texttt{pt1})(0))^2 +
- ((\texttt{F} \cdot \texttt{pt1})(1))^2 +
- ((\texttt{F}^t \cdot \texttt{pt2})(0))^2 +
- ((\texttt{F}^t \cdot \texttt{pt2})(1))^2}
- \)
- The fundamental matrix may be calculated using the #findFundamentalMat function. See CITE: HartleyZ00 11.4.3 for details.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>pt1</code> - first homogeneous 2d point</dd>
- <dd><code>pt2</code> - second homogeneous 2d point</dd>
- <dd><code>F</code> - fundamental matrix</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>The computed Sampson distance.</dd>
- </dl>
- </li>
- </ul>
- <a name="solveP3P-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-int-">
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- <h4>solveP3P</h4>
- <pre>public static int solveP3P(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- int flags)</pre>
- <div class="block">Finds an object pose from 3 3D-2D point correspondences.
- SEE: REF: calib3d_solvePnP</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Array of object points in the object coordinate space, 3x3 1-channel or
- 1x3/3x1 3-channel. vector<Point3f> can be also passed here.</dd>
- <dd><code>imagePoints</code> - Array of corresponding image points, 3x2 1-channel or 1x3/3x1 2-channel.
- vector<Point2f> can be also passed here.</dd>
- <dd><code>cameraMatrix</code> - Input camera intrinsic matrix \(\cameramatrix{A}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are
- assumed.</dd>
- <dd><code>rvecs</code> - Output rotation vectors (see REF: Rodrigues ) that, together with tvecs, brings points from
- the model coordinate system to the camera coordinate system. A P3P problem has up to 4 solutions.</dd>
- <dd><code>tvecs</code> - Output translation vectors.</dd>
- <dd><code>flags</code> - Method for solving a P3P problem:
- <ul>
- <li>
- REF: SOLVEPNP_P3P Method is based on the paper of X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang
- "Complete Solution Classification for the Perspective-Three-Point Problem" (CITE: gao2003complete).
- </li>
- <li>
- REF: SOLVEPNP_AP3P Method is based on the paper of T. Ke and S. Roumeliotis.
- "An Efficient Algebraic Solution to the Perspective-Three-Point Problem" (CITE: Ke17).
- </li>
- </ul>
- The function estimates the object pose given 3 object points, their corresponding image
- projections, as well as the camera intrinsic matrix and the distortion coefficients.
- <b>Note:</b>
- The solutions are sorted by reprojection errors (lowest to highest).</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="solvePnP-org.opencv.core.MatOfPoint3f-org.opencv.core.MatOfPoint2f-org.opencv.core.Mat-org.opencv.core.MatOfDouble-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <h4>solvePnP</h4>
- <pre>public static boolean solvePnP(<a href="../../../org/opencv/core/MatOfPoint3f.html" title="class in org.opencv.core">MatOfPoint3f</a> objectPoints,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/MatOfDouble.html" title="class in org.opencv.core">MatOfDouble</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec)</pre>
- <div class="block">Finds an object pose from 3D-2D point correspondences.
- SEE: REF: calib3d_solvePnP
- This function returns the rotation and the translation vectors that transform a 3D point expressed in the object
- coordinate frame to the camera coordinate frame, using different methods:
- <ul>
- <li>
- P3P methods (REF: SOLVEPNP_P3P, REF: SOLVEPNP_AP3P): need 4 input points to return a unique solution.
- </li>
- <li>
- REF: SOLVEPNP_IPPE Input points must be >= 4 and object points must be coplanar.
- </li>
- <li>
- REF: SOLVEPNP_IPPE_SQUARE Special case suitable for marker pose estimation.
- Number of input points must be 4. Object points must be defined in the following order:
- <ul>
- <li>
- point 0: [-squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 1: [ squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 2: [ squareLength / 2, -squareLength / 2, 0]
- </li>
- <li>
- point 3: [-squareLength / 2, -squareLength / 2, 0]
- </li>
- </ul>
- <li>
- for all the other flags, number of input points must be >= 4 and object points can be in any configuration.
- </li>
- </ul></div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Array of object points in the object coordinate space, Nx3 1-channel or
- 1xN/Nx1 3-channel, where N is the number of points. vector<Point3d> can be also passed here.</dd>
- <dd><code>imagePoints</code> - Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
- where N is the number of points. vector<Point2d> can be also passed here.</dd>
- <dd><code>cameraMatrix</code> - Input camera intrinsic matrix \(\cameramatrix{A}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are
- assumed.</dd>
- <dd><code>rvec</code> - Output rotation vector (see REF: Rodrigues ) that, together with tvec, brings points from
- the model coordinate system to the camera coordinate system.</dd>
- <dd><code>tvec</code> - Output translation vector.
- the provided rvec and tvec values as initial approximations of the rotation and translation
- vectors, respectively, and further optimizes them.
- More information about Perspective-n-Points is described in REF: calib3d_solvePnP
- <b>Note:</b>
- <ul>
- <li>
- An example of how to use solvePnP for planar augmented reality can be found at
- opencv_source_code/samples/python/plane_ar.py
- </li>
- <li>
- If you are using Python:
- <ul>
- <li>
- Numpy array slices won't work as input because solvePnP requires contiguous
- arrays (enforced by the assertion using cv::Mat::checkVector() around line 55 of
- modules/calib3d/src/solvepnp.cpp version 2.4.9)
- </li>
- <li>
- The P3P algorithm requires image points to be in an array of shape (N,1,2) due
- to its calling of #undistortPoints (around line 75 of modules/calib3d/src/solvepnp.cpp version 2.4.9)
- which requires 2-channel information.
- </li>
- <li>
- Thus, given some data D = np.array(...) where D.shape = (N,M), in order to use a subset of
- it as, e.g., imagePoints, one must effectively copy it into a new array: imagePoints =
- np.ascontiguousarray(D[:,:2]).reshape((N,1,2))
- </li>
- </ul>
- <li>
- The methods REF: SOLVEPNP_DLS and REF: SOLVEPNP_UPNP cannot be used as the current implementations are
- unstable and sometimes give completely wrong results. If you pass one of these two
- flags, REF: SOLVEPNP_EPNP method will be used instead.
- </li>
- <li>
- The minimum number of points is 4 in the general case. In the case of REF: SOLVEPNP_P3P and REF: SOLVEPNP_AP3P
- methods, it is required to use exactly 4 points (the first 3 points are used to estimate all the solutions
- of the P3P problem, the last one is used to retain the best solution that minimizes the reprojection error).
- </li>
- <li>
- With REF: SOLVEPNP_ITERATIVE method and <code>useExtrinsicGuess=true</code>, the minimum number of points is 3 (3 points
- are sufficient to compute a pose but there are up to 4 solutions). The initial solution should be close to the
- global solution to converge.
- </li>
- <li>
- With REF: SOLVEPNP_IPPE input points must be >= 4 and object points must be coplanar.
- </li>
- <li>
- With REF: SOLVEPNP_IPPE_SQUARE this is a special case suitable for marker pose estimation.
- Number of input points must be 4. Object points must be defined in the following order:
- <ul>
- <li>
- point 0: [-squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 1: [ squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 2: [ squareLength / 2, -squareLength / 2, 0]
- </li>
- <li>
- point 3: [-squareLength / 2, -squareLength / 2, 0]
- </li>
- </ul>
- <ul>
- <li>
- With REF: SOLVEPNP_SQPNP input points must be >= 3
- </li>
- </ul>
- </li>
- </ul></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="solvePnP-org.opencv.core.MatOfPoint3f-org.opencv.core.MatOfPoint2f-org.opencv.core.Mat-org.opencv.core.MatOfDouble-org.opencv.core.Mat-org.opencv.core.Mat-boolean-">
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- <h4>solvePnP</h4>
- <pre>public static boolean solvePnP(<a href="../../../org/opencv/core/MatOfPoint3f.html" title="class in org.opencv.core">MatOfPoint3f</a> objectPoints,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/MatOfDouble.html" title="class in org.opencv.core">MatOfDouble</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- boolean useExtrinsicGuess)</pre>
- <div class="block">Finds an object pose from 3D-2D point correspondences.
- SEE: REF: calib3d_solvePnP
- This function returns the rotation and the translation vectors that transform a 3D point expressed in the object
- coordinate frame to the camera coordinate frame, using different methods:
- <ul>
- <li>
- P3P methods (REF: SOLVEPNP_P3P, REF: SOLVEPNP_AP3P): need 4 input points to return a unique solution.
- </li>
- <li>
- REF: SOLVEPNP_IPPE Input points must be >= 4 and object points must be coplanar.
- </li>
- <li>
- REF: SOLVEPNP_IPPE_SQUARE Special case suitable for marker pose estimation.
- Number of input points must be 4. Object points must be defined in the following order:
- <ul>
- <li>
- point 0: [-squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 1: [ squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 2: [ squareLength / 2, -squareLength / 2, 0]
- </li>
- <li>
- point 3: [-squareLength / 2, -squareLength / 2, 0]
- </li>
- </ul>
- <li>
- for all the other flags, number of input points must be >= 4 and object points can be in any configuration.
- </li>
- </ul></div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Array of object points in the object coordinate space, Nx3 1-channel or
- 1xN/Nx1 3-channel, where N is the number of points. vector<Point3d> can be also passed here.</dd>
- <dd><code>imagePoints</code> - Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
- where N is the number of points. vector<Point2d> can be also passed here.</dd>
- <dd><code>cameraMatrix</code> - Input camera intrinsic matrix \(\cameramatrix{A}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are
- assumed.</dd>
- <dd><code>rvec</code> - Output rotation vector (see REF: Rodrigues ) that, together with tvec, brings points from
- the model coordinate system to the camera coordinate system.</dd>
- <dd><code>tvec</code> - Output translation vector.</dd>
- <dd><code>useExtrinsicGuess</code> - Parameter used for #SOLVEPNP_ITERATIVE. If true (1), the function uses
- the provided rvec and tvec values as initial approximations of the rotation and translation
- vectors, respectively, and further optimizes them.
- More information about Perspective-n-Points is described in REF: calib3d_solvePnP
- <b>Note:</b>
- <ul>
- <li>
- An example of how to use solvePnP for planar augmented reality can be found at
- opencv_source_code/samples/python/plane_ar.py
- </li>
- <li>
- If you are using Python:
- <ul>
- <li>
- Numpy array slices won't work as input because solvePnP requires contiguous
- arrays (enforced by the assertion using cv::Mat::checkVector() around line 55 of
- modules/calib3d/src/solvepnp.cpp version 2.4.9)
- </li>
- <li>
- The P3P algorithm requires image points to be in an array of shape (N,1,2) due
- to its calling of #undistortPoints (around line 75 of modules/calib3d/src/solvepnp.cpp version 2.4.9)
- which requires 2-channel information.
- </li>
- <li>
- Thus, given some data D = np.array(...) where D.shape = (N,M), in order to use a subset of
- it as, e.g., imagePoints, one must effectively copy it into a new array: imagePoints =
- np.ascontiguousarray(D[:,:2]).reshape((N,1,2))
- </li>
- </ul>
- <li>
- The methods REF: SOLVEPNP_DLS and REF: SOLVEPNP_UPNP cannot be used as the current implementations are
- unstable and sometimes give completely wrong results. If you pass one of these two
- flags, REF: SOLVEPNP_EPNP method will be used instead.
- </li>
- <li>
- The minimum number of points is 4 in the general case. In the case of REF: SOLVEPNP_P3P and REF: SOLVEPNP_AP3P
- methods, it is required to use exactly 4 points (the first 3 points are used to estimate all the solutions
- of the P3P problem, the last one is used to retain the best solution that minimizes the reprojection error).
- </li>
- <li>
- With REF: SOLVEPNP_ITERATIVE method and <code>useExtrinsicGuess=true</code>, the minimum number of points is 3 (3 points
- are sufficient to compute a pose but there are up to 4 solutions). The initial solution should be close to the
- global solution to converge.
- </li>
- <li>
- With REF: SOLVEPNP_IPPE input points must be >= 4 and object points must be coplanar.
- </li>
- <li>
- With REF: SOLVEPNP_IPPE_SQUARE this is a special case suitable for marker pose estimation.
- Number of input points must be 4. Object points must be defined in the following order:
- <ul>
- <li>
- point 0: [-squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 1: [ squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 2: [ squareLength / 2, -squareLength / 2, 0]
- </li>
- <li>
- point 3: [-squareLength / 2, -squareLength / 2, 0]
- </li>
- </ul>
- <ul>
- <li>
- With REF: SOLVEPNP_SQPNP input points must be >= 3
- </li>
- </ul>
- </li>
- </ul></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="solvePnP-org.opencv.core.MatOfPoint3f-org.opencv.core.MatOfPoint2f-org.opencv.core.Mat-org.opencv.core.MatOfDouble-org.opencv.core.Mat-org.opencv.core.Mat-boolean-int-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>solvePnP</h4>
- <pre>public static boolean solvePnP(<a href="../../../org/opencv/core/MatOfPoint3f.html" title="class in org.opencv.core">MatOfPoint3f</a> objectPoints,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/MatOfDouble.html" title="class in org.opencv.core">MatOfDouble</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- boolean useExtrinsicGuess,
- int flags)</pre>
- <div class="block">Finds an object pose from 3D-2D point correspondences.
- SEE: REF: calib3d_solvePnP
- This function returns the rotation and the translation vectors that transform a 3D point expressed in the object
- coordinate frame to the camera coordinate frame, using different methods:
- <ul>
- <li>
- P3P methods (REF: SOLVEPNP_P3P, REF: SOLVEPNP_AP3P): need 4 input points to return a unique solution.
- </li>
- <li>
- REF: SOLVEPNP_IPPE Input points must be >= 4 and object points must be coplanar.
- </li>
- <li>
- REF: SOLVEPNP_IPPE_SQUARE Special case suitable for marker pose estimation.
- Number of input points must be 4. Object points must be defined in the following order:
- <ul>
- <li>
- point 0: [-squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 1: [ squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 2: [ squareLength / 2, -squareLength / 2, 0]
- </li>
- <li>
- point 3: [-squareLength / 2, -squareLength / 2, 0]
- </li>
- </ul>
- <li>
- for all the other flags, number of input points must be >= 4 and object points can be in any configuration.
- </li>
- </ul></div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Array of object points in the object coordinate space, Nx3 1-channel or
- 1xN/Nx1 3-channel, where N is the number of points. vector<Point3d> can be also passed here.</dd>
- <dd><code>imagePoints</code> - Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
- where N is the number of points. vector<Point2d> can be also passed here.</dd>
- <dd><code>cameraMatrix</code> - Input camera intrinsic matrix \(\cameramatrix{A}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are
- assumed.</dd>
- <dd><code>rvec</code> - Output rotation vector (see REF: Rodrigues ) that, together with tvec, brings points from
- the model coordinate system to the camera coordinate system.</dd>
- <dd><code>tvec</code> - Output translation vector.</dd>
- <dd><code>useExtrinsicGuess</code> - Parameter used for #SOLVEPNP_ITERATIVE. If true (1), the function uses
- the provided rvec and tvec values as initial approximations of the rotation and translation
- vectors, respectively, and further optimizes them.</dd>
- <dd><code>flags</code> - Method for solving a PnP problem: see REF: calib3d_solvePnP_flags
- More information about Perspective-n-Points is described in REF: calib3d_solvePnP
- <b>Note:</b>
- <ul>
- <li>
- An example of how to use solvePnP for planar augmented reality can be found at
- opencv_source_code/samples/python/plane_ar.py
- </li>
- <li>
- If you are using Python:
- <ul>
- <li>
- Numpy array slices won't work as input because solvePnP requires contiguous
- arrays (enforced by the assertion using cv::Mat::checkVector() around line 55 of
- modules/calib3d/src/solvepnp.cpp version 2.4.9)
- </li>
- <li>
- The P3P algorithm requires image points to be in an array of shape (N,1,2) due
- to its calling of #undistortPoints (around line 75 of modules/calib3d/src/solvepnp.cpp version 2.4.9)
- which requires 2-channel information.
- </li>
- <li>
- Thus, given some data D = np.array(...) where D.shape = (N,M), in order to use a subset of
- it as, e.g., imagePoints, one must effectively copy it into a new array: imagePoints =
- np.ascontiguousarray(D[:,:2]).reshape((N,1,2))
- </li>
- </ul>
- <li>
- The methods REF: SOLVEPNP_DLS and REF: SOLVEPNP_UPNP cannot be used as the current implementations are
- unstable and sometimes give completely wrong results. If you pass one of these two
- flags, REF: SOLVEPNP_EPNP method will be used instead.
- </li>
- <li>
- The minimum number of points is 4 in the general case. In the case of REF: SOLVEPNP_P3P and REF: SOLVEPNP_AP3P
- methods, it is required to use exactly 4 points (the first 3 points are used to estimate all the solutions
- of the P3P problem, the last one is used to retain the best solution that minimizes the reprojection error).
- </li>
- <li>
- With REF: SOLVEPNP_ITERATIVE method and <code>useExtrinsicGuess=true</code>, the minimum number of points is 3 (3 points
- are sufficient to compute a pose but there are up to 4 solutions). The initial solution should be close to the
- global solution to converge.
- </li>
- <li>
- With REF: SOLVEPNP_IPPE input points must be >= 4 and object points must be coplanar.
- </li>
- <li>
- With REF: SOLVEPNP_IPPE_SQUARE this is a special case suitable for marker pose estimation.
- Number of input points must be 4. Object points must be defined in the following order:
- <ul>
- <li>
- point 0: [-squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 1: [ squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 2: [ squareLength / 2, -squareLength / 2, 0]
- </li>
- <li>
- point 3: [-squareLength / 2, -squareLength / 2, 0]
- </li>
- </ul>
- <ul>
- <li>
- With REF: SOLVEPNP_SQPNP input points must be >= 3
- </li>
- </ul>
- </li>
- </ul></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="solvePnPGeneric-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-">
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- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>solvePnPGeneric</h4>
- <pre>public static int solvePnPGeneric(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs)</pre>
- <div class="block">Finds an object pose from 3D-2D point correspondences.
- SEE: REF: calib3d_solvePnP
- This function returns a list of all the possible solutions (a solution is a <rotation vector, translation vector>
- couple), depending on the number of input points and the chosen method:
- <ul>
- <li>
- P3P methods (REF: SOLVEPNP_P3P, REF: SOLVEPNP_AP3P): 3 or 4 input points. Number of returned solutions can be between 0 and 4 with 3 input points.
- </li>
- <li>
- REF: SOLVEPNP_IPPE Input points must be >= 4 and object points must be coplanar. Returns 2 solutions.
- </li>
- <li>
- REF: SOLVEPNP_IPPE_SQUARE Special case suitable for marker pose estimation.
- Number of input points must be 4 and 2 solutions are returned. Object points must be defined in the following order:
- <ul>
- <li>
- point 0: [-squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 1: [ squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 2: [ squareLength / 2, -squareLength / 2, 0]
- </li>
- <li>
- point 3: [-squareLength / 2, -squareLength / 2, 0]
- </li>
- </ul>
- <li>
- for all the other flags, number of input points must be >= 4 and object points can be in any configuration.
- Only 1 solution is returned.
- </li>
- </ul></div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Array of object points in the object coordinate space, Nx3 1-channel or
- 1xN/Nx1 3-channel, where N is the number of points. vector<Point3d> can be also passed here.</dd>
- <dd><code>imagePoints</code> - Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
- where N is the number of points. vector<Point2d> can be also passed here.</dd>
- <dd><code>cameraMatrix</code> - Input camera intrinsic matrix \(\cameramatrix{A}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are
- assumed.</dd>
- <dd><code>rvecs</code> - Vector of output rotation vectors (see REF: Rodrigues ) that, together with tvecs, brings points from
- the model coordinate system to the camera coordinate system.</dd>
- <dd><code>tvecs</code> - Vector of output translation vectors.
- the provided rvec and tvec values as initial approximations of the rotation and translation
- vectors, respectively, and further optimizes them.
- and useExtrinsicGuess is set to true.
- and useExtrinsicGuess is set to true.
- (\( \text{RMSE} = \sqrt{\frac{\sum_{i}^{N} \left ( \hat{y_i} - y_i \right )^2}{N}} \)) between the input image points
- and the 3D object points projected with the estimated pose.
- More information is described in REF: calib3d_solvePnP
- <b>Note:</b>
- <ul>
- <li>
- An example of how to use solvePnP for planar augmented reality can be found at
- opencv_source_code/samples/python/plane_ar.py
- </li>
- <li>
- If you are using Python:
- <ul>
- <li>
- Numpy array slices won't work as input because solvePnP requires contiguous
- arrays (enforced by the assertion using cv::Mat::checkVector() around line 55 of
- modules/calib3d/src/solvepnp.cpp version 2.4.9)
- </li>
- <li>
- The P3P algorithm requires image points to be in an array of shape (N,1,2) due
- to its calling of #undistortPoints (around line 75 of modules/calib3d/src/solvepnp.cpp version 2.4.9)
- which requires 2-channel information.
- </li>
- <li>
- Thus, given some data D = np.array(...) where D.shape = (N,M), in order to use a subset of
- it as, e.g., imagePoints, one must effectively copy it into a new array: imagePoints =
- np.ascontiguousarray(D[:,:2]).reshape((N,1,2))
- </li>
- </ul>
- <li>
- The methods REF: SOLVEPNP_DLS and REF: SOLVEPNP_UPNP cannot be used as the current implementations are
- unstable and sometimes give completely wrong results. If you pass one of these two
- flags, REF: SOLVEPNP_EPNP method will be used instead.
- </li>
- <li>
- The minimum number of points is 4 in the general case. In the case of REF: SOLVEPNP_P3P and REF: SOLVEPNP_AP3P
- methods, it is required to use exactly 4 points (the first 3 points are used to estimate all the solutions
- of the P3P problem, the last one is used to retain the best solution that minimizes the reprojection error).
- </li>
- <li>
- With REF: SOLVEPNP_ITERATIVE method and <code>useExtrinsicGuess=true</code>, the minimum number of points is 3 (3 points
- are sufficient to compute a pose but there are up to 4 solutions). The initial solution should be close to the
- global solution to converge.
- </li>
- <li>
- With REF: SOLVEPNP_IPPE input points must be >= 4 and object points must be coplanar.
- </li>
- <li>
- With REF: SOLVEPNP_IPPE_SQUARE this is a special case suitable for marker pose estimation.
- Number of input points must be 4. Object points must be defined in the following order:
- <ul>
- <li>
- point 0: [-squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 1: [ squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 2: [ squareLength / 2, -squareLength / 2, 0]
- </li>
- <li>
- point 3: [-squareLength / 2, -squareLength / 2, 0]
- </li>
- </ul>
- </li>
- </ul></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="solvePnPGeneric-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-boolean-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>solvePnPGeneric</h4>
- <pre>public static int solvePnPGeneric(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- boolean useExtrinsicGuess)</pre>
- <div class="block">Finds an object pose from 3D-2D point correspondences.
- SEE: REF: calib3d_solvePnP
- This function returns a list of all the possible solutions (a solution is a <rotation vector, translation vector>
- couple), depending on the number of input points and the chosen method:
- <ul>
- <li>
- P3P methods (REF: SOLVEPNP_P3P, REF: SOLVEPNP_AP3P): 3 or 4 input points. Number of returned solutions can be between 0 and 4 with 3 input points.
- </li>
- <li>
- REF: SOLVEPNP_IPPE Input points must be >= 4 and object points must be coplanar. Returns 2 solutions.
- </li>
- <li>
- REF: SOLVEPNP_IPPE_SQUARE Special case suitable for marker pose estimation.
- Number of input points must be 4 and 2 solutions are returned. Object points must be defined in the following order:
- <ul>
- <li>
- point 0: [-squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 1: [ squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 2: [ squareLength / 2, -squareLength / 2, 0]
- </li>
- <li>
- point 3: [-squareLength / 2, -squareLength / 2, 0]
- </li>
- </ul>
- <li>
- for all the other flags, number of input points must be >= 4 and object points can be in any configuration.
- Only 1 solution is returned.
- </li>
- </ul></div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Array of object points in the object coordinate space, Nx3 1-channel or
- 1xN/Nx1 3-channel, where N is the number of points. vector<Point3d> can be also passed here.</dd>
- <dd><code>imagePoints</code> - Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
- where N is the number of points. vector<Point2d> can be also passed here.</dd>
- <dd><code>cameraMatrix</code> - Input camera intrinsic matrix \(\cameramatrix{A}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are
- assumed.</dd>
- <dd><code>rvecs</code> - Vector of output rotation vectors (see REF: Rodrigues ) that, together with tvecs, brings points from
- the model coordinate system to the camera coordinate system.</dd>
- <dd><code>tvecs</code> - Vector of output translation vectors.</dd>
- <dd><code>useExtrinsicGuess</code> - Parameter used for #SOLVEPNP_ITERATIVE. If true (1), the function uses
- the provided rvec and tvec values as initial approximations of the rotation and translation
- vectors, respectively, and further optimizes them.
- and useExtrinsicGuess is set to true.
- and useExtrinsicGuess is set to true.
- (\( \text{RMSE} = \sqrt{\frac{\sum_{i}^{N} \left ( \hat{y_i} - y_i \right )^2}{N}} \)) between the input image points
- and the 3D object points projected with the estimated pose.
- More information is described in REF: calib3d_solvePnP
- <b>Note:</b>
- <ul>
- <li>
- An example of how to use solvePnP for planar augmented reality can be found at
- opencv_source_code/samples/python/plane_ar.py
- </li>
- <li>
- If you are using Python:
- <ul>
- <li>
- Numpy array slices won't work as input because solvePnP requires contiguous
- arrays (enforced by the assertion using cv::Mat::checkVector() around line 55 of
- modules/calib3d/src/solvepnp.cpp version 2.4.9)
- </li>
- <li>
- The P3P algorithm requires image points to be in an array of shape (N,1,2) due
- to its calling of #undistortPoints (around line 75 of modules/calib3d/src/solvepnp.cpp version 2.4.9)
- which requires 2-channel information.
- </li>
- <li>
- Thus, given some data D = np.array(...) where D.shape = (N,M), in order to use a subset of
- it as, e.g., imagePoints, one must effectively copy it into a new array: imagePoints =
- np.ascontiguousarray(D[:,:2]).reshape((N,1,2))
- </li>
- </ul>
- <li>
- The methods REF: SOLVEPNP_DLS and REF: SOLVEPNP_UPNP cannot be used as the current implementations are
- unstable and sometimes give completely wrong results. If you pass one of these two
- flags, REF: SOLVEPNP_EPNP method will be used instead.
- </li>
- <li>
- The minimum number of points is 4 in the general case. In the case of REF: SOLVEPNP_P3P and REF: SOLVEPNP_AP3P
- methods, it is required to use exactly 4 points (the first 3 points are used to estimate all the solutions
- of the P3P problem, the last one is used to retain the best solution that minimizes the reprojection error).
- </li>
- <li>
- With REF: SOLVEPNP_ITERATIVE method and <code>useExtrinsicGuess=true</code>, the minimum number of points is 3 (3 points
- are sufficient to compute a pose but there are up to 4 solutions). The initial solution should be close to the
- global solution to converge.
- </li>
- <li>
- With REF: SOLVEPNP_IPPE input points must be >= 4 and object points must be coplanar.
- </li>
- <li>
- With REF: SOLVEPNP_IPPE_SQUARE this is a special case suitable for marker pose estimation.
- Number of input points must be 4. Object points must be defined in the following order:
- <ul>
- <li>
- point 0: [-squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 1: [ squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 2: [ squareLength / 2, -squareLength / 2, 0]
- </li>
- <li>
- point 3: [-squareLength / 2, -squareLength / 2, 0]
- </li>
- </ul>
- </li>
- </ul></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="solvePnPGeneric-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-boolean-int-">
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- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>solvePnPGeneric</h4>
- <pre>public static int solvePnPGeneric(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- boolean useExtrinsicGuess,
- int flags)</pre>
- <div class="block">Finds an object pose from 3D-2D point correspondences.
- SEE: REF: calib3d_solvePnP
- This function returns a list of all the possible solutions (a solution is a <rotation vector, translation vector>
- couple), depending on the number of input points and the chosen method:
- <ul>
- <li>
- P3P methods (REF: SOLVEPNP_P3P, REF: SOLVEPNP_AP3P): 3 or 4 input points. Number of returned solutions can be between 0 and 4 with 3 input points.
- </li>
- <li>
- REF: SOLVEPNP_IPPE Input points must be >= 4 and object points must be coplanar. Returns 2 solutions.
- </li>
- <li>
- REF: SOLVEPNP_IPPE_SQUARE Special case suitable for marker pose estimation.
- Number of input points must be 4 and 2 solutions are returned. Object points must be defined in the following order:
- <ul>
- <li>
- point 0: [-squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 1: [ squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 2: [ squareLength / 2, -squareLength / 2, 0]
- </li>
- <li>
- point 3: [-squareLength / 2, -squareLength / 2, 0]
- </li>
- </ul>
- <li>
- for all the other flags, number of input points must be >= 4 and object points can be in any configuration.
- Only 1 solution is returned.
- </li>
- </ul></div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Array of object points in the object coordinate space, Nx3 1-channel or
- 1xN/Nx1 3-channel, where N is the number of points. vector<Point3d> can be also passed here.</dd>
- <dd><code>imagePoints</code> - Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
- where N is the number of points. vector<Point2d> can be also passed here.</dd>
- <dd><code>cameraMatrix</code> - Input camera intrinsic matrix \(\cameramatrix{A}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are
- assumed.</dd>
- <dd><code>rvecs</code> - Vector of output rotation vectors (see REF: Rodrigues ) that, together with tvecs, brings points from
- the model coordinate system to the camera coordinate system.</dd>
- <dd><code>tvecs</code> - Vector of output translation vectors.</dd>
- <dd><code>useExtrinsicGuess</code> - Parameter used for #SOLVEPNP_ITERATIVE. If true (1), the function uses
- the provided rvec and tvec values as initial approximations of the rotation and translation
- vectors, respectively, and further optimizes them.</dd>
- <dd><code>flags</code> - Method for solving a PnP problem: see REF: calib3d_solvePnP_flags
- and useExtrinsicGuess is set to true.
- and useExtrinsicGuess is set to true.
- (\( \text{RMSE} = \sqrt{\frac{\sum_{i}^{N} \left ( \hat{y_i} - y_i \right )^2}{N}} \)) between the input image points
- and the 3D object points projected with the estimated pose.
- More information is described in REF: calib3d_solvePnP
- <b>Note:</b>
- <ul>
- <li>
- An example of how to use solvePnP for planar augmented reality can be found at
- opencv_source_code/samples/python/plane_ar.py
- </li>
- <li>
- If you are using Python:
- <ul>
- <li>
- Numpy array slices won't work as input because solvePnP requires contiguous
- arrays (enforced by the assertion using cv::Mat::checkVector() around line 55 of
- modules/calib3d/src/solvepnp.cpp version 2.4.9)
- </li>
- <li>
- The P3P algorithm requires image points to be in an array of shape (N,1,2) due
- to its calling of #undistortPoints (around line 75 of modules/calib3d/src/solvepnp.cpp version 2.4.9)
- which requires 2-channel information.
- </li>
- <li>
- Thus, given some data D = np.array(...) where D.shape = (N,M), in order to use a subset of
- it as, e.g., imagePoints, one must effectively copy it into a new array: imagePoints =
- np.ascontiguousarray(D[:,:2]).reshape((N,1,2))
- </li>
- </ul>
- <li>
- The methods REF: SOLVEPNP_DLS and REF: SOLVEPNP_UPNP cannot be used as the current implementations are
- unstable and sometimes give completely wrong results. If you pass one of these two
- flags, REF: SOLVEPNP_EPNP method will be used instead.
- </li>
- <li>
- The minimum number of points is 4 in the general case. In the case of REF: SOLVEPNP_P3P and REF: SOLVEPNP_AP3P
- methods, it is required to use exactly 4 points (the first 3 points are used to estimate all the solutions
- of the P3P problem, the last one is used to retain the best solution that minimizes the reprojection error).
- </li>
- <li>
- With REF: SOLVEPNP_ITERATIVE method and <code>useExtrinsicGuess=true</code>, the minimum number of points is 3 (3 points
- are sufficient to compute a pose but there are up to 4 solutions). The initial solution should be close to the
- global solution to converge.
- </li>
- <li>
- With REF: SOLVEPNP_IPPE input points must be >= 4 and object points must be coplanar.
- </li>
- <li>
- With REF: SOLVEPNP_IPPE_SQUARE this is a special case suitable for marker pose estimation.
- Number of input points must be 4. Object points must be defined in the following order:
- <ul>
- <li>
- point 0: [-squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 1: [ squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 2: [ squareLength / 2, -squareLength / 2, 0]
- </li>
- <li>
- point 3: [-squareLength / 2, -squareLength / 2, 0]
- </li>
- </ul>
- </li>
- </ul></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="solvePnPGeneric-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-boolean-int-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>solvePnPGeneric</h4>
- <pre>public static int solvePnPGeneric(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- boolean useExtrinsicGuess,
- int flags,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec)</pre>
- <div class="block">Finds an object pose from 3D-2D point correspondences.
- SEE: REF: calib3d_solvePnP
- This function returns a list of all the possible solutions (a solution is a <rotation vector, translation vector>
- couple), depending on the number of input points and the chosen method:
- <ul>
- <li>
- P3P methods (REF: SOLVEPNP_P3P, REF: SOLVEPNP_AP3P): 3 or 4 input points. Number of returned solutions can be between 0 and 4 with 3 input points.
- </li>
- <li>
- REF: SOLVEPNP_IPPE Input points must be >= 4 and object points must be coplanar. Returns 2 solutions.
- </li>
- <li>
- REF: SOLVEPNP_IPPE_SQUARE Special case suitable for marker pose estimation.
- Number of input points must be 4 and 2 solutions are returned. Object points must be defined in the following order:
- <ul>
- <li>
- point 0: [-squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 1: [ squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 2: [ squareLength / 2, -squareLength / 2, 0]
- </li>
- <li>
- point 3: [-squareLength / 2, -squareLength / 2, 0]
- </li>
- </ul>
- <li>
- for all the other flags, number of input points must be >= 4 and object points can be in any configuration.
- Only 1 solution is returned.
- </li>
- </ul></div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Array of object points in the object coordinate space, Nx3 1-channel or
- 1xN/Nx1 3-channel, where N is the number of points. vector<Point3d> can be also passed here.</dd>
- <dd><code>imagePoints</code> - Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
- where N is the number of points. vector<Point2d> can be also passed here.</dd>
- <dd><code>cameraMatrix</code> - Input camera intrinsic matrix \(\cameramatrix{A}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are
- assumed.</dd>
- <dd><code>rvecs</code> - Vector of output rotation vectors (see REF: Rodrigues ) that, together with tvecs, brings points from
- the model coordinate system to the camera coordinate system.</dd>
- <dd><code>tvecs</code> - Vector of output translation vectors.</dd>
- <dd><code>useExtrinsicGuess</code> - Parameter used for #SOLVEPNP_ITERATIVE. If true (1), the function uses
- the provided rvec and tvec values as initial approximations of the rotation and translation
- vectors, respectively, and further optimizes them.</dd>
- <dd><code>flags</code> - Method for solving a PnP problem: see REF: calib3d_solvePnP_flags</dd>
- <dd><code>rvec</code> - Rotation vector used to initialize an iterative PnP refinement algorithm, when flag is REF: SOLVEPNP_ITERATIVE
- and useExtrinsicGuess is set to true.
- and useExtrinsicGuess is set to true.
- (\( \text{RMSE} = \sqrt{\frac{\sum_{i}^{N} \left ( \hat{y_i} - y_i \right )^2}{N}} \)) between the input image points
- and the 3D object points projected with the estimated pose.
- More information is described in REF: calib3d_solvePnP
- <b>Note:</b>
- <ul>
- <li>
- An example of how to use solvePnP for planar augmented reality can be found at
- opencv_source_code/samples/python/plane_ar.py
- </li>
- <li>
- If you are using Python:
- <ul>
- <li>
- Numpy array slices won't work as input because solvePnP requires contiguous
- arrays (enforced by the assertion using cv::Mat::checkVector() around line 55 of
- modules/calib3d/src/solvepnp.cpp version 2.4.9)
- </li>
- <li>
- The P3P algorithm requires image points to be in an array of shape (N,1,2) due
- to its calling of #undistortPoints (around line 75 of modules/calib3d/src/solvepnp.cpp version 2.4.9)
- which requires 2-channel information.
- </li>
- <li>
- Thus, given some data D = np.array(...) where D.shape = (N,M), in order to use a subset of
- it as, e.g., imagePoints, one must effectively copy it into a new array: imagePoints =
- np.ascontiguousarray(D[:,:2]).reshape((N,1,2))
- </li>
- </ul>
- <li>
- The methods REF: SOLVEPNP_DLS and REF: SOLVEPNP_UPNP cannot be used as the current implementations are
- unstable and sometimes give completely wrong results. If you pass one of these two
- flags, REF: SOLVEPNP_EPNP method will be used instead.
- </li>
- <li>
- The minimum number of points is 4 in the general case. In the case of REF: SOLVEPNP_P3P and REF: SOLVEPNP_AP3P
- methods, it is required to use exactly 4 points (the first 3 points are used to estimate all the solutions
- of the P3P problem, the last one is used to retain the best solution that minimizes the reprojection error).
- </li>
- <li>
- With REF: SOLVEPNP_ITERATIVE method and <code>useExtrinsicGuess=true</code>, the minimum number of points is 3 (3 points
- are sufficient to compute a pose but there are up to 4 solutions). The initial solution should be close to the
- global solution to converge.
- </li>
- <li>
- With REF: SOLVEPNP_IPPE input points must be >= 4 and object points must be coplanar.
- </li>
- <li>
- With REF: SOLVEPNP_IPPE_SQUARE this is a special case suitable for marker pose estimation.
- Number of input points must be 4. Object points must be defined in the following order:
- <ul>
- <li>
- point 0: [-squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 1: [ squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 2: [ squareLength / 2, -squareLength / 2, 0]
- </li>
- <li>
- point 3: [-squareLength / 2, -squareLength / 2, 0]
- </li>
- </ul>
- </li>
- </ul></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="solvePnPGeneric-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-boolean-int-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>solvePnPGeneric</h4>
- <pre>public static int solvePnPGeneric(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- boolean useExtrinsicGuess,
- int flags,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec)</pre>
- <div class="block">Finds an object pose from 3D-2D point correspondences.
- SEE: REF: calib3d_solvePnP
- This function returns a list of all the possible solutions (a solution is a <rotation vector, translation vector>
- couple), depending on the number of input points and the chosen method:
- <ul>
- <li>
- P3P methods (REF: SOLVEPNP_P3P, REF: SOLVEPNP_AP3P): 3 or 4 input points. Number of returned solutions can be between 0 and 4 with 3 input points.
- </li>
- <li>
- REF: SOLVEPNP_IPPE Input points must be >= 4 and object points must be coplanar. Returns 2 solutions.
- </li>
- <li>
- REF: SOLVEPNP_IPPE_SQUARE Special case suitable for marker pose estimation.
- Number of input points must be 4 and 2 solutions are returned. Object points must be defined in the following order:
- <ul>
- <li>
- point 0: [-squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 1: [ squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 2: [ squareLength / 2, -squareLength / 2, 0]
- </li>
- <li>
- point 3: [-squareLength / 2, -squareLength / 2, 0]
- </li>
- </ul>
- <li>
- for all the other flags, number of input points must be >= 4 and object points can be in any configuration.
- Only 1 solution is returned.
- </li>
- </ul></div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Array of object points in the object coordinate space, Nx3 1-channel or
- 1xN/Nx1 3-channel, where N is the number of points. vector<Point3d> can be also passed here.</dd>
- <dd><code>imagePoints</code> - Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
- where N is the number of points. vector<Point2d> can be also passed here.</dd>
- <dd><code>cameraMatrix</code> - Input camera intrinsic matrix \(\cameramatrix{A}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are
- assumed.</dd>
- <dd><code>rvecs</code> - Vector of output rotation vectors (see REF: Rodrigues ) that, together with tvecs, brings points from
- the model coordinate system to the camera coordinate system.</dd>
- <dd><code>tvecs</code> - Vector of output translation vectors.</dd>
- <dd><code>useExtrinsicGuess</code> - Parameter used for #SOLVEPNP_ITERATIVE. If true (1), the function uses
- the provided rvec and tvec values as initial approximations of the rotation and translation
- vectors, respectively, and further optimizes them.</dd>
- <dd><code>flags</code> - Method for solving a PnP problem: see REF: calib3d_solvePnP_flags</dd>
- <dd><code>rvec</code> - Rotation vector used to initialize an iterative PnP refinement algorithm, when flag is REF: SOLVEPNP_ITERATIVE
- and useExtrinsicGuess is set to true.</dd>
- <dd><code>tvec</code> - Translation vector used to initialize an iterative PnP refinement algorithm, when flag is REF: SOLVEPNP_ITERATIVE
- and useExtrinsicGuess is set to true.
- (\( \text{RMSE} = \sqrt{\frac{\sum_{i}^{N} \left ( \hat{y_i} - y_i \right )^2}{N}} \)) between the input image points
- and the 3D object points projected with the estimated pose.
- More information is described in REF: calib3d_solvePnP
- <b>Note:</b>
- <ul>
- <li>
- An example of how to use solvePnP for planar augmented reality can be found at
- opencv_source_code/samples/python/plane_ar.py
- </li>
- <li>
- If you are using Python:
- <ul>
- <li>
- Numpy array slices won't work as input because solvePnP requires contiguous
- arrays (enforced by the assertion using cv::Mat::checkVector() around line 55 of
- modules/calib3d/src/solvepnp.cpp version 2.4.9)
- </li>
- <li>
- The P3P algorithm requires image points to be in an array of shape (N,1,2) due
- to its calling of #undistortPoints (around line 75 of modules/calib3d/src/solvepnp.cpp version 2.4.9)
- which requires 2-channel information.
- </li>
- <li>
- Thus, given some data D = np.array(...) where D.shape = (N,M), in order to use a subset of
- it as, e.g., imagePoints, one must effectively copy it into a new array: imagePoints =
- np.ascontiguousarray(D[:,:2]).reshape((N,1,2))
- </li>
- </ul>
- <li>
- The methods REF: SOLVEPNP_DLS and REF: SOLVEPNP_UPNP cannot be used as the current implementations are
- unstable and sometimes give completely wrong results. If you pass one of these two
- flags, REF: SOLVEPNP_EPNP method will be used instead.
- </li>
- <li>
- The minimum number of points is 4 in the general case. In the case of REF: SOLVEPNP_P3P and REF: SOLVEPNP_AP3P
- methods, it is required to use exactly 4 points (the first 3 points are used to estimate all the solutions
- of the P3P problem, the last one is used to retain the best solution that minimizes the reprojection error).
- </li>
- <li>
- With REF: SOLVEPNP_ITERATIVE method and <code>useExtrinsicGuess=true</code>, the minimum number of points is 3 (3 points
- are sufficient to compute a pose but there are up to 4 solutions). The initial solution should be close to the
- global solution to converge.
- </li>
- <li>
- With REF: SOLVEPNP_IPPE input points must be >= 4 and object points must be coplanar.
- </li>
- <li>
- With REF: SOLVEPNP_IPPE_SQUARE this is a special case suitable for marker pose estimation.
- Number of input points must be 4. Object points must be defined in the following order:
- <ul>
- <li>
- point 0: [-squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 1: [ squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 2: [ squareLength / 2, -squareLength / 2, 0]
- </li>
- <li>
- point 3: [-squareLength / 2, -squareLength / 2, 0]
- </li>
- </ul>
- </li>
- </ul></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="solvePnPGeneric-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-boolean-int-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>solvePnPGeneric</h4>
- <pre>public static int solvePnPGeneric(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- boolean useExtrinsicGuess,
- int flags,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> reprojectionError)</pre>
- <div class="block">Finds an object pose from 3D-2D point correspondences.
- SEE: REF: calib3d_solvePnP
- This function returns a list of all the possible solutions (a solution is a <rotation vector, translation vector>
- couple), depending on the number of input points and the chosen method:
- <ul>
- <li>
- P3P methods (REF: SOLVEPNP_P3P, REF: SOLVEPNP_AP3P): 3 or 4 input points. Number of returned solutions can be between 0 and 4 with 3 input points.
- </li>
- <li>
- REF: SOLVEPNP_IPPE Input points must be >= 4 and object points must be coplanar. Returns 2 solutions.
- </li>
- <li>
- REF: SOLVEPNP_IPPE_SQUARE Special case suitable for marker pose estimation.
- Number of input points must be 4 and 2 solutions are returned. Object points must be defined in the following order:
- <ul>
- <li>
- point 0: [-squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 1: [ squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 2: [ squareLength / 2, -squareLength / 2, 0]
- </li>
- <li>
- point 3: [-squareLength / 2, -squareLength / 2, 0]
- </li>
- </ul>
- <li>
- for all the other flags, number of input points must be >= 4 and object points can be in any configuration.
- Only 1 solution is returned.
- </li>
- </ul></div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Array of object points in the object coordinate space, Nx3 1-channel or
- 1xN/Nx1 3-channel, where N is the number of points. vector<Point3d> can be also passed here.</dd>
- <dd><code>imagePoints</code> - Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
- where N is the number of points. vector<Point2d> can be also passed here.</dd>
- <dd><code>cameraMatrix</code> - Input camera intrinsic matrix \(\cameramatrix{A}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are
- assumed.</dd>
- <dd><code>rvecs</code> - Vector of output rotation vectors (see REF: Rodrigues ) that, together with tvecs, brings points from
- the model coordinate system to the camera coordinate system.</dd>
- <dd><code>tvecs</code> - Vector of output translation vectors.</dd>
- <dd><code>useExtrinsicGuess</code> - Parameter used for #SOLVEPNP_ITERATIVE. If true (1), the function uses
- the provided rvec and tvec values as initial approximations of the rotation and translation
- vectors, respectively, and further optimizes them.</dd>
- <dd><code>flags</code> - Method for solving a PnP problem: see REF: calib3d_solvePnP_flags</dd>
- <dd><code>rvec</code> - Rotation vector used to initialize an iterative PnP refinement algorithm, when flag is REF: SOLVEPNP_ITERATIVE
- and useExtrinsicGuess is set to true.</dd>
- <dd><code>tvec</code> - Translation vector used to initialize an iterative PnP refinement algorithm, when flag is REF: SOLVEPNP_ITERATIVE
- and useExtrinsicGuess is set to true.</dd>
- <dd><code>reprojectionError</code> - Optional vector of reprojection error, that is the RMS error
- (\( \text{RMSE} = \sqrt{\frac{\sum_{i}^{N} \left ( \hat{y_i} - y_i \right )^2}{N}} \)) between the input image points
- and the 3D object points projected with the estimated pose.
- More information is described in REF: calib3d_solvePnP
- <b>Note:</b>
- <ul>
- <li>
- An example of how to use solvePnP for planar augmented reality can be found at
- opencv_source_code/samples/python/plane_ar.py
- </li>
- <li>
- If you are using Python:
- <ul>
- <li>
- Numpy array slices won't work as input because solvePnP requires contiguous
- arrays (enforced by the assertion using cv::Mat::checkVector() around line 55 of
- modules/calib3d/src/solvepnp.cpp version 2.4.9)
- </li>
- <li>
- The P3P algorithm requires image points to be in an array of shape (N,1,2) due
- to its calling of #undistortPoints (around line 75 of modules/calib3d/src/solvepnp.cpp version 2.4.9)
- which requires 2-channel information.
- </li>
- <li>
- Thus, given some data D = np.array(...) where D.shape = (N,M), in order to use a subset of
- it as, e.g., imagePoints, one must effectively copy it into a new array: imagePoints =
- np.ascontiguousarray(D[:,:2]).reshape((N,1,2))
- </li>
- </ul>
- <li>
- The methods REF: SOLVEPNP_DLS and REF: SOLVEPNP_UPNP cannot be used as the current implementations are
- unstable and sometimes give completely wrong results. If you pass one of these two
- flags, REF: SOLVEPNP_EPNP method will be used instead.
- </li>
- <li>
- The minimum number of points is 4 in the general case. In the case of REF: SOLVEPNP_P3P and REF: SOLVEPNP_AP3P
- methods, it is required to use exactly 4 points (the first 3 points are used to estimate all the solutions
- of the P3P problem, the last one is used to retain the best solution that minimizes the reprojection error).
- </li>
- <li>
- With REF: SOLVEPNP_ITERATIVE method and <code>useExtrinsicGuess=true</code>, the minimum number of points is 3 (3 points
- are sufficient to compute a pose but there are up to 4 solutions). The initial solution should be close to the
- global solution to converge.
- </li>
- <li>
- With REF: SOLVEPNP_IPPE input points must be >= 4 and object points must be coplanar.
- </li>
- <li>
- With REF: SOLVEPNP_IPPE_SQUARE this is a special case suitable for marker pose estimation.
- Number of input points must be 4. Object points must be defined in the following order:
- <ul>
- <li>
- point 0: [-squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 1: [ squareLength / 2, squareLength / 2, 0]
- </li>
- <li>
- point 2: [ squareLength / 2, -squareLength / 2, 0]
- </li>
- <li>
- point 3: [-squareLength / 2, -squareLength / 2, 0]
- </li>
- </ul>
- </li>
- </ul></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="solvePnPRansac-org.opencv.core.MatOfPoint3f-org.opencv.core.MatOfPoint2f-org.opencv.core.Mat-org.opencv.core.MatOfDouble-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <h4>solvePnPRansac</h4>
- <pre>public static boolean solvePnPRansac(<a href="../../../org/opencv/core/MatOfPoint3f.html" title="class in org.opencv.core">MatOfPoint3f</a> objectPoints,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/MatOfDouble.html" title="class in org.opencv.core">MatOfDouble</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec)</pre>
- <div class="block">Finds an object pose from 3D-2D point correspondences using the RANSAC scheme.
- SEE: REF: calib3d_solvePnP</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Array of object points in the object coordinate space, Nx3 1-channel or
- 1xN/Nx1 3-channel, where N is the number of points. vector<Point3d> can be also passed here.</dd>
- <dd><code>imagePoints</code> - Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
- where N is the number of points. vector<Point2d> can be also passed here.</dd>
- <dd><code>cameraMatrix</code> - Input camera intrinsic matrix \(\cameramatrix{A}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are
- assumed.</dd>
- <dd><code>rvec</code> - Output rotation vector (see REF: Rodrigues ) that, together with tvec, brings points from
- the model coordinate system to the camera coordinate system.</dd>
- <dd><code>tvec</code> - Output translation vector.
- the provided rvec and tvec values as initial approximations of the rotation and translation
- vectors, respectively, and further optimizes them.
- is the maximum allowed distance between the observed and computed point projections to consider it
- an inlier.
- The function estimates an object pose given a set of object points, their corresponding image
- projections, as well as the camera intrinsic matrix and the distortion coefficients. This function finds such
- a pose that minimizes reprojection error, that is, the sum of squared distances between the observed
- projections imagePoints and the projected (using REF: projectPoints ) objectPoints. The use of RANSAC
- makes the function resistant to outliers.
- <b>Note:</b>
- <ul>
- <li>
- An example of how to use solvePNPRansac for object detection can be found at
- opencv_source_code/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/
- </li>
- <li>
- The default method used to estimate the camera pose for the Minimal Sample Sets step
- is #SOLVEPNP_EPNP. Exceptions are:
- <ul>
- <li>
- if you choose #SOLVEPNP_P3P or #SOLVEPNP_AP3P, these methods will be used.
- </li>
- <li>
- if the number of input points is equal to 4, #SOLVEPNP_P3P is used.
- </li>
- </ul>
- <li>
- The method used to estimate the camera pose using all the inliers is defined by the
- flags parameters unless it is equal to #SOLVEPNP_P3P or #SOLVEPNP_AP3P. In this case,
- the method #SOLVEPNP_EPNP will be used instead.
- </li>
- </ul></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="solvePnPRansac-org.opencv.core.MatOfPoint3f-org.opencv.core.MatOfPoint2f-org.opencv.core.Mat-org.opencv.core.MatOfDouble-org.opencv.core.Mat-org.opencv.core.Mat-boolean-">
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- <h4>solvePnPRansac</h4>
- <pre>public static boolean solvePnPRansac(<a href="../../../org/opencv/core/MatOfPoint3f.html" title="class in org.opencv.core">MatOfPoint3f</a> objectPoints,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/MatOfDouble.html" title="class in org.opencv.core">MatOfDouble</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- boolean useExtrinsicGuess)</pre>
- <div class="block">Finds an object pose from 3D-2D point correspondences using the RANSAC scheme.
- SEE: REF: calib3d_solvePnP</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Array of object points in the object coordinate space, Nx3 1-channel or
- 1xN/Nx1 3-channel, where N is the number of points. vector<Point3d> can be also passed here.</dd>
- <dd><code>imagePoints</code> - Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
- where N is the number of points. vector<Point2d> can be also passed here.</dd>
- <dd><code>cameraMatrix</code> - Input camera intrinsic matrix \(\cameramatrix{A}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are
- assumed.</dd>
- <dd><code>rvec</code> - Output rotation vector (see REF: Rodrigues ) that, together with tvec, brings points from
- the model coordinate system to the camera coordinate system.</dd>
- <dd><code>tvec</code> - Output translation vector.</dd>
- <dd><code>useExtrinsicGuess</code> - Parameter used for REF: SOLVEPNP_ITERATIVE. If true (1), the function uses
- the provided rvec and tvec values as initial approximations of the rotation and translation
- vectors, respectively, and further optimizes them.
- is the maximum allowed distance between the observed and computed point projections to consider it
- an inlier.
- The function estimates an object pose given a set of object points, their corresponding image
- projections, as well as the camera intrinsic matrix and the distortion coefficients. This function finds such
- a pose that minimizes reprojection error, that is, the sum of squared distances between the observed
- projections imagePoints and the projected (using REF: projectPoints ) objectPoints. The use of RANSAC
- makes the function resistant to outliers.
- <b>Note:</b>
- <ul>
- <li>
- An example of how to use solvePNPRansac for object detection can be found at
- opencv_source_code/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/
- </li>
- <li>
- The default method used to estimate the camera pose for the Minimal Sample Sets step
- is #SOLVEPNP_EPNP. Exceptions are:
- <ul>
- <li>
- if you choose #SOLVEPNP_P3P or #SOLVEPNP_AP3P, these methods will be used.
- </li>
- <li>
- if the number of input points is equal to 4, #SOLVEPNP_P3P is used.
- </li>
- </ul>
- <li>
- The method used to estimate the camera pose using all the inliers is defined by the
- flags parameters unless it is equal to #SOLVEPNP_P3P or #SOLVEPNP_AP3P. In this case,
- the method #SOLVEPNP_EPNP will be used instead.
- </li>
- </ul></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="solvePnPRansac-org.opencv.core.MatOfPoint3f-org.opencv.core.MatOfPoint2f-org.opencv.core.Mat-org.opencv.core.MatOfDouble-org.opencv.core.Mat-org.opencv.core.Mat-boolean-int-">
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- <h4>solvePnPRansac</h4>
- <pre>public static boolean solvePnPRansac(<a href="../../../org/opencv/core/MatOfPoint3f.html" title="class in org.opencv.core">MatOfPoint3f</a> objectPoints,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/MatOfDouble.html" title="class in org.opencv.core">MatOfDouble</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- boolean useExtrinsicGuess,
- int iterationsCount)</pre>
- <div class="block">Finds an object pose from 3D-2D point correspondences using the RANSAC scheme.
- SEE: REF: calib3d_solvePnP</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Array of object points in the object coordinate space, Nx3 1-channel or
- 1xN/Nx1 3-channel, where N is the number of points. vector<Point3d> can be also passed here.</dd>
- <dd><code>imagePoints</code> - Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
- where N is the number of points. vector<Point2d> can be also passed here.</dd>
- <dd><code>cameraMatrix</code> - Input camera intrinsic matrix \(\cameramatrix{A}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are
- assumed.</dd>
- <dd><code>rvec</code> - Output rotation vector (see REF: Rodrigues ) that, together with tvec, brings points from
- the model coordinate system to the camera coordinate system.</dd>
- <dd><code>tvec</code> - Output translation vector.</dd>
- <dd><code>useExtrinsicGuess</code> - Parameter used for REF: SOLVEPNP_ITERATIVE. If true (1), the function uses
- the provided rvec and tvec values as initial approximations of the rotation and translation
- vectors, respectively, and further optimizes them.</dd>
- <dd><code>iterationsCount</code> - Number of iterations.
- is the maximum allowed distance between the observed and computed point projections to consider it
- an inlier.
- The function estimates an object pose given a set of object points, their corresponding image
- projections, as well as the camera intrinsic matrix and the distortion coefficients. This function finds such
- a pose that minimizes reprojection error, that is, the sum of squared distances between the observed
- projections imagePoints and the projected (using REF: projectPoints ) objectPoints. The use of RANSAC
- makes the function resistant to outliers.
- <b>Note:</b>
- <ul>
- <li>
- An example of how to use solvePNPRansac for object detection can be found at
- opencv_source_code/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/
- </li>
- <li>
- The default method used to estimate the camera pose for the Minimal Sample Sets step
- is #SOLVEPNP_EPNP. Exceptions are:
- <ul>
- <li>
- if you choose #SOLVEPNP_P3P or #SOLVEPNP_AP3P, these methods will be used.
- </li>
- <li>
- if the number of input points is equal to 4, #SOLVEPNP_P3P is used.
- </li>
- </ul>
- <li>
- The method used to estimate the camera pose using all the inliers is defined by the
- flags parameters unless it is equal to #SOLVEPNP_P3P or #SOLVEPNP_AP3P. In this case,
- the method #SOLVEPNP_EPNP will be used instead.
- </li>
- </ul></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="solvePnPRansac-org.opencv.core.MatOfPoint3f-org.opencv.core.MatOfPoint2f-org.opencv.core.Mat-org.opencv.core.MatOfDouble-org.opencv.core.Mat-org.opencv.core.Mat-boolean-int-float-">
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- <h4>solvePnPRansac</h4>
- <pre>public static boolean solvePnPRansac(<a href="../../../org/opencv/core/MatOfPoint3f.html" title="class in org.opencv.core">MatOfPoint3f</a> objectPoints,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/MatOfDouble.html" title="class in org.opencv.core">MatOfDouble</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- boolean useExtrinsicGuess,
- int iterationsCount,
- float reprojectionError)</pre>
- <div class="block">Finds an object pose from 3D-2D point correspondences using the RANSAC scheme.
- SEE: REF: calib3d_solvePnP</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Array of object points in the object coordinate space, Nx3 1-channel or
- 1xN/Nx1 3-channel, where N is the number of points. vector<Point3d> can be also passed here.</dd>
- <dd><code>imagePoints</code> - Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
- where N is the number of points. vector<Point2d> can be also passed here.</dd>
- <dd><code>cameraMatrix</code> - Input camera intrinsic matrix \(\cameramatrix{A}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are
- assumed.</dd>
- <dd><code>rvec</code> - Output rotation vector (see REF: Rodrigues ) that, together with tvec, brings points from
- the model coordinate system to the camera coordinate system.</dd>
- <dd><code>tvec</code> - Output translation vector.</dd>
- <dd><code>useExtrinsicGuess</code> - Parameter used for REF: SOLVEPNP_ITERATIVE. If true (1), the function uses
- the provided rvec and tvec values as initial approximations of the rotation and translation
- vectors, respectively, and further optimizes them.</dd>
- <dd><code>iterationsCount</code> - Number of iterations.</dd>
- <dd><code>reprojectionError</code> - Inlier threshold value used by the RANSAC procedure. The parameter value
- is the maximum allowed distance between the observed and computed point projections to consider it
- an inlier.
- The function estimates an object pose given a set of object points, their corresponding image
- projections, as well as the camera intrinsic matrix and the distortion coefficients. This function finds such
- a pose that minimizes reprojection error, that is, the sum of squared distances between the observed
- projections imagePoints and the projected (using REF: projectPoints ) objectPoints. The use of RANSAC
- makes the function resistant to outliers.
- <b>Note:</b>
- <ul>
- <li>
- An example of how to use solvePNPRansac for object detection can be found at
- opencv_source_code/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/
- </li>
- <li>
- The default method used to estimate the camera pose for the Minimal Sample Sets step
- is #SOLVEPNP_EPNP. Exceptions are:
- <ul>
- <li>
- if you choose #SOLVEPNP_P3P or #SOLVEPNP_AP3P, these methods will be used.
- </li>
- <li>
- if the number of input points is equal to 4, #SOLVEPNP_P3P is used.
- </li>
- </ul>
- <li>
- The method used to estimate the camera pose using all the inliers is defined by the
- flags parameters unless it is equal to #SOLVEPNP_P3P or #SOLVEPNP_AP3P. In this case,
- the method #SOLVEPNP_EPNP will be used instead.
- </li>
- </ul></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="solvePnPRansac-org.opencv.core.MatOfPoint3f-org.opencv.core.MatOfPoint2f-org.opencv.core.Mat-org.opencv.core.MatOfDouble-org.opencv.core.Mat-org.opencv.core.Mat-boolean-int-float-double-">
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- <h4>solvePnPRansac</h4>
- <pre>public static boolean solvePnPRansac(<a href="../../../org/opencv/core/MatOfPoint3f.html" title="class in org.opencv.core">MatOfPoint3f</a> objectPoints,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/MatOfDouble.html" title="class in org.opencv.core">MatOfDouble</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- boolean useExtrinsicGuess,
- int iterationsCount,
- float reprojectionError,
- double confidence)</pre>
- <div class="block">Finds an object pose from 3D-2D point correspondences using the RANSAC scheme.
- SEE: REF: calib3d_solvePnP</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Array of object points in the object coordinate space, Nx3 1-channel or
- 1xN/Nx1 3-channel, where N is the number of points. vector<Point3d> can be also passed here.</dd>
- <dd><code>imagePoints</code> - Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
- where N is the number of points. vector<Point2d> can be also passed here.</dd>
- <dd><code>cameraMatrix</code> - Input camera intrinsic matrix \(\cameramatrix{A}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are
- assumed.</dd>
- <dd><code>rvec</code> - Output rotation vector (see REF: Rodrigues ) that, together with tvec, brings points from
- the model coordinate system to the camera coordinate system.</dd>
- <dd><code>tvec</code> - Output translation vector.</dd>
- <dd><code>useExtrinsicGuess</code> - Parameter used for REF: SOLVEPNP_ITERATIVE. If true (1), the function uses
- the provided rvec and tvec values as initial approximations of the rotation and translation
- vectors, respectively, and further optimizes them.</dd>
- <dd><code>iterationsCount</code> - Number of iterations.</dd>
- <dd><code>reprojectionError</code> - Inlier threshold value used by the RANSAC procedure. The parameter value
- is the maximum allowed distance between the observed and computed point projections to consider it
- an inlier.</dd>
- <dd><code>confidence</code> - The probability that the algorithm produces a useful result.
- The function estimates an object pose given a set of object points, their corresponding image
- projections, as well as the camera intrinsic matrix and the distortion coefficients. This function finds such
- a pose that minimizes reprojection error, that is, the sum of squared distances between the observed
- projections imagePoints and the projected (using REF: projectPoints ) objectPoints. The use of RANSAC
- makes the function resistant to outliers.
- <b>Note:</b>
- <ul>
- <li>
- An example of how to use solvePNPRansac for object detection can be found at
- opencv_source_code/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/
- </li>
- <li>
- The default method used to estimate the camera pose for the Minimal Sample Sets step
- is #SOLVEPNP_EPNP. Exceptions are:
- <ul>
- <li>
- if you choose #SOLVEPNP_P3P or #SOLVEPNP_AP3P, these methods will be used.
- </li>
- <li>
- if the number of input points is equal to 4, #SOLVEPNP_P3P is used.
- </li>
- </ul>
- <li>
- The method used to estimate the camera pose using all the inliers is defined by the
- flags parameters unless it is equal to #SOLVEPNP_P3P or #SOLVEPNP_AP3P. In this case,
- the method #SOLVEPNP_EPNP will be used instead.
- </li>
- </ul></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="solvePnPRansac-org.opencv.core.MatOfPoint3f-org.opencv.core.MatOfPoint2f-org.opencv.core.Mat-org.opencv.core.MatOfDouble-org.opencv.core.Mat-org.opencv.core.Mat-boolean-int-float-double-org.opencv.core.Mat-">
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- <h4>solvePnPRansac</h4>
- <pre>public static boolean solvePnPRansac(<a href="../../../org/opencv/core/MatOfPoint3f.html" title="class in org.opencv.core">MatOfPoint3f</a> objectPoints,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/MatOfDouble.html" title="class in org.opencv.core">MatOfDouble</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- boolean useExtrinsicGuess,
- int iterationsCount,
- float reprojectionError,
- double confidence,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers)</pre>
- <div class="block">Finds an object pose from 3D-2D point correspondences using the RANSAC scheme.
- SEE: REF: calib3d_solvePnP</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Array of object points in the object coordinate space, Nx3 1-channel or
- 1xN/Nx1 3-channel, where N is the number of points. vector<Point3d> can be also passed here.</dd>
- <dd><code>imagePoints</code> - Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
- where N is the number of points. vector<Point2d> can be also passed here.</dd>
- <dd><code>cameraMatrix</code> - Input camera intrinsic matrix \(\cameramatrix{A}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are
- assumed.</dd>
- <dd><code>rvec</code> - Output rotation vector (see REF: Rodrigues ) that, together with tvec, brings points from
- the model coordinate system to the camera coordinate system.</dd>
- <dd><code>tvec</code> - Output translation vector.</dd>
- <dd><code>useExtrinsicGuess</code> - Parameter used for REF: SOLVEPNP_ITERATIVE. If true (1), the function uses
- the provided rvec and tvec values as initial approximations of the rotation and translation
- vectors, respectively, and further optimizes them.</dd>
- <dd><code>iterationsCount</code> - Number of iterations.</dd>
- <dd><code>reprojectionError</code> - Inlier threshold value used by the RANSAC procedure. The parameter value
- is the maximum allowed distance between the observed and computed point projections to consider it
- an inlier.</dd>
- <dd><code>confidence</code> - The probability that the algorithm produces a useful result.</dd>
- <dd><code>inliers</code> - Output vector that contains indices of inliers in objectPoints and imagePoints .
- The function estimates an object pose given a set of object points, their corresponding image
- projections, as well as the camera intrinsic matrix and the distortion coefficients. This function finds such
- a pose that minimizes reprojection error, that is, the sum of squared distances between the observed
- projections imagePoints and the projected (using REF: projectPoints ) objectPoints. The use of RANSAC
- makes the function resistant to outliers.
- <b>Note:</b>
- <ul>
- <li>
- An example of how to use solvePNPRansac for object detection can be found at
- opencv_source_code/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/
- </li>
- <li>
- The default method used to estimate the camera pose for the Minimal Sample Sets step
- is #SOLVEPNP_EPNP. Exceptions are:
- <ul>
- <li>
- if you choose #SOLVEPNP_P3P or #SOLVEPNP_AP3P, these methods will be used.
- </li>
- <li>
- if the number of input points is equal to 4, #SOLVEPNP_P3P is used.
- </li>
- </ul>
- <li>
- The method used to estimate the camera pose using all the inliers is defined by the
- flags parameters unless it is equal to #SOLVEPNP_P3P or #SOLVEPNP_AP3P. In this case,
- the method #SOLVEPNP_EPNP will be used instead.
- </li>
- </ul></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="solvePnPRansac-org.opencv.core.MatOfPoint3f-org.opencv.core.MatOfPoint2f-org.opencv.core.Mat-org.opencv.core.MatOfDouble-org.opencv.core.Mat-org.opencv.core.Mat-boolean-int-float-double-org.opencv.core.Mat-int-">
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- <h4>solvePnPRansac</h4>
- <pre>public static boolean solvePnPRansac(<a href="../../../org/opencv/core/MatOfPoint3f.html" title="class in org.opencv.core">MatOfPoint3f</a> objectPoints,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/MatOfDouble.html" title="class in org.opencv.core">MatOfDouble</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- boolean useExtrinsicGuess,
- int iterationsCount,
- float reprojectionError,
- double confidence,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- int flags)</pre>
- <div class="block">Finds an object pose from 3D-2D point correspondences using the RANSAC scheme.
- SEE: REF: calib3d_solvePnP</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Array of object points in the object coordinate space, Nx3 1-channel or
- 1xN/Nx1 3-channel, where N is the number of points. vector<Point3d> can be also passed here.</dd>
- <dd><code>imagePoints</code> - Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
- where N is the number of points. vector<Point2d> can be also passed here.</dd>
- <dd><code>cameraMatrix</code> - Input camera intrinsic matrix \(\cameramatrix{A}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are
- assumed.</dd>
- <dd><code>rvec</code> - Output rotation vector (see REF: Rodrigues ) that, together with tvec, brings points from
- the model coordinate system to the camera coordinate system.</dd>
- <dd><code>tvec</code> - Output translation vector.</dd>
- <dd><code>useExtrinsicGuess</code> - Parameter used for REF: SOLVEPNP_ITERATIVE. If true (1), the function uses
- the provided rvec and tvec values as initial approximations of the rotation and translation
- vectors, respectively, and further optimizes them.</dd>
- <dd><code>iterationsCount</code> - Number of iterations.</dd>
- <dd><code>reprojectionError</code> - Inlier threshold value used by the RANSAC procedure. The parameter value
- is the maximum allowed distance between the observed and computed point projections to consider it
- an inlier.</dd>
- <dd><code>confidence</code> - The probability that the algorithm produces a useful result.</dd>
- <dd><code>inliers</code> - Output vector that contains indices of inliers in objectPoints and imagePoints .</dd>
- <dd><code>flags</code> - Method for solving a PnP problem (see REF: solvePnP ).
- The function estimates an object pose given a set of object points, their corresponding image
- projections, as well as the camera intrinsic matrix and the distortion coefficients. This function finds such
- a pose that minimizes reprojection error, that is, the sum of squared distances between the observed
- projections imagePoints and the projected (using REF: projectPoints ) objectPoints. The use of RANSAC
- makes the function resistant to outliers.
- <b>Note:</b>
- <ul>
- <li>
- An example of how to use solvePNPRansac for object detection can be found at
- opencv_source_code/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/
- </li>
- <li>
- The default method used to estimate the camera pose for the Minimal Sample Sets step
- is #SOLVEPNP_EPNP. Exceptions are:
- <ul>
- <li>
- if you choose #SOLVEPNP_P3P or #SOLVEPNP_AP3P, these methods will be used.
- </li>
- <li>
- if the number of input points is equal to 4, #SOLVEPNP_P3P is used.
- </li>
- </ul>
- <li>
- The method used to estimate the camera pose using all the inliers is defined by the
- flags parameters unless it is equal to #SOLVEPNP_P3P or #SOLVEPNP_AP3P. In this case,
- the method #SOLVEPNP_EPNP will be used instead.
- </li>
- </ul></dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="solvePnPRansac-org.opencv.core.MatOfPoint3f-org.opencv.core.MatOfPoint2f-org.opencv.core.Mat-org.opencv.core.MatOfDouble-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <pre>public static boolean solvePnPRansac(<a href="../../../org/opencv/core/MatOfPoint3f.html" title="class in org.opencv.core">MatOfPoint3f</a> objectPoints,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/MatOfDouble.html" title="class in org.opencv.core">MatOfDouble</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers)</pre>
- </li>
- </ul>
- <a name="solvePnPRansac-org.opencv.core.MatOfPoint3f-org.opencv.core.MatOfPoint2f-org.opencv.core.Mat-org.opencv.core.MatOfDouble-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.calib3d.UsacParams-">
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- <h4>solvePnPRansac</h4>
- <pre>public static boolean solvePnPRansac(<a href="../../../org/opencv/core/MatOfPoint3f.html" title="class in org.opencv.core">MatOfPoint3f</a> objectPoints,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/MatOfDouble.html" title="class in org.opencv.core">MatOfDouble</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> inliers,
- <a href="../../../org/opencv/calib3d/UsacParams.html" title="class in org.opencv.calib3d">UsacParams</a> params)</pre>
- </li>
- </ul>
- <a name="solvePnPRefineLM-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <pre>public static void solvePnPRefineLM(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec)</pre>
- <div class="block">Refine a pose (the translation and the rotation that transform a 3D point expressed in the object coordinate frame
- to the camera coordinate frame) from a 3D-2D point correspondences and starting from an initial solution.
- SEE: REF: calib3d_solvePnP</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Array of object points in the object coordinate space, Nx3 1-channel or 1xN/Nx1 3-channel,
- where N is the number of points. vector<Point3d> can also be passed here.</dd>
- <dd><code>imagePoints</code> - Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
- where N is the number of points. vector<Point2d> can also be passed here.</dd>
- <dd><code>cameraMatrix</code> - Input camera intrinsic matrix \(\cameramatrix{A}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are
- assumed.</dd>
- <dd><code>rvec</code> - Input/Output rotation vector (see REF: Rodrigues ) that, together with tvec, brings points from
- the model coordinate system to the camera coordinate system. Input values are used as an initial solution.</dd>
- <dd><code>tvec</code> - Input/Output translation vector. Input values are used as an initial solution.
- The function refines the object pose given at least 3 object points, their corresponding image
- projections, an initial solution for the rotation and translation vector,
- as well as the camera intrinsic matrix and the distortion coefficients.
- The function minimizes the projection error with respect to the rotation and the translation vectors, according
- to a Levenberg-Marquardt iterative minimization CITE: Madsen04 CITE: Eade13 process.</dd>
- </dl>
- </li>
- </ul>
- <a name="solvePnPRefineLM-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.TermCriteria-">
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- <pre>public static void solvePnPRefineLM(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/TermCriteria.html" title="class in org.opencv.core">TermCriteria</a> criteria)</pre>
- <div class="block">Refine a pose (the translation and the rotation that transform a 3D point expressed in the object coordinate frame
- to the camera coordinate frame) from a 3D-2D point correspondences and starting from an initial solution.
- SEE: REF: calib3d_solvePnP</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Array of object points in the object coordinate space, Nx3 1-channel or 1xN/Nx1 3-channel,
- where N is the number of points. vector<Point3d> can also be passed here.</dd>
- <dd><code>imagePoints</code> - Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
- where N is the number of points. vector<Point2d> can also be passed here.</dd>
- <dd><code>cameraMatrix</code> - Input camera intrinsic matrix \(\cameramatrix{A}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are
- assumed.</dd>
- <dd><code>rvec</code> - Input/Output rotation vector (see REF: Rodrigues ) that, together with tvec, brings points from
- the model coordinate system to the camera coordinate system. Input values are used as an initial solution.</dd>
- <dd><code>tvec</code> - Input/Output translation vector. Input values are used as an initial solution.</dd>
- <dd><code>criteria</code> - Criteria when to stop the Levenberg-Marquard iterative algorithm.
- The function refines the object pose given at least 3 object points, their corresponding image
- projections, an initial solution for the rotation and translation vector,
- as well as the camera intrinsic matrix and the distortion coefficients.
- The function minimizes the projection error with respect to the rotation and the translation vectors, according
- to a Levenberg-Marquardt iterative minimization CITE: Madsen04 CITE: Eade13 process.</dd>
- </dl>
- </li>
- </ul>
- <a name="solvePnPRefineVVS-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <pre>public static void solvePnPRefineVVS(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec)</pre>
- <div class="block">Refine a pose (the translation and the rotation that transform a 3D point expressed in the object coordinate frame
- to the camera coordinate frame) from a 3D-2D point correspondences and starting from an initial solution.
- SEE: REF: calib3d_solvePnP</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Array of object points in the object coordinate space, Nx3 1-channel or 1xN/Nx1 3-channel,
- where N is the number of points. vector<Point3d> can also be passed here.</dd>
- <dd><code>imagePoints</code> - Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
- where N is the number of points. vector<Point2d> can also be passed here.</dd>
- <dd><code>cameraMatrix</code> - Input camera intrinsic matrix \(\cameramatrix{A}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are
- assumed.</dd>
- <dd><code>rvec</code> - Input/Output rotation vector (see REF: Rodrigues ) that, together with tvec, brings points from
- the model coordinate system to the camera coordinate system. Input values are used as an initial solution.</dd>
- <dd><code>tvec</code> - Input/Output translation vector. Input values are used as an initial solution.
- gain in the Damped Gauss-Newton formulation.
- The function refines the object pose given at least 3 object points, their corresponding image
- projections, an initial solution for the rotation and translation vector,
- as well as the camera intrinsic matrix and the distortion coefficients.
- The function minimizes the projection error with respect to the rotation and the translation vectors, using a
- virtual visual servoing (VVS) CITE: Chaumette06 CITE: Marchand16 scheme.</dd>
- </dl>
- </li>
- </ul>
- <a name="solvePnPRefineVVS-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.TermCriteria-">
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- <ul class="blockList">
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- <h4>solvePnPRefineVVS</h4>
- <pre>public static void solvePnPRefineVVS(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/TermCriteria.html" title="class in org.opencv.core">TermCriteria</a> criteria)</pre>
- <div class="block">Refine a pose (the translation and the rotation that transform a 3D point expressed in the object coordinate frame
- to the camera coordinate frame) from a 3D-2D point correspondences and starting from an initial solution.
- SEE: REF: calib3d_solvePnP</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Array of object points in the object coordinate space, Nx3 1-channel or 1xN/Nx1 3-channel,
- where N is the number of points. vector<Point3d> can also be passed here.</dd>
- <dd><code>imagePoints</code> - Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
- where N is the number of points. vector<Point2d> can also be passed here.</dd>
- <dd><code>cameraMatrix</code> - Input camera intrinsic matrix \(\cameramatrix{A}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are
- assumed.</dd>
- <dd><code>rvec</code> - Input/Output rotation vector (see REF: Rodrigues ) that, together with tvec, brings points from
- the model coordinate system to the camera coordinate system. Input values are used as an initial solution.</dd>
- <dd><code>tvec</code> - Input/Output translation vector. Input values are used as an initial solution.</dd>
- <dd><code>criteria</code> - Criteria when to stop the Levenberg-Marquard iterative algorithm.
- gain in the Damped Gauss-Newton formulation.
- The function refines the object pose given at least 3 object points, their corresponding image
- projections, an initial solution for the rotation and translation vector,
- as well as the camera intrinsic matrix and the distortion coefficients.
- The function minimizes the projection error with respect to the rotation and the translation vectors, using a
- virtual visual servoing (VVS) CITE: Chaumette06 CITE: Marchand16 scheme.</dd>
- </dl>
- </li>
- </ul>
- <a name="solvePnPRefineVVS-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.TermCriteria-double-">
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- <li class="blockList">
- <h4>solvePnPRefineVVS</h4>
- <pre>public static void solvePnPRefineVVS(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> objectPoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> imagePoints,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> rvec,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> tvec,
- <a href="../../../org/opencv/core/TermCriteria.html" title="class in org.opencv.core">TermCriteria</a> criteria,
- double VVSlambda)</pre>
- <div class="block">Refine a pose (the translation and the rotation that transform a 3D point expressed in the object coordinate frame
- to the camera coordinate frame) from a 3D-2D point correspondences and starting from an initial solution.
- SEE: REF: calib3d_solvePnP</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Array of object points in the object coordinate space, Nx3 1-channel or 1xN/Nx1 3-channel,
- where N is the number of points. vector<Point3d> can also be passed here.</dd>
- <dd><code>imagePoints</code> - Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
- where N is the number of points. vector<Point2d> can also be passed here.</dd>
- <dd><code>cameraMatrix</code> - Input camera intrinsic matrix \(\cameramatrix{A}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \(\distcoeffs\). If the vector is NULL/empty, the zero distortion coefficients are
- assumed.</dd>
- <dd><code>rvec</code> - Input/Output rotation vector (see REF: Rodrigues ) that, together with tvec, brings points from
- the model coordinate system to the camera coordinate system. Input values are used as an initial solution.</dd>
- <dd><code>tvec</code> - Input/Output translation vector. Input values are used as an initial solution.</dd>
- <dd><code>criteria</code> - Criteria when to stop the Levenberg-Marquard iterative algorithm.</dd>
- <dd><code>VVSlambda</code> - Gain for the virtual visual servoing control law, equivalent to the \(\alpha\)
- gain in the Damped Gauss-Newton formulation.
- The function refines the object pose given at least 3 object points, their corresponding image
- projections, an initial solution for the rotation and translation vector,
- as well as the camera intrinsic matrix and the distortion coefficients.
- The function minimizes the projection error with respect to the rotation and the translation vectors, using a
- virtual visual servoing (VVS) CITE: Chaumette06 CITE: Marchand16 scheme.</dd>
- </dl>
- </li>
- </ul>
- <a name="stereoCalibrate-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
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- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
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- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
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- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F)</pre>
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- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F,
- int flags)</pre>
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- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F,
- int flags,
- <a href="../../../org/opencv/core/TermCriteria.html" title="class in org.opencv.core">TermCriteria</a> criteria)</pre>
- </li>
- </ul>
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- <pre>public static double stereoCalibrate(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> perViewErrors)</pre>
- </li>
- </ul>
- <a name="stereoCalibrate-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-">
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- <pre>public static double stereoCalibrate(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> perViewErrors,
- int flags)</pre>
- </li>
- </ul>
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- <pre>public static double stereoCalibrate(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> perViewErrors,
- int flags,
- <a href="../../../org/opencv/core/TermCriteria.html" title="class in org.opencv.core">TermCriteria</a> criteria)</pre>
- </li>
- </ul>
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- <pre>public static double stereoCalibrateExtended(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> perViewErrors)</pre>
- <div class="block">Calibrates a stereo camera set up. This function finds the intrinsic parameters
- for each of the two cameras and the extrinsic parameters between the two cameras.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Vector of vectors of the calibration pattern points. The same structure as
- in REF: calibrateCamera. For each pattern view, both cameras need to see the same object
- points. Therefore, objectPoints.size(), imagePoints1.size(), and imagePoints2.size() need to be
- equal as well as objectPoints[i].size(), imagePoints1[i].size(), and imagePoints2[i].size() need to
- be equal for each i.</dd>
- <dd><code>imagePoints1</code> - Vector of vectors of the projections of the calibration pattern points,
- observed by the first camera. The same structure as in REF: calibrateCamera.</dd>
- <dd><code>imagePoints2</code> - Vector of vectors of the projections of the calibration pattern points,
- observed by the second camera. The same structure as in REF: calibrateCamera.</dd>
- <dd><code>cameraMatrix1</code> - Input/output camera intrinsic matrix for the first camera, the same as in
- REF: calibrateCamera. Furthermore, for the stereo case, additional flags may be used, see below.</dd>
- <dd><code>distCoeffs1</code> - Input/output vector of distortion coefficients, the same as in
- REF: calibrateCamera.</dd>
- <dd><code>cameraMatrix2</code> - Input/output second camera intrinsic matrix for the second camera. See description for
- cameraMatrix1.</dd>
- <dd><code>distCoeffs2</code> - Input/output lens distortion coefficients for the second camera. See
- description for distCoeffs1.</dd>
- <dd><code>imageSize</code> - Size of the image used only to initialize the camera intrinsic matrices.</dd>
- <dd><code>R</code> - Output rotation matrix. Together with the translation vector T, this matrix brings
- points given in the first camera's coordinate system to points in the second camera's
- coordinate system. In more technical terms, the tuple of R and T performs a change of basis
- from the first camera's coordinate system to the second camera's coordinate system. Due to its
- duality, this tuple is equivalent to the position of the first camera with respect to the
- second camera coordinate system.</dd>
- <dd><code>T</code> - Output translation vector, see description above.</dd>
- <dd><code>E</code> - Output essential matrix.</dd>
- <dd><code>F</code> - Output fundamental matrix.</dd>
- <dd><code>rvecs</code> - Output vector of rotation vectors ( REF: Rodrigues ) estimated for each pattern view in the
- coordinate system of the first camera of the stereo pair (e.g. std::vector<cv::Mat>). More in detail, each
- i-th rotation vector together with the corresponding i-th translation vector (see the next output parameter
- description) brings the calibration pattern from the object coordinate space (in which object points are
- specified) to the camera coordinate space of the first camera of the stereo pair. In more technical terms,
- the tuple of the i-th rotation and translation vector performs a change of basis from object coordinate space
- to camera coordinate space of the first camera of the stereo pair.</dd>
- <dd><code>tvecs</code> - Output vector of translation vectors estimated for each pattern view, see parameter description
- of previous output parameter ( rvecs ).</dd>
- <dd><code>perViewErrors</code> - Output vector of the RMS re-projection error estimated for each pattern view.
- <ul>
- <li>
- REF: CALIB_FIX_INTRINSIC Fix cameraMatrix? and distCoeffs? so that only R, T, E, and F
- matrices are estimated.
- </li>
- <li>
- REF: CALIB_USE_INTRINSIC_GUESS Optimize some or all of the intrinsic parameters
- according to the specified flags. Initial values are provided by the user.
- </li>
- <li>
- REF: CALIB_USE_EXTRINSIC_GUESS R and T contain valid initial values that are optimized further.
- Otherwise R and T are initialized to the median value of the pattern views (each dimension separately).
- </li>
- <li>
- REF: CALIB_FIX_PRINCIPAL_POINT Fix the principal points during the optimization.
- </li>
- <li>
- REF: CALIB_FIX_FOCAL_LENGTH Fix \(f^{(j)}_x\) and \(f^{(j)}_y\) .
- </li>
- <li>
- REF: CALIB_FIX_ASPECT_RATIO Optimize \(f^{(j)}_y\) . Fix the ratio \(f^{(j)}_x/f^{(j)}_y\)
- .
- </li>
- <li>
- REF: CALIB_SAME_FOCAL_LENGTH Enforce \(f^{(0)}_x=f^{(1)}_x\) and \(f^{(0)}_y=f^{(1)}_y\) .
- </li>
- <li>
- REF: CALIB_ZERO_TANGENT_DIST Set tangential distortion coefficients for each camera to
- zeros and fix there.
- </li>
- <li>
- REF: CALIB_FIX_K1,..., REF: CALIB_FIX_K6 Do not change the corresponding radial
- distortion coefficient during the optimization. If REF: CALIB_USE_INTRINSIC_GUESS is set,
- the coefficient from the supplied distCoeffs matrix is used. Otherwise, it is set to 0.
- </li>
- <li>
- REF: CALIB_RATIONAL_MODEL Enable coefficients k4, k5, and k6. To provide the backward
- compatibility, this extra flag should be explicitly specified to make the calibration
- function use the rational model and return 8 coefficients. If the flag is not set, the
- function computes and returns only 5 distortion coefficients.
- </li>
- <li>
- REF: CALIB_THIN_PRISM_MODEL Coefficients s1, s2, s3 and s4 are enabled. To provide the
- backward compatibility, this extra flag should be explicitly specified to make the
- calibration function use the thin prism model and return 12 coefficients. If the flag is not
- set, the function computes and returns only 5 distortion coefficients.
- </li>
- <li>
- REF: CALIB_FIX_S1_S2_S3_S4 The thin prism distortion coefficients are not changed during
- the optimization. If REF: CALIB_USE_INTRINSIC_GUESS is set, the coefficient from the
- supplied distCoeffs matrix is used. Otherwise, it is set to 0.
- </li>
- <li>
- REF: CALIB_TILTED_MODEL Coefficients tauX and tauY are enabled. To provide the
- backward compatibility, this extra flag should be explicitly specified to make the
- calibration function use the tilted sensor model and return 14 coefficients. If the flag is not
- set, the function computes and returns only 5 distortion coefficients.
- </li>
- <li>
- REF: CALIB_FIX_TAUX_TAUY The coefficients of the tilted sensor model are not changed during
- the optimization. If REF: CALIB_USE_INTRINSIC_GUESS is set, the coefficient from the
- supplied distCoeffs matrix is used. Otherwise, it is set to 0.
- </li>
- </ul>
- The function estimates the transformation between two cameras making a stereo pair. If one computes
- the poses of an object relative to the first camera and to the second camera,
- ( \(R_1\),\(T_1\) ) and (\(R_2\),\(T_2\)), respectively, for a stereo camera where the
- relative position and orientation between the two cameras are fixed, then those poses definitely
- relate to each other. This means, if the relative position and orientation (\(R\),\(T\)) of the
- two cameras is known, it is possible to compute (\(R_2\),\(T_2\)) when (\(R_1\),\(T_1\)) is
- given. This is what the described function does. It computes (\(R\),\(T\)) such that:
- \(R_2=R R_1\)
- \(T_2=R T_1 + T.\)
- Therefore, one can compute the coordinate representation of a 3D point for the second camera's
- coordinate system when given the point's coordinate representation in the first camera's coordinate
- system:
- \(\begin{bmatrix}
- X_2 \\
- Y_2 \\
- Z_2 \\
- 1
- \end{bmatrix} = \begin{bmatrix}
- R & T \\
- 0 & 1
- \end{bmatrix} \begin{bmatrix}
- X_1 \\
- Y_1 \\
- Z_1 \\
- 1
- \end{bmatrix}.\)
- Optionally, it computes the essential matrix E:
- \(E= \vecthreethree{0}{-T_2}{T_1}{T_2}{0}{-T_0}{-T_1}{T_0}{0} R\)
- where \(T_i\) are components of the translation vector \(T\) : \(T=[T_0, T_1, T_2]^T\) .
- And the function can also compute the fundamental matrix F:
- \(F = cameraMatrix2^{-T}\cdot E \cdot cameraMatrix1^{-1}\)
- Besides the stereo-related information, the function can also perform a full calibration of each of
- the two cameras. However, due to the high dimensionality of the parameter space and noise in the
- input data, the function can diverge from the correct solution. If the intrinsic parameters can be
- estimated with high accuracy for each of the cameras individually (for example, using
- #calibrateCamera ), you are recommended to do so and then pass REF: CALIB_FIX_INTRINSIC flag to the
- function along with the computed intrinsic parameters. Otherwise, if all the parameters are
- estimated at once, it makes sense to restrict some parameters, for example, pass
- REF: CALIB_SAME_FOCAL_LENGTH and REF: CALIB_ZERO_TANGENT_DIST flags, which is usually a
- reasonable assumption.
- Similarly to #calibrateCamera, the function minimizes the total re-projection error for all the
- points in all the available views from both cameras. The function returns the final value of the
- re-projection error.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="stereoCalibrateExtended-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-org.opencv.core.Mat-int-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>stereoCalibrateExtended</h4>
- <pre>public static double stereoCalibrateExtended(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> perViewErrors,
- int flags)</pre>
- <div class="block">Calibrates a stereo camera set up. This function finds the intrinsic parameters
- for each of the two cameras and the extrinsic parameters between the two cameras.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Vector of vectors of the calibration pattern points. The same structure as
- in REF: calibrateCamera. For each pattern view, both cameras need to see the same object
- points. Therefore, objectPoints.size(), imagePoints1.size(), and imagePoints2.size() need to be
- equal as well as objectPoints[i].size(), imagePoints1[i].size(), and imagePoints2[i].size() need to
- be equal for each i.</dd>
- <dd><code>imagePoints1</code> - Vector of vectors of the projections of the calibration pattern points,
- observed by the first camera. The same structure as in REF: calibrateCamera.</dd>
- <dd><code>imagePoints2</code> - Vector of vectors of the projections of the calibration pattern points,
- observed by the second camera. The same structure as in REF: calibrateCamera.</dd>
- <dd><code>cameraMatrix1</code> - Input/output camera intrinsic matrix for the first camera, the same as in
- REF: calibrateCamera. Furthermore, for the stereo case, additional flags may be used, see below.</dd>
- <dd><code>distCoeffs1</code> - Input/output vector of distortion coefficients, the same as in
- REF: calibrateCamera.</dd>
- <dd><code>cameraMatrix2</code> - Input/output second camera intrinsic matrix for the second camera. See description for
- cameraMatrix1.</dd>
- <dd><code>distCoeffs2</code> - Input/output lens distortion coefficients for the second camera. See
- description for distCoeffs1.</dd>
- <dd><code>imageSize</code> - Size of the image used only to initialize the camera intrinsic matrices.</dd>
- <dd><code>R</code> - Output rotation matrix. Together with the translation vector T, this matrix brings
- points given in the first camera's coordinate system to points in the second camera's
- coordinate system. In more technical terms, the tuple of R and T performs a change of basis
- from the first camera's coordinate system to the second camera's coordinate system. Due to its
- duality, this tuple is equivalent to the position of the first camera with respect to the
- second camera coordinate system.</dd>
- <dd><code>T</code> - Output translation vector, see description above.</dd>
- <dd><code>E</code> - Output essential matrix.</dd>
- <dd><code>F</code> - Output fundamental matrix.</dd>
- <dd><code>rvecs</code> - Output vector of rotation vectors ( REF: Rodrigues ) estimated for each pattern view in the
- coordinate system of the first camera of the stereo pair (e.g. std::vector<cv::Mat>). More in detail, each
- i-th rotation vector together with the corresponding i-th translation vector (see the next output parameter
- description) brings the calibration pattern from the object coordinate space (in which object points are
- specified) to the camera coordinate space of the first camera of the stereo pair. In more technical terms,
- the tuple of the i-th rotation and translation vector performs a change of basis from object coordinate space
- to camera coordinate space of the first camera of the stereo pair.</dd>
- <dd><code>tvecs</code> - Output vector of translation vectors estimated for each pattern view, see parameter description
- of previous output parameter ( rvecs ).</dd>
- <dd><code>perViewErrors</code> - Output vector of the RMS re-projection error estimated for each pattern view.</dd>
- <dd><code>flags</code> - Different flags that may be zero or a combination of the following values:
- <ul>
- <li>
- REF: CALIB_FIX_INTRINSIC Fix cameraMatrix? and distCoeffs? so that only R, T, E, and F
- matrices are estimated.
- </li>
- <li>
- REF: CALIB_USE_INTRINSIC_GUESS Optimize some or all of the intrinsic parameters
- according to the specified flags. Initial values are provided by the user.
- </li>
- <li>
- REF: CALIB_USE_EXTRINSIC_GUESS R and T contain valid initial values that are optimized further.
- Otherwise R and T are initialized to the median value of the pattern views (each dimension separately).
- </li>
- <li>
- REF: CALIB_FIX_PRINCIPAL_POINT Fix the principal points during the optimization.
- </li>
- <li>
- REF: CALIB_FIX_FOCAL_LENGTH Fix \(f^{(j)}_x\) and \(f^{(j)}_y\) .
- </li>
- <li>
- REF: CALIB_FIX_ASPECT_RATIO Optimize \(f^{(j)}_y\) . Fix the ratio \(f^{(j)}_x/f^{(j)}_y\)
- .
- </li>
- <li>
- REF: CALIB_SAME_FOCAL_LENGTH Enforce \(f^{(0)}_x=f^{(1)}_x\) and \(f^{(0)}_y=f^{(1)}_y\) .
- </li>
- <li>
- REF: CALIB_ZERO_TANGENT_DIST Set tangential distortion coefficients for each camera to
- zeros and fix there.
- </li>
- <li>
- REF: CALIB_FIX_K1,..., REF: CALIB_FIX_K6 Do not change the corresponding radial
- distortion coefficient during the optimization. If REF: CALIB_USE_INTRINSIC_GUESS is set,
- the coefficient from the supplied distCoeffs matrix is used. Otherwise, it is set to 0.
- </li>
- <li>
- REF: CALIB_RATIONAL_MODEL Enable coefficients k4, k5, and k6. To provide the backward
- compatibility, this extra flag should be explicitly specified to make the calibration
- function use the rational model and return 8 coefficients. If the flag is not set, the
- function computes and returns only 5 distortion coefficients.
- </li>
- <li>
- REF: CALIB_THIN_PRISM_MODEL Coefficients s1, s2, s3 and s4 are enabled. To provide the
- backward compatibility, this extra flag should be explicitly specified to make the
- calibration function use the thin prism model and return 12 coefficients. If the flag is not
- set, the function computes and returns only 5 distortion coefficients.
- </li>
- <li>
- REF: CALIB_FIX_S1_S2_S3_S4 The thin prism distortion coefficients are not changed during
- the optimization. If REF: CALIB_USE_INTRINSIC_GUESS is set, the coefficient from the
- supplied distCoeffs matrix is used. Otherwise, it is set to 0.
- </li>
- <li>
- REF: CALIB_TILTED_MODEL Coefficients tauX and tauY are enabled. To provide the
- backward compatibility, this extra flag should be explicitly specified to make the
- calibration function use the tilted sensor model and return 14 coefficients. If the flag is not
- set, the function computes and returns only 5 distortion coefficients.
- </li>
- <li>
- REF: CALIB_FIX_TAUX_TAUY The coefficients of the tilted sensor model are not changed during
- the optimization. If REF: CALIB_USE_INTRINSIC_GUESS is set, the coefficient from the
- supplied distCoeffs matrix is used. Otherwise, it is set to 0.
- </li>
- </ul>
- The function estimates the transformation between two cameras making a stereo pair. If one computes
- the poses of an object relative to the first camera and to the second camera,
- ( \(R_1\),\(T_1\) ) and (\(R_2\),\(T_2\)), respectively, for a stereo camera where the
- relative position and orientation between the two cameras are fixed, then those poses definitely
- relate to each other. This means, if the relative position and orientation (\(R\),\(T\)) of the
- two cameras is known, it is possible to compute (\(R_2\),\(T_2\)) when (\(R_1\),\(T_1\)) is
- given. This is what the described function does. It computes (\(R\),\(T\)) such that:
- \(R_2=R R_1\)
- \(T_2=R T_1 + T.\)
- Therefore, one can compute the coordinate representation of a 3D point for the second camera's
- coordinate system when given the point's coordinate representation in the first camera's coordinate
- system:
- \(\begin{bmatrix}
- X_2 \\
- Y_2 \\
- Z_2 \\
- 1
- \end{bmatrix} = \begin{bmatrix}
- R & T \\
- 0 & 1
- \end{bmatrix} \begin{bmatrix}
- X_1 \\
- Y_1 \\
- Z_1 \\
- 1
- \end{bmatrix}.\)
- Optionally, it computes the essential matrix E:
- \(E= \vecthreethree{0}{-T_2}{T_1}{T_2}{0}{-T_0}{-T_1}{T_0}{0} R\)
- where \(T_i\) are components of the translation vector \(T\) : \(T=[T_0, T_1, T_2]^T\) .
- And the function can also compute the fundamental matrix F:
- \(F = cameraMatrix2^{-T}\cdot E \cdot cameraMatrix1^{-1}\)
- Besides the stereo-related information, the function can also perform a full calibration of each of
- the two cameras. However, due to the high dimensionality of the parameter space and noise in the
- input data, the function can diverge from the correct solution. If the intrinsic parameters can be
- estimated with high accuracy for each of the cameras individually (for example, using
- #calibrateCamera ), you are recommended to do so and then pass REF: CALIB_FIX_INTRINSIC flag to the
- function along with the computed intrinsic parameters. Otherwise, if all the parameters are
- estimated at once, it makes sense to restrict some parameters, for example, pass
- REF: CALIB_SAME_FOCAL_LENGTH and REF: CALIB_ZERO_TANGENT_DIST flags, which is usually a
- reasonable assumption.
- Similarly to #calibrateCamera, the function minimizes the total re-projection error for all the
- points in all the available views from both cameras. The function returns the final value of the
- re-projection error.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="stereoCalibrateExtended-java.util.List-java.util.List-java.util.List-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-java.util.List-java.util.List-org.opencv.core.Mat-int-org.opencv.core.TermCriteria-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>stereoCalibrateExtended</h4>
- <pre>public static double stereoCalibrateExtended(java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> objectPoints,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints1,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> imagePoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> E,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> rvecs,
- java.util.List<<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a>> tvecs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> perViewErrors,
- int flags,
- <a href="../../../org/opencv/core/TermCriteria.html" title="class in org.opencv.core">TermCriteria</a> criteria)</pre>
- <div class="block">Calibrates a stereo camera set up. This function finds the intrinsic parameters
- for each of the two cameras and the extrinsic parameters between the two cameras.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>objectPoints</code> - Vector of vectors of the calibration pattern points. The same structure as
- in REF: calibrateCamera. For each pattern view, both cameras need to see the same object
- points. Therefore, objectPoints.size(), imagePoints1.size(), and imagePoints2.size() need to be
- equal as well as objectPoints[i].size(), imagePoints1[i].size(), and imagePoints2[i].size() need to
- be equal for each i.</dd>
- <dd><code>imagePoints1</code> - Vector of vectors of the projections of the calibration pattern points,
- observed by the first camera. The same structure as in REF: calibrateCamera.</dd>
- <dd><code>imagePoints2</code> - Vector of vectors of the projections of the calibration pattern points,
- observed by the second camera. The same structure as in REF: calibrateCamera.</dd>
- <dd><code>cameraMatrix1</code> - Input/output camera intrinsic matrix for the first camera, the same as in
- REF: calibrateCamera. Furthermore, for the stereo case, additional flags may be used, see below.</dd>
- <dd><code>distCoeffs1</code> - Input/output vector of distortion coefficients, the same as in
- REF: calibrateCamera.</dd>
- <dd><code>cameraMatrix2</code> - Input/output second camera intrinsic matrix for the second camera. See description for
- cameraMatrix1.</dd>
- <dd><code>distCoeffs2</code> - Input/output lens distortion coefficients for the second camera. See
- description for distCoeffs1.</dd>
- <dd><code>imageSize</code> - Size of the image used only to initialize the camera intrinsic matrices.</dd>
- <dd><code>R</code> - Output rotation matrix. Together with the translation vector T, this matrix brings
- points given in the first camera's coordinate system to points in the second camera's
- coordinate system. In more technical terms, the tuple of R and T performs a change of basis
- from the first camera's coordinate system to the second camera's coordinate system. Due to its
- duality, this tuple is equivalent to the position of the first camera with respect to the
- second camera coordinate system.</dd>
- <dd><code>T</code> - Output translation vector, see description above.</dd>
- <dd><code>E</code> - Output essential matrix.</dd>
- <dd><code>F</code> - Output fundamental matrix.</dd>
- <dd><code>rvecs</code> - Output vector of rotation vectors ( REF: Rodrigues ) estimated for each pattern view in the
- coordinate system of the first camera of the stereo pair (e.g. std::vector<cv::Mat>). More in detail, each
- i-th rotation vector together with the corresponding i-th translation vector (see the next output parameter
- description) brings the calibration pattern from the object coordinate space (in which object points are
- specified) to the camera coordinate space of the first camera of the stereo pair. In more technical terms,
- the tuple of the i-th rotation and translation vector performs a change of basis from object coordinate space
- to camera coordinate space of the first camera of the stereo pair.</dd>
- <dd><code>tvecs</code> - Output vector of translation vectors estimated for each pattern view, see parameter description
- of previous output parameter ( rvecs ).</dd>
- <dd><code>perViewErrors</code> - Output vector of the RMS re-projection error estimated for each pattern view.</dd>
- <dd><code>flags</code> - Different flags that may be zero or a combination of the following values:
- <ul>
- <li>
- REF: CALIB_FIX_INTRINSIC Fix cameraMatrix? and distCoeffs? so that only R, T, E, and F
- matrices are estimated.
- </li>
- <li>
- REF: CALIB_USE_INTRINSIC_GUESS Optimize some or all of the intrinsic parameters
- according to the specified flags. Initial values are provided by the user.
- </li>
- <li>
- REF: CALIB_USE_EXTRINSIC_GUESS R and T contain valid initial values that are optimized further.
- Otherwise R and T are initialized to the median value of the pattern views (each dimension separately).
- </li>
- <li>
- REF: CALIB_FIX_PRINCIPAL_POINT Fix the principal points during the optimization.
- </li>
- <li>
- REF: CALIB_FIX_FOCAL_LENGTH Fix \(f^{(j)}_x\) and \(f^{(j)}_y\) .
- </li>
- <li>
- REF: CALIB_FIX_ASPECT_RATIO Optimize \(f^{(j)}_y\) . Fix the ratio \(f^{(j)}_x/f^{(j)}_y\)
- .
- </li>
- <li>
- REF: CALIB_SAME_FOCAL_LENGTH Enforce \(f^{(0)}_x=f^{(1)}_x\) and \(f^{(0)}_y=f^{(1)}_y\) .
- </li>
- <li>
- REF: CALIB_ZERO_TANGENT_DIST Set tangential distortion coefficients for each camera to
- zeros and fix there.
- </li>
- <li>
- REF: CALIB_FIX_K1,..., REF: CALIB_FIX_K6 Do not change the corresponding radial
- distortion coefficient during the optimization. If REF: CALIB_USE_INTRINSIC_GUESS is set,
- the coefficient from the supplied distCoeffs matrix is used. Otherwise, it is set to 0.
- </li>
- <li>
- REF: CALIB_RATIONAL_MODEL Enable coefficients k4, k5, and k6. To provide the backward
- compatibility, this extra flag should be explicitly specified to make the calibration
- function use the rational model and return 8 coefficients. If the flag is not set, the
- function computes and returns only 5 distortion coefficients.
- </li>
- <li>
- REF: CALIB_THIN_PRISM_MODEL Coefficients s1, s2, s3 and s4 are enabled. To provide the
- backward compatibility, this extra flag should be explicitly specified to make the
- calibration function use the thin prism model and return 12 coefficients. If the flag is not
- set, the function computes and returns only 5 distortion coefficients.
- </li>
- <li>
- REF: CALIB_FIX_S1_S2_S3_S4 The thin prism distortion coefficients are not changed during
- the optimization. If REF: CALIB_USE_INTRINSIC_GUESS is set, the coefficient from the
- supplied distCoeffs matrix is used. Otherwise, it is set to 0.
- </li>
- <li>
- REF: CALIB_TILTED_MODEL Coefficients tauX and tauY are enabled. To provide the
- backward compatibility, this extra flag should be explicitly specified to make the
- calibration function use the tilted sensor model and return 14 coefficients. If the flag is not
- set, the function computes and returns only 5 distortion coefficients.
- </li>
- <li>
- REF: CALIB_FIX_TAUX_TAUY The coefficients of the tilted sensor model are not changed during
- the optimization. If REF: CALIB_USE_INTRINSIC_GUESS is set, the coefficient from the
- supplied distCoeffs matrix is used. Otherwise, it is set to 0.
- </li>
- </ul></dd>
- <dd><code>criteria</code> - Termination criteria for the iterative optimization algorithm.
- The function estimates the transformation between two cameras making a stereo pair. If one computes
- the poses of an object relative to the first camera and to the second camera,
- ( \(R_1\),\(T_1\) ) and (\(R_2\),\(T_2\)), respectively, for a stereo camera where the
- relative position and orientation between the two cameras are fixed, then those poses definitely
- relate to each other. This means, if the relative position and orientation (\(R\),\(T\)) of the
- two cameras is known, it is possible to compute (\(R_2\),\(T_2\)) when (\(R_1\),\(T_1\)) is
- given. This is what the described function does. It computes (\(R\),\(T\)) such that:
- \(R_2=R R_1\)
- \(T_2=R T_1 + T.\)
- Therefore, one can compute the coordinate representation of a 3D point for the second camera's
- coordinate system when given the point's coordinate representation in the first camera's coordinate
- system:
- \(\begin{bmatrix}
- X_2 \\
- Y_2 \\
- Z_2 \\
- 1
- \end{bmatrix} = \begin{bmatrix}
- R & T \\
- 0 & 1
- \end{bmatrix} \begin{bmatrix}
- X_1 \\
- Y_1 \\
- Z_1 \\
- 1
- \end{bmatrix}.\)
- Optionally, it computes the essential matrix E:
- \(E= \vecthreethree{0}{-T_2}{T_1}{T_2}{0}{-T_0}{-T_1}{T_0}{0} R\)
- where \(T_i\) are components of the translation vector \(T\) : \(T=[T_0, T_1, T_2]^T\) .
- And the function can also compute the fundamental matrix F:
- \(F = cameraMatrix2^{-T}\cdot E \cdot cameraMatrix1^{-1}\)
- Besides the stereo-related information, the function can also perform a full calibration of each of
- the two cameras. However, due to the high dimensionality of the parameter space and noise in the
- input data, the function can diverge from the correct solution. If the intrinsic parameters can be
- estimated with high accuracy for each of the cameras individually (for example, using
- #calibrateCamera ), you are recommended to do so and then pass REF: CALIB_FIX_INTRINSIC flag to the
- function along with the computed intrinsic parameters. Otherwise, if all the parameters are
- estimated at once, it makes sense to restrict some parameters, for example, pass
- REF: CALIB_SAME_FOCAL_LENGTH and REF: CALIB_ZERO_TANGENT_DIST flags, which is usually a
- reasonable assumption.
- Similarly to #calibrateCamera, the function minimizes the total re-projection error for all the
- points in all the available views from both cameras. The function returns the final value of the
- re-projection error.</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="stereoRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>stereoRectify</h4>
- <pre>public static void stereoRectify(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q)</pre>
- <div class="block">Computes rectification transforms for each head of a calibrated stereo camera.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>cameraMatrix1</code> - First camera intrinsic matrix.</dd>
- <dd><code>distCoeffs1</code> - First camera distortion parameters.</dd>
- <dd><code>cameraMatrix2</code> - Second camera intrinsic matrix.</dd>
- <dd><code>distCoeffs2</code> - Second camera distortion parameters.</dd>
- <dd><code>imageSize</code> - Size of the image used for stereo calibration.</dd>
- <dd><code>R</code> - Rotation matrix from the coordinate system of the first camera to the second camera,
- see REF: stereoCalibrate.</dd>
- <dd><code>T</code> - Translation vector from the coordinate system of the first camera to the second camera,
- see REF: stereoCalibrate.</dd>
- <dd><code>R1</code> - Output 3x3 rectification transform (rotation matrix) for the first camera. This matrix
- brings points given in the unrectified first camera's coordinate system to points in the rectified
- first camera's coordinate system. In more technical terms, it performs a change of basis from the
- unrectified first camera's coordinate system to the rectified first camera's coordinate system.</dd>
- <dd><code>R2</code> - Output 3x3 rectification transform (rotation matrix) for the second camera. This matrix
- brings points given in the unrectified second camera's coordinate system to points in the rectified
- second camera's coordinate system. In more technical terms, it performs a change of basis from the
- unrectified second camera's coordinate system to the rectified second camera's coordinate system.</dd>
- <dd><code>P1</code> - Output 3x4 projection matrix in the new (rectified) coordinate systems for the first
- camera, i.e. it projects points given in the rectified first camera coordinate system into the
- rectified first camera's image.</dd>
- <dd><code>P2</code> - Output 3x4 projection matrix in the new (rectified) coordinate systems for the second
- camera, i.e. it projects points given in the rectified first camera coordinate system into the
- rectified second camera's image.</dd>
- <dd><code>Q</code> - Output \(4 \times 4\) disparity-to-depth mapping matrix (see REF: reprojectImageTo3D).
- the function makes the principal points of each camera have the same pixel coordinates in the
- rectified views. And if the flag is not set, the function may still shift the images in the
- horizontal or vertical direction (depending on the orientation of epipolar lines) to maximize the
- useful image area.
- scaling. Otherwise, the parameter should be between 0 and 1. alpha=0 means that the rectified
- images are zoomed and shifted so that only valid pixels are visible (no black areas after
- rectification). alpha=1 means that the rectified image is decimated and shifted so that all the
- pixels from the original images from the cameras are retained in the rectified images (no source
- image pixels are lost). Any intermediate value yields an intermediate result between
- those two extreme cases.
- #initUndistortRectifyMap (see the stereo_calib.cpp sample in OpenCV samples directory). When (0,0)
- is passed (default), it is set to the original imageSize . Setting it to a larger value can help you
- preserve details in the original image, especially when there is a big radial distortion.
- are valid. If alpha=0 , the ROIs cover the whole images. Otherwise, they are likely to be smaller
- (see the picture below).
- are valid. If alpha=0 , the ROIs cover the whole images. Otherwise, they are likely to be smaller
- (see the picture below).
- The function computes the rotation matrices for each camera that (virtually) make both camera image
- planes the same plane. Consequently, this makes all the epipolar lines parallel and thus simplifies
- the dense stereo correspondence problem. The function takes the matrices computed by #stereoCalibrate
- as input. As output, it provides two rotation matrices and also two projection matrices in the new
- coordinates. The function distinguishes the following two cases:
- <ul>
- <li>
- <b>Horizontal stereo</b>: the first and the second camera views are shifted relative to each other
- mainly along the x-axis (with possible small vertical shift). In the rectified images, the
- corresponding epipolar lines in the left and right cameras are horizontal and have the same
- y-coordinate. P1 and P2 look like:
- </li>
- </ul>
- \(\texttt{P1} = \begin{bmatrix}
- f & 0 & cx_1 & 0 \\
- 0 & f & cy & 0 \\
- 0 & 0 & 1 & 0
- \end{bmatrix}\)
- \(\texttt{P2} = \begin{bmatrix}
- f & 0 & cx_2 & T_x \cdot f \\
- 0 & f & cy & 0 \\
- 0 & 0 & 1 & 0
- \end{bmatrix} ,\)
- \(\texttt{Q} = \begin{bmatrix}
- 1 & 0 & 0 & -cx_1 \\
- 0 & 1 & 0 & -cy \\
- 0 & 0 & 0 & f \\
- 0 & 0 & -\frac{1}{T_x} & \frac{cx_1 - cx_2}{T_x}
- \end{bmatrix} \)
- where \(T_x\) is a horizontal shift between the cameras and \(cx_1=cx_2\) if
- REF: CALIB_ZERO_DISPARITY is set.
- <ul>
- <li>
- <b>Vertical stereo</b>: the first and the second camera views are shifted relative to each other
- mainly in the vertical direction (and probably a bit in the horizontal direction too). The epipolar
- lines in the rectified images are vertical and have the same x-coordinate. P1 and P2 look like:
- </li>
- </ul>
- \(\texttt{P1} = \begin{bmatrix}
- f & 0 & cx & 0 \\
- 0 & f & cy_1 & 0 \\
- 0 & 0 & 1 & 0
- \end{bmatrix}\)
- \(\texttt{P2} = \begin{bmatrix}
- f & 0 & cx & 0 \\
- 0 & f & cy_2 & T_y \cdot f \\
- 0 & 0 & 1 & 0
- \end{bmatrix},\)
- \(\texttt{Q} = \begin{bmatrix}
- 1 & 0 & 0 & -cx \\
- 0 & 1 & 0 & -cy_1 \\
- 0 & 0 & 0 & f \\
- 0 & 0 & -\frac{1}{T_y} & \frac{cy_1 - cy_2}{T_y}
- \end{bmatrix} \)
- where \(T_y\) is a vertical shift between the cameras and \(cy_1=cy_2\) if
- REF: CALIB_ZERO_DISPARITY is set.
- As you can see, the first three columns of P1 and P2 will effectively be the new "rectified" camera
- matrices. The matrices, together with R1 and R2 , can then be passed to #initUndistortRectifyMap to
- initialize the rectification map for each camera.
- See below the screenshot from the stereo_calib.cpp sample. Some red horizontal lines pass through
- the corresponding image regions. This means that the images are well rectified, which is what most
- stereo correspondence algorithms rely on. The green rectangles are roi1 and roi2 . You see that
- their interiors are all valid pixels.
- </dd>
- </dl>
- </li>
- </ul>
- <a name="stereoRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>stereoRectify</h4>
- <pre>public static void stereoRectify(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q,
- int flags)</pre>
- <div class="block">Computes rectification transforms for each head of a calibrated stereo camera.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>cameraMatrix1</code> - First camera intrinsic matrix.</dd>
- <dd><code>distCoeffs1</code> - First camera distortion parameters.</dd>
- <dd><code>cameraMatrix2</code> - Second camera intrinsic matrix.</dd>
- <dd><code>distCoeffs2</code> - Second camera distortion parameters.</dd>
- <dd><code>imageSize</code> - Size of the image used for stereo calibration.</dd>
- <dd><code>R</code> - Rotation matrix from the coordinate system of the first camera to the second camera,
- see REF: stereoCalibrate.</dd>
- <dd><code>T</code> - Translation vector from the coordinate system of the first camera to the second camera,
- see REF: stereoCalibrate.</dd>
- <dd><code>R1</code> - Output 3x3 rectification transform (rotation matrix) for the first camera. This matrix
- brings points given in the unrectified first camera's coordinate system to points in the rectified
- first camera's coordinate system. In more technical terms, it performs a change of basis from the
- unrectified first camera's coordinate system to the rectified first camera's coordinate system.</dd>
- <dd><code>R2</code> - Output 3x3 rectification transform (rotation matrix) for the second camera. This matrix
- brings points given in the unrectified second camera's coordinate system to points in the rectified
- second camera's coordinate system. In more technical terms, it performs a change of basis from the
- unrectified second camera's coordinate system to the rectified second camera's coordinate system.</dd>
- <dd><code>P1</code> - Output 3x4 projection matrix in the new (rectified) coordinate systems for the first
- camera, i.e. it projects points given in the rectified first camera coordinate system into the
- rectified first camera's image.</dd>
- <dd><code>P2</code> - Output 3x4 projection matrix in the new (rectified) coordinate systems for the second
- camera, i.e. it projects points given in the rectified first camera coordinate system into the
- rectified second camera's image.</dd>
- <dd><code>Q</code> - Output \(4 \times 4\) disparity-to-depth mapping matrix (see REF: reprojectImageTo3D).</dd>
- <dd><code>flags</code> - Operation flags that may be zero or REF: CALIB_ZERO_DISPARITY . If the flag is set,
- the function makes the principal points of each camera have the same pixel coordinates in the
- rectified views. And if the flag is not set, the function may still shift the images in the
- horizontal or vertical direction (depending on the orientation of epipolar lines) to maximize the
- useful image area.
- scaling. Otherwise, the parameter should be between 0 and 1. alpha=0 means that the rectified
- images are zoomed and shifted so that only valid pixels are visible (no black areas after
- rectification). alpha=1 means that the rectified image is decimated and shifted so that all the
- pixels from the original images from the cameras are retained in the rectified images (no source
- image pixels are lost). Any intermediate value yields an intermediate result between
- those two extreme cases.
- #initUndistortRectifyMap (see the stereo_calib.cpp sample in OpenCV samples directory). When (0,0)
- is passed (default), it is set to the original imageSize . Setting it to a larger value can help you
- preserve details in the original image, especially when there is a big radial distortion.
- are valid. If alpha=0 , the ROIs cover the whole images. Otherwise, they are likely to be smaller
- (see the picture below).
- are valid. If alpha=0 , the ROIs cover the whole images. Otherwise, they are likely to be smaller
- (see the picture below).
- The function computes the rotation matrices for each camera that (virtually) make both camera image
- planes the same plane. Consequently, this makes all the epipolar lines parallel and thus simplifies
- the dense stereo correspondence problem. The function takes the matrices computed by #stereoCalibrate
- as input. As output, it provides two rotation matrices and also two projection matrices in the new
- coordinates. The function distinguishes the following two cases:
- <ul>
- <li>
- <b>Horizontal stereo</b>: the first and the second camera views are shifted relative to each other
- mainly along the x-axis (with possible small vertical shift). In the rectified images, the
- corresponding epipolar lines in the left and right cameras are horizontal and have the same
- y-coordinate. P1 and P2 look like:
- </li>
- </ul>
- \(\texttt{P1} = \begin{bmatrix}
- f & 0 & cx_1 & 0 \\
- 0 & f & cy & 0 \\
- 0 & 0 & 1 & 0
- \end{bmatrix}\)
- \(\texttt{P2} = \begin{bmatrix}
- f & 0 & cx_2 & T_x \cdot f \\
- 0 & f & cy & 0 \\
- 0 & 0 & 1 & 0
- \end{bmatrix} ,\)
- \(\texttt{Q} = \begin{bmatrix}
- 1 & 0 & 0 & -cx_1 \\
- 0 & 1 & 0 & -cy \\
- 0 & 0 & 0 & f \\
- 0 & 0 & -\frac{1}{T_x} & \frac{cx_1 - cx_2}{T_x}
- \end{bmatrix} \)
- where \(T_x\) is a horizontal shift between the cameras and \(cx_1=cx_2\) if
- REF: CALIB_ZERO_DISPARITY is set.
- <ul>
- <li>
- <b>Vertical stereo</b>: the first and the second camera views are shifted relative to each other
- mainly in the vertical direction (and probably a bit in the horizontal direction too). The epipolar
- lines in the rectified images are vertical and have the same x-coordinate. P1 and P2 look like:
- </li>
- </ul>
- \(\texttt{P1} = \begin{bmatrix}
- f & 0 & cx & 0 \\
- 0 & f & cy_1 & 0 \\
- 0 & 0 & 1 & 0
- \end{bmatrix}\)
- \(\texttt{P2} = \begin{bmatrix}
- f & 0 & cx & 0 \\
- 0 & f & cy_2 & T_y \cdot f \\
- 0 & 0 & 1 & 0
- \end{bmatrix},\)
- \(\texttt{Q} = \begin{bmatrix}
- 1 & 0 & 0 & -cx \\
- 0 & 1 & 0 & -cy_1 \\
- 0 & 0 & 0 & f \\
- 0 & 0 & -\frac{1}{T_y} & \frac{cy_1 - cy_2}{T_y}
- \end{bmatrix} \)
- where \(T_y\) is a vertical shift between the cameras and \(cy_1=cy_2\) if
- REF: CALIB_ZERO_DISPARITY is set.
- As you can see, the first three columns of P1 and P2 will effectively be the new "rectified" camera
- matrices. The matrices, together with R1 and R2 , can then be passed to #initUndistortRectifyMap to
- initialize the rectification map for each camera.
- See below the screenshot from the stereo_calib.cpp sample. Some red horizontal lines pass through
- the corresponding image regions. This means that the images are well rectified, which is what most
- stereo correspondence algorithms rely on. The green rectangles are roi1 and roi2 . You see that
- their interiors are all valid pixels.
- </dd>
- </dl>
- </li>
- </ul>
- <a name="stereoRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>stereoRectify</h4>
- <pre>public static void stereoRectify(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q,
- int flags,
- double alpha)</pre>
- <div class="block">Computes rectification transforms for each head of a calibrated stereo camera.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>cameraMatrix1</code> - First camera intrinsic matrix.</dd>
- <dd><code>distCoeffs1</code> - First camera distortion parameters.</dd>
- <dd><code>cameraMatrix2</code> - Second camera intrinsic matrix.</dd>
- <dd><code>distCoeffs2</code> - Second camera distortion parameters.</dd>
- <dd><code>imageSize</code> - Size of the image used for stereo calibration.</dd>
- <dd><code>R</code> - Rotation matrix from the coordinate system of the first camera to the second camera,
- see REF: stereoCalibrate.</dd>
- <dd><code>T</code> - Translation vector from the coordinate system of the first camera to the second camera,
- see REF: stereoCalibrate.</dd>
- <dd><code>R1</code> - Output 3x3 rectification transform (rotation matrix) for the first camera. This matrix
- brings points given in the unrectified first camera's coordinate system to points in the rectified
- first camera's coordinate system. In more technical terms, it performs a change of basis from the
- unrectified first camera's coordinate system to the rectified first camera's coordinate system.</dd>
- <dd><code>R2</code> - Output 3x3 rectification transform (rotation matrix) for the second camera. This matrix
- brings points given in the unrectified second camera's coordinate system to points in the rectified
- second camera's coordinate system. In more technical terms, it performs a change of basis from the
- unrectified second camera's coordinate system to the rectified second camera's coordinate system.</dd>
- <dd><code>P1</code> - Output 3x4 projection matrix in the new (rectified) coordinate systems for the first
- camera, i.e. it projects points given in the rectified first camera coordinate system into the
- rectified first camera's image.</dd>
- <dd><code>P2</code> - Output 3x4 projection matrix in the new (rectified) coordinate systems for the second
- camera, i.e. it projects points given in the rectified first camera coordinate system into the
- rectified second camera's image.</dd>
- <dd><code>Q</code> - Output \(4 \times 4\) disparity-to-depth mapping matrix (see REF: reprojectImageTo3D).</dd>
- <dd><code>flags</code> - Operation flags that may be zero or REF: CALIB_ZERO_DISPARITY . If the flag is set,
- the function makes the principal points of each camera have the same pixel coordinates in the
- rectified views. And if the flag is not set, the function may still shift the images in the
- horizontal or vertical direction (depending on the orientation of epipolar lines) to maximize the
- useful image area.</dd>
- <dd><code>alpha</code> - Free scaling parameter. If it is -1 or absent, the function performs the default
- scaling. Otherwise, the parameter should be between 0 and 1. alpha=0 means that the rectified
- images are zoomed and shifted so that only valid pixels are visible (no black areas after
- rectification). alpha=1 means that the rectified image is decimated and shifted so that all the
- pixels from the original images from the cameras are retained in the rectified images (no source
- image pixels are lost). Any intermediate value yields an intermediate result between
- those two extreme cases.
- #initUndistortRectifyMap (see the stereo_calib.cpp sample in OpenCV samples directory). When (0,0)
- is passed (default), it is set to the original imageSize . Setting it to a larger value can help you
- preserve details in the original image, especially when there is a big radial distortion.
- are valid. If alpha=0 , the ROIs cover the whole images. Otherwise, they are likely to be smaller
- (see the picture below).
- are valid. If alpha=0 , the ROIs cover the whole images. Otherwise, they are likely to be smaller
- (see the picture below).
- The function computes the rotation matrices for each camera that (virtually) make both camera image
- planes the same plane. Consequently, this makes all the epipolar lines parallel and thus simplifies
- the dense stereo correspondence problem. The function takes the matrices computed by #stereoCalibrate
- as input. As output, it provides two rotation matrices and also two projection matrices in the new
- coordinates. The function distinguishes the following two cases:
- <ul>
- <li>
- <b>Horizontal stereo</b>: the first and the second camera views are shifted relative to each other
- mainly along the x-axis (with possible small vertical shift). In the rectified images, the
- corresponding epipolar lines in the left and right cameras are horizontal and have the same
- y-coordinate. P1 and P2 look like:
- </li>
- </ul>
- \(\texttt{P1} = \begin{bmatrix}
- f & 0 & cx_1 & 0 \\
- 0 & f & cy & 0 \\
- 0 & 0 & 1 & 0
- \end{bmatrix}\)
- \(\texttt{P2} = \begin{bmatrix}
- f & 0 & cx_2 & T_x \cdot f \\
- 0 & f & cy & 0 \\
- 0 & 0 & 1 & 0
- \end{bmatrix} ,\)
- \(\texttt{Q} = \begin{bmatrix}
- 1 & 0 & 0 & -cx_1 \\
- 0 & 1 & 0 & -cy \\
- 0 & 0 & 0 & f \\
- 0 & 0 & -\frac{1}{T_x} & \frac{cx_1 - cx_2}{T_x}
- \end{bmatrix} \)
- where \(T_x\) is a horizontal shift between the cameras and \(cx_1=cx_2\) if
- REF: CALIB_ZERO_DISPARITY is set.
- <ul>
- <li>
- <b>Vertical stereo</b>: the first and the second camera views are shifted relative to each other
- mainly in the vertical direction (and probably a bit in the horizontal direction too). The epipolar
- lines in the rectified images are vertical and have the same x-coordinate. P1 and P2 look like:
- </li>
- </ul>
- \(\texttt{P1} = \begin{bmatrix}
- f & 0 & cx & 0 \\
- 0 & f & cy_1 & 0 \\
- 0 & 0 & 1 & 0
- \end{bmatrix}\)
- \(\texttt{P2} = \begin{bmatrix}
- f & 0 & cx & 0 \\
- 0 & f & cy_2 & T_y \cdot f \\
- 0 & 0 & 1 & 0
- \end{bmatrix},\)
- \(\texttt{Q} = \begin{bmatrix}
- 1 & 0 & 0 & -cx \\
- 0 & 1 & 0 & -cy_1 \\
- 0 & 0 & 0 & f \\
- 0 & 0 & -\frac{1}{T_y} & \frac{cy_1 - cy_2}{T_y}
- \end{bmatrix} \)
- where \(T_y\) is a vertical shift between the cameras and \(cy_1=cy_2\) if
- REF: CALIB_ZERO_DISPARITY is set.
- As you can see, the first three columns of P1 and P2 will effectively be the new "rectified" camera
- matrices. The matrices, together with R1 and R2 , can then be passed to #initUndistortRectifyMap to
- initialize the rectification map for each camera.
- See below the screenshot from the stereo_calib.cpp sample. Some red horizontal lines pass through
- the corresponding image regions. This means that the images are well rectified, which is what most
- stereo correspondence algorithms rely on. The green rectangles are roi1 and roi2 . You see that
- their interiors are all valid pixels.
- </dd>
- </dl>
- </li>
- </ul>
- <a name="stereoRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-org.opencv.core.Size-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>stereoRectify</h4>
- <pre>public static void stereoRectify(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q,
- int flags,
- double alpha,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> newImageSize)</pre>
- <div class="block">Computes rectification transforms for each head of a calibrated stereo camera.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>cameraMatrix1</code> - First camera intrinsic matrix.</dd>
- <dd><code>distCoeffs1</code> - First camera distortion parameters.</dd>
- <dd><code>cameraMatrix2</code> - Second camera intrinsic matrix.</dd>
- <dd><code>distCoeffs2</code> - Second camera distortion parameters.</dd>
- <dd><code>imageSize</code> - Size of the image used for stereo calibration.</dd>
- <dd><code>R</code> - Rotation matrix from the coordinate system of the first camera to the second camera,
- see REF: stereoCalibrate.</dd>
- <dd><code>T</code> - Translation vector from the coordinate system of the first camera to the second camera,
- see REF: stereoCalibrate.</dd>
- <dd><code>R1</code> - Output 3x3 rectification transform (rotation matrix) for the first camera. This matrix
- brings points given in the unrectified first camera's coordinate system to points in the rectified
- first camera's coordinate system. In more technical terms, it performs a change of basis from the
- unrectified first camera's coordinate system to the rectified first camera's coordinate system.</dd>
- <dd><code>R2</code> - Output 3x3 rectification transform (rotation matrix) for the second camera. This matrix
- brings points given in the unrectified second camera's coordinate system to points in the rectified
- second camera's coordinate system. In more technical terms, it performs a change of basis from the
- unrectified second camera's coordinate system to the rectified second camera's coordinate system.</dd>
- <dd><code>P1</code> - Output 3x4 projection matrix in the new (rectified) coordinate systems for the first
- camera, i.e. it projects points given in the rectified first camera coordinate system into the
- rectified first camera's image.</dd>
- <dd><code>P2</code> - Output 3x4 projection matrix in the new (rectified) coordinate systems for the second
- camera, i.e. it projects points given in the rectified first camera coordinate system into the
- rectified second camera's image.</dd>
- <dd><code>Q</code> - Output \(4 \times 4\) disparity-to-depth mapping matrix (see REF: reprojectImageTo3D).</dd>
- <dd><code>flags</code> - Operation flags that may be zero or REF: CALIB_ZERO_DISPARITY . If the flag is set,
- the function makes the principal points of each camera have the same pixel coordinates in the
- rectified views. And if the flag is not set, the function may still shift the images in the
- horizontal or vertical direction (depending on the orientation of epipolar lines) to maximize the
- useful image area.</dd>
- <dd><code>alpha</code> - Free scaling parameter. If it is -1 or absent, the function performs the default
- scaling. Otherwise, the parameter should be between 0 and 1. alpha=0 means that the rectified
- images are zoomed and shifted so that only valid pixels are visible (no black areas after
- rectification). alpha=1 means that the rectified image is decimated and shifted so that all the
- pixels from the original images from the cameras are retained in the rectified images (no source
- image pixels are lost). Any intermediate value yields an intermediate result between
- those two extreme cases.</dd>
- <dd><code>newImageSize</code> - New image resolution after rectification. The same size should be passed to
- #initUndistortRectifyMap (see the stereo_calib.cpp sample in OpenCV samples directory). When (0,0)
- is passed (default), it is set to the original imageSize . Setting it to a larger value can help you
- preserve details in the original image, especially when there is a big radial distortion.
- are valid. If alpha=0 , the ROIs cover the whole images. Otherwise, they are likely to be smaller
- (see the picture below).
- are valid. If alpha=0 , the ROIs cover the whole images. Otherwise, they are likely to be smaller
- (see the picture below).
- The function computes the rotation matrices for each camera that (virtually) make both camera image
- planes the same plane. Consequently, this makes all the epipolar lines parallel and thus simplifies
- the dense stereo correspondence problem. The function takes the matrices computed by #stereoCalibrate
- as input. As output, it provides two rotation matrices and also two projection matrices in the new
- coordinates. The function distinguishes the following two cases:
- <ul>
- <li>
- <b>Horizontal stereo</b>: the first and the second camera views are shifted relative to each other
- mainly along the x-axis (with possible small vertical shift). In the rectified images, the
- corresponding epipolar lines in the left and right cameras are horizontal and have the same
- y-coordinate. P1 and P2 look like:
- </li>
- </ul>
- \(\texttt{P1} = \begin{bmatrix}
- f & 0 & cx_1 & 0 \\
- 0 & f & cy & 0 \\
- 0 & 0 & 1 & 0
- \end{bmatrix}\)
- \(\texttt{P2} = \begin{bmatrix}
- f & 0 & cx_2 & T_x \cdot f \\
- 0 & f & cy & 0 \\
- 0 & 0 & 1 & 0
- \end{bmatrix} ,\)
- \(\texttt{Q} = \begin{bmatrix}
- 1 & 0 & 0 & -cx_1 \\
- 0 & 1 & 0 & -cy \\
- 0 & 0 & 0 & f \\
- 0 & 0 & -\frac{1}{T_x} & \frac{cx_1 - cx_2}{T_x}
- \end{bmatrix} \)
- where \(T_x\) is a horizontal shift between the cameras and \(cx_1=cx_2\) if
- REF: CALIB_ZERO_DISPARITY is set.
- <ul>
- <li>
- <b>Vertical stereo</b>: the first and the second camera views are shifted relative to each other
- mainly in the vertical direction (and probably a bit in the horizontal direction too). The epipolar
- lines in the rectified images are vertical and have the same x-coordinate. P1 and P2 look like:
- </li>
- </ul>
- \(\texttt{P1} = \begin{bmatrix}
- f & 0 & cx & 0 \\
- 0 & f & cy_1 & 0 \\
- 0 & 0 & 1 & 0
- \end{bmatrix}\)
- \(\texttt{P2} = \begin{bmatrix}
- f & 0 & cx & 0 \\
- 0 & f & cy_2 & T_y \cdot f \\
- 0 & 0 & 1 & 0
- \end{bmatrix},\)
- \(\texttt{Q} = \begin{bmatrix}
- 1 & 0 & 0 & -cx \\
- 0 & 1 & 0 & -cy_1 \\
- 0 & 0 & 0 & f \\
- 0 & 0 & -\frac{1}{T_y} & \frac{cy_1 - cy_2}{T_y}
- \end{bmatrix} \)
- where \(T_y\) is a vertical shift between the cameras and \(cy_1=cy_2\) if
- REF: CALIB_ZERO_DISPARITY is set.
- As you can see, the first three columns of P1 and P2 will effectively be the new "rectified" camera
- matrices. The matrices, together with R1 and R2 , can then be passed to #initUndistortRectifyMap to
- initialize the rectification map for each camera.
- See below the screenshot from the stereo_calib.cpp sample. Some red horizontal lines pass through
- the corresponding image regions. This means that the images are well rectified, which is what most
- stereo correspondence algorithms rely on. The green rectangles are roi1 and roi2 . You see that
- their interiors are all valid pixels.
- </dd>
- </dl>
- </li>
- </ul>
- <a name="stereoRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-org.opencv.core.Size-org.opencv.core.Rect-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>stereoRectify</h4>
- <pre>public static void stereoRectify(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q,
- int flags,
- double alpha,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> newImageSize,
- <a href="../../../org/opencv/core/Rect.html" title="class in org.opencv.core">Rect</a> validPixROI1)</pre>
- <div class="block">Computes rectification transforms for each head of a calibrated stereo camera.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>cameraMatrix1</code> - First camera intrinsic matrix.</dd>
- <dd><code>distCoeffs1</code> - First camera distortion parameters.</dd>
- <dd><code>cameraMatrix2</code> - Second camera intrinsic matrix.</dd>
- <dd><code>distCoeffs2</code> - Second camera distortion parameters.</dd>
- <dd><code>imageSize</code> - Size of the image used for stereo calibration.</dd>
- <dd><code>R</code> - Rotation matrix from the coordinate system of the first camera to the second camera,
- see REF: stereoCalibrate.</dd>
- <dd><code>T</code> - Translation vector from the coordinate system of the first camera to the second camera,
- see REF: stereoCalibrate.</dd>
- <dd><code>R1</code> - Output 3x3 rectification transform (rotation matrix) for the first camera. This matrix
- brings points given in the unrectified first camera's coordinate system to points in the rectified
- first camera's coordinate system. In more technical terms, it performs a change of basis from the
- unrectified first camera's coordinate system to the rectified first camera's coordinate system.</dd>
- <dd><code>R2</code> - Output 3x3 rectification transform (rotation matrix) for the second camera. This matrix
- brings points given in the unrectified second camera's coordinate system to points in the rectified
- second camera's coordinate system. In more technical terms, it performs a change of basis from the
- unrectified second camera's coordinate system to the rectified second camera's coordinate system.</dd>
- <dd><code>P1</code> - Output 3x4 projection matrix in the new (rectified) coordinate systems for the first
- camera, i.e. it projects points given in the rectified first camera coordinate system into the
- rectified first camera's image.</dd>
- <dd><code>P2</code> - Output 3x4 projection matrix in the new (rectified) coordinate systems for the second
- camera, i.e. it projects points given in the rectified first camera coordinate system into the
- rectified second camera's image.</dd>
- <dd><code>Q</code> - Output \(4 \times 4\) disparity-to-depth mapping matrix (see REF: reprojectImageTo3D).</dd>
- <dd><code>flags</code> - Operation flags that may be zero or REF: CALIB_ZERO_DISPARITY . If the flag is set,
- the function makes the principal points of each camera have the same pixel coordinates in the
- rectified views. And if the flag is not set, the function may still shift the images in the
- horizontal or vertical direction (depending on the orientation of epipolar lines) to maximize the
- useful image area.</dd>
- <dd><code>alpha</code> - Free scaling parameter. If it is -1 or absent, the function performs the default
- scaling. Otherwise, the parameter should be between 0 and 1. alpha=0 means that the rectified
- images are zoomed and shifted so that only valid pixels are visible (no black areas after
- rectification). alpha=1 means that the rectified image is decimated and shifted so that all the
- pixels from the original images from the cameras are retained in the rectified images (no source
- image pixels are lost). Any intermediate value yields an intermediate result between
- those two extreme cases.</dd>
- <dd><code>newImageSize</code> - New image resolution after rectification. The same size should be passed to
- #initUndistortRectifyMap (see the stereo_calib.cpp sample in OpenCV samples directory). When (0,0)
- is passed (default), it is set to the original imageSize . Setting it to a larger value can help you
- preserve details in the original image, especially when there is a big radial distortion.</dd>
- <dd><code>validPixROI1</code> - Optional output rectangles inside the rectified images where all the pixels
- are valid. If alpha=0 , the ROIs cover the whole images. Otherwise, they are likely to be smaller
- (see the picture below).
- are valid. If alpha=0 , the ROIs cover the whole images. Otherwise, they are likely to be smaller
- (see the picture below).
- The function computes the rotation matrices for each camera that (virtually) make both camera image
- planes the same plane. Consequently, this makes all the epipolar lines parallel and thus simplifies
- the dense stereo correspondence problem. The function takes the matrices computed by #stereoCalibrate
- as input. As output, it provides two rotation matrices and also two projection matrices in the new
- coordinates. The function distinguishes the following two cases:
- <ul>
- <li>
- <b>Horizontal stereo</b>: the first and the second camera views are shifted relative to each other
- mainly along the x-axis (with possible small vertical shift). In the rectified images, the
- corresponding epipolar lines in the left and right cameras are horizontal and have the same
- y-coordinate. P1 and P2 look like:
- </li>
- </ul>
- \(\texttt{P1} = \begin{bmatrix}
- f & 0 & cx_1 & 0 \\
- 0 & f & cy & 0 \\
- 0 & 0 & 1 & 0
- \end{bmatrix}\)
- \(\texttt{P2} = \begin{bmatrix}
- f & 0 & cx_2 & T_x \cdot f \\
- 0 & f & cy & 0 \\
- 0 & 0 & 1 & 0
- \end{bmatrix} ,\)
- \(\texttt{Q} = \begin{bmatrix}
- 1 & 0 & 0 & -cx_1 \\
- 0 & 1 & 0 & -cy \\
- 0 & 0 & 0 & f \\
- 0 & 0 & -\frac{1}{T_x} & \frac{cx_1 - cx_2}{T_x}
- \end{bmatrix} \)
- where \(T_x\) is a horizontal shift between the cameras and \(cx_1=cx_2\) if
- REF: CALIB_ZERO_DISPARITY is set.
- <ul>
- <li>
- <b>Vertical stereo</b>: the first and the second camera views are shifted relative to each other
- mainly in the vertical direction (and probably a bit in the horizontal direction too). The epipolar
- lines in the rectified images are vertical and have the same x-coordinate. P1 and P2 look like:
- </li>
- </ul>
- \(\texttt{P1} = \begin{bmatrix}
- f & 0 & cx & 0 \\
- 0 & f & cy_1 & 0 \\
- 0 & 0 & 1 & 0
- \end{bmatrix}\)
- \(\texttt{P2} = \begin{bmatrix}
- f & 0 & cx & 0 \\
- 0 & f & cy_2 & T_y \cdot f \\
- 0 & 0 & 1 & 0
- \end{bmatrix},\)
- \(\texttt{Q} = \begin{bmatrix}
- 1 & 0 & 0 & -cx \\
- 0 & 1 & 0 & -cy_1 \\
- 0 & 0 & 0 & f \\
- 0 & 0 & -\frac{1}{T_y} & \frac{cy_1 - cy_2}{T_y}
- \end{bmatrix} \)
- where \(T_y\) is a vertical shift between the cameras and \(cy_1=cy_2\) if
- REF: CALIB_ZERO_DISPARITY is set.
- As you can see, the first three columns of P1 and P2 will effectively be the new "rectified" camera
- matrices. The matrices, together with R1 and R2 , can then be passed to #initUndistortRectifyMap to
- initialize the rectification map for each camera.
- See below the screenshot from the stereo_calib.cpp sample. Some red horizontal lines pass through
- the corresponding image regions. This means that the images are well rectified, which is what most
- stereo correspondence algorithms rely on. The green rectangles are roi1 and roi2 . You see that
- their interiors are all valid pixels.
- </dd>
- </dl>
- </li>
- </ul>
- <a name="stereoRectify-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-int-double-org.opencv.core.Size-org.opencv.core.Rect-org.opencv.core.Rect-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>stereoRectify</h4>
- <pre>public static void stereoRectify(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs2,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imageSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> T,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> Q,
- int flags,
- double alpha,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> newImageSize,
- <a href="../../../org/opencv/core/Rect.html" title="class in org.opencv.core">Rect</a> validPixROI1,
- <a href="../../../org/opencv/core/Rect.html" title="class in org.opencv.core">Rect</a> validPixROI2)</pre>
- <div class="block">Computes rectification transforms for each head of a calibrated stereo camera.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>cameraMatrix1</code> - First camera intrinsic matrix.</dd>
- <dd><code>distCoeffs1</code> - First camera distortion parameters.</dd>
- <dd><code>cameraMatrix2</code> - Second camera intrinsic matrix.</dd>
- <dd><code>distCoeffs2</code> - Second camera distortion parameters.</dd>
- <dd><code>imageSize</code> - Size of the image used for stereo calibration.</dd>
- <dd><code>R</code> - Rotation matrix from the coordinate system of the first camera to the second camera,
- see REF: stereoCalibrate.</dd>
- <dd><code>T</code> - Translation vector from the coordinate system of the first camera to the second camera,
- see REF: stereoCalibrate.</dd>
- <dd><code>R1</code> - Output 3x3 rectification transform (rotation matrix) for the first camera. This matrix
- brings points given in the unrectified first camera's coordinate system to points in the rectified
- first camera's coordinate system. In more technical terms, it performs a change of basis from the
- unrectified first camera's coordinate system to the rectified first camera's coordinate system.</dd>
- <dd><code>R2</code> - Output 3x3 rectification transform (rotation matrix) for the second camera. This matrix
- brings points given in the unrectified second camera's coordinate system to points in the rectified
- second camera's coordinate system. In more technical terms, it performs a change of basis from the
- unrectified second camera's coordinate system to the rectified second camera's coordinate system.</dd>
- <dd><code>P1</code> - Output 3x4 projection matrix in the new (rectified) coordinate systems for the first
- camera, i.e. it projects points given in the rectified first camera coordinate system into the
- rectified first camera's image.</dd>
- <dd><code>P2</code> - Output 3x4 projection matrix in the new (rectified) coordinate systems for the second
- camera, i.e. it projects points given in the rectified first camera coordinate system into the
- rectified second camera's image.</dd>
- <dd><code>Q</code> - Output \(4 \times 4\) disparity-to-depth mapping matrix (see REF: reprojectImageTo3D).</dd>
- <dd><code>flags</code> - Operation flags that may be zero or REF: CALIB_ZERO_DISPARITY . If the flag is set,
- the function makes the principal points of each camera have the same pixel coordinates in the
- rectified views. And if the flag is not set, the function may still shift the images in the
- horizontal or vertical direction (depending on the orientation of epipolar lines) to maximize the
- useful image area.</dd>
- <dd><code>alpha</code> - Free scaling parameter. If it is -1 or absent, the function performs the default
- scaling. Otherwise, the parameter should be between 0 and 1. alpha=0 means that the rectified
- images are zoomed and shifted so that only valid pixels are visible (no black areas after
- rectification). alpha=1 means that the rectified image is decimated and shifted so that all the
- pixels from the original images from the cameras are retained in the rectified images (no source
- image pixels are lost). Any intermediate value yields an intermediate result between
- those two extreme cases.</dd>
- <dd><code>newImageSize</code> - New image resolution after rectification. The same size should be passed to
- #initUndistortRectifyMap (see the stereo_calib.cpp sample in OpenCV samples directory). When (0,0)
- is passed (default), it is set to the original imageSize . Setting it to a larger value can help you
- preserve details in the original image, especially when there is a big radial distortion.</dd>
- <dd><code>validPixROI1</code> - Optional output rectangles inside the rectified images where all the pixels
- are valid. If alpha=0 , the ROIs cover the whole images. Otherwise, they are likely to be smaller
- (see the picture below).</dd>
- <dd><code>validPixROI2</code> - Optional output rectangles inside the rectified images where all the pixels
- are valid. If alpha=0 , the ROIs cover the whole images. Otherwise, they are likely to be smaller
- (see the picture below).
- The function computes the rotation matrices for each camera that (virtually) make both camera image
- planes the same plane. Consequently, this makes all the epipolar lines parallel and thus simplifies
- the dense stereo correspondence problem. The function takes the matrices computed by #stereoCalibrate
- as input. As output, it provides two rotation matrices and also two projection matrices in the new
- coordinates. The function distinguishes the following two cases:
- <ul>
- <li>
- <b>Horizontal stereo</b>: the first and the second camera views are shifted relative to each other
- mainly along the x-axis (with possible small vertical shift). In the rectified images, the
- corresponding epipolar lines in the left and right cameras are horizontal and have the same
- y-coordinate. P1 and P2 look like:
- </li>
- </ul>
- \(\texttt{P1} = \begin{bmatrix}
- f & 0 & cx_1 & 0 \\
- 0 & f & cy & 0 \\
- 0 & 0 & 1 & 0
- \end{bmatrix}\)
- \(\texttt{P2} = \begin{bmatrix}
- f & 0 & cx_2 & T_x \cdot f \\
- 0 & f & cy & 0 \\
- 0 & 0 & 1 & 0
- \end{bmatrix} ,\)
- \(\texttt{Q} = \begin{bmatrix}
- 1 & 0 & 0 & -cx_1 \\
- 0 & 1 & 0 & -cy \\
- 0 & 0 & 0 & f \\
- 0 & 0 & -\frac{1}{T_x} & \frac{cx_1 - cx_2}{T_x}
- \end{bmatrix} \)
- where \(T_x\) is a horizontal shift between the cameras and \(cx_1=cx_2\) if
- REF: CALIB_ZERO_DISPARITY is set.
- <ul>
- <li>
- <b>Vertical stereo</b>: the first and the second camera views are shifted relative to each other
- mainly in the vertical direction (and probably a bit in the horizontal direction too). The epipolar
- lines in the rectified images are vertical and have the same x-coordinate. P1 and P2 look like:
- </li>
- </ul>
- \(\texttt{P1} = \begin{bmatrix}
- f & 0 & cx & 0 \\
- 0 & f & cy_1 & 0 \\
- 0 & 0 & 1 & 0
- \end{bmatrix}\)
- \(\texttt{P2} = \begin{bmatrix}
- f & 0 & cx & 0 \\
- 0 & f & cy_2 & T_y \cdot f \\
- 0 & 0 & 1 & 0
- \end{bmatrix},\)
- \(\texttt{Q} = \begin{bmatrix}
- 1 & 0 & 0 & -cx \\
- 0 & 1 & 0 & -cy_1 \\
- 0 & 0 & 0 & f \\
- 0 & 0 & -\frac{1}{T_y} & \frac{cy_1 - cy_2}{T_y}
- \end{bmatrix} \)
- where \(T_y\) is a vertical shift between the cameras and \(cy_1=cy_2\) if
- REF: CALIB_ZERO_DISPARITY is set.
- As you can see, the first three columns of P1 and P2 will effectively be the new "rectified" camera
- matrices. The matrices, together with R1 and R2 , can then be passed to #initUndistortRectifyMap to
- initialize the rectification map for each camera.
- See below the screenshot from the stereo_calib.cpp sample. Some red horizontal lines pass through
- the corresponding image regions. This means that the images are well rectified, which is what most
- stereo correspondence algorithms rely on. The green rectangles are roi1 and roi2 . You see that
- their interiors are all valid pixels.
- </dd>
- </dl>
- </li>
- </ul>
- <a name="stereoRectifyUncalibrated-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <h4>stereoRectifyUncalibrated</h4>
- <pre>public static boolean stereoRectifyUncalibrated(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imgSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> H1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> H2)</pre>
- <div class="block">Computes a rectification transform for an uncalibrated stereo camera.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of feature points in the first image.</dd>
- <dd><code>points2</code> - The corresponding points in the second image. The same formats as in
- #findFundamentalMat are supported.</dd>
- <dd><code>F</code> - Input fundamental matrix. It can be computed from the same set of point pairs using
- #findFundamentalMat .</dd>
- <dd><code>imgSize</code> - Size of the image.</dd>
- <dd><code>H1</code> - Output rectification homography matrix for the first image.</dd>
- <dd><code>H2</code> - Output rectification homography matrix for the second image.
- than zero, all the point pairs that do not comply with the epipolar geometry (that is, the points
- for which \(|\texttt{points2[i]}^T \cdot \texttt{F} \cdot \texttt{points1[i]}|>\texttt{threshold}\) )
- are rejected prior to computing the homographies. Otherwise, all the points are considered inliers.
- The function computes the rectification transformations without knowing intrinsic parameters of the
- cameras and their relative position in the space, which explains the suffix "uncalibrated". Another
- related difference from #stereoRectify is that the function outputs not the rectification
- transformations in the object (3D) space, but the planar perspective transformations encoded by the
- homography matrices H1 and H2 . The function implements the algorithm CITE: Hartley99 .
- <b>Note:</b>
- While the algorithm does not need to know the intrinsic parameters of the cameras, it heavily
- depends on the epipolar geometry. Therefore, if the camera lenses have a significant distortion,
- it would be better to correct it before computing the fundamental matrix and calling this
- function. For example, distortion coefficients can be estimated for each head of stereo camera
- separately by using #calibrateCamera . Then, the images can be corrected using #undistort , or
- just the point coordinates can be corrected with #undistortPoints .</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="stereoRectifyUncalibrated-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Size-org.opencv.core.Mat-org.opencv.core.Mat-double-">
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- <h4>stereoRectifyUncalibrated</h4>
- <pre>public static boolean stereoRectifyUncalibrated(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> F,
- <a href="../../../org/opencv/core/Size.html" title="class in org.opencv.core">Size</a> imgSize,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> H1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> H2,
- double threshold)</pre>
- <div class="block">Computes a rectification transform for an uncalibrated stereo camera.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>points1</code> - Array of feature points in the first image.</dd>
- <dd><code>points2</code> - The corresponding points in the second image. The same formats as in
- #findFundamentalMat are supported.</dd>
- <dd><code>F</code> - Input fundamental matrix. It can be computed from the same set of point pairs using
- #findFundamentalMat .</dd>
- <dd><code>imgSize</code> - Size of the image.</dd>
- <dd><code>H1</code> - Output rectification homography matrix for the first image.</dd>
- <dd><code>H2</code> - Output rectification homography matrix for the second image.</dd>
- <dd><code>threshold</code> - Optional threshold used to filter out the outliers. If the parameter is greater
- than zero, all the point pairs that do not comply with the epipolar geometry (that is, the points
- for which \(|\texttt{points2[i]}^T \cdot \texttt{F} \cdot \texttt{points1[i]}|>\texttt{threshold}\) )
- are rejected prior to computing the homographies. Otherwise, all the points are considered inliers.
- The function computes the rectification transformations without knowing intrinsic parameters of the
- cameras and their relative position in the space, which explains the suffix "uncalibrated". Another
- related difference from #stereoRectify is that the function outputs not the rectification
- transformations in the object (3D) space, but the planar perspective transformations encoded by the
- homography matrices H1 and H2 . The function implements the algorithm CITE: Hartley99 .
- <b>Note:</b>
- While the algorithm does not need to know the intrinsic parameters of the cameras, it heavily
- depends on the epipolar geometry. Therefore, if the camera lenses have a significant distortion,
- it would be better to correct it before computing the fundamental matrix and calling this
- function. For example, distortion coefficients can be estimated for each head of stereo camera
- separately by using #calibrateCamera . Then, the images can be corrected using #undistort , or
- just the point coordinates can be corrected with #undistortPoints .</dd>
- <dt><span class="returnLabel">Returns:</span></dt>
- <dd>automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="triangulatePoints-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
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- <h4>triangulatePoints</h4>
- <pre>public static void triangulatePoints(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> projMatr1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> projMatr2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> projPoints1,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> projPoints2,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> points4D)</pre>
- <div class="block">This function reconstructs 3-dimensional points (in homogeneous coordinates) by using
- their observations with a stereo camera.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>projMatr1</code> - 3x4 projection matrix of the first camera, i.e. this matrix projects 3D points
- given in the world's coordinate system into the first image.</dd>
- <dd><code>projMatr2</code> - 3x4 projection matrix of the second camera, i.e. this matrix projects 3D points
- given in the world's coordinate system into the second image.</dd>
- <dd><code>projPoints1</code> - 2xN array of feature points in the first image. In the case of the c++ version,
- it can be also a vector of feature points or two-channel matrix of size 1xN or Nx1.</dd>
- <dd><code>projPoints2</code> - 2xN array of corresponding points in the second image. In the case of the c++
- version, it can be also a vector of feature points or two-channel matrix of size 1xN or Nx1.</dd>
- <dd><code>points4D</code> - 4xN array of reconstructed points in homogeneous coordinates. These points are
- returned in the world's coordinate system.
- <b>Note:</b>
- Keep in mind that all input data should be of float type in order for this function to work.
- <b>Note:</b>
- If the projection matrices from REF: stereoRectify are used, then the returned points are
- represented in the first camera's rectified coordinate system.
- SEE:
- reprojectImageTo3D</dd>
- </dl>
- </li>
- </ul>
- <a name="undistort-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>undistort</h4>
- <pre>public static void undistort(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs)</pre>
- <div class="block">Transforms an image to compensate for lens distortion.
- The function transforms an image to compensate radial and tangential lens distortion.
- The function is simply a combination of #initUndistortRectifyMap (with unity R ) and #remap
- (with bilinear interpolation). See the former function for details of the transformation being
- performed.
- Those pixels in the destination image, for which there is no correspondent pixels in the source
- image, are filled with zeros (black color).
- A particular subset of the source image that will be visible in the corrected image can be regulated
- by newCameraMatrix. You can use #getOptimalNewCameraMatrix to compute the appropriate
- newCameraMatrix depending on your requirements.
- The camera matrix and the distortion parameters can be determined using #calibrateCamera. If
- the resolution of images is different from the resolution used at the calibration stage, \(f_x,
- f_y, c_x\) and \(c_y\) need to be scaled accordingly, while the distortion coefficients remain
- the same.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>src</code> - Input (distorted) image.</dd>
- <dd><code>dst</code> - Output (corrected) image that has the same size and type as src .</dd>
- <dd><code>cameraMatrix</code> - Input camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\)
- of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.
- cameraMatrix but you may additionally scale and shift the result by using a different matrix.</dd>
- </dl>
- </li>
- </ul>
- <a name="undistort-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
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- </a>
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- <li class="blockList">
- <h4>undistort</h4>
- <pre>public static void undistort(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> newCameraMatrix)</pre>
- <div class="block">Transforms an image to compensate for lens distortion.
- The function transforms an image to compensate radial and tangential lens distortion.
- The function is simply a combination of #initUndistortRectifyMap (with unity R ) and #remap
- (with bilinear interpolation). See the former function for details of the transformation being
- performed.
- Those pixels in the destination image, for which there is no correspondent pixels in the source
- image, are filled with zeros (black color).
- A particular subset of the source image that will be visible in the corrected image can be regulated
- by newCameraMatrix. You can use #getOptimalNewCameraMatrix to compute the appropriate
- newCameraMatrix depending on your requirements.
- The camera matrix and the distortion parameters can be determined using #calibrateCamera. If
- the resolution of images is different from the resolution used at the calibration stage, \(f_x,
- f_y, c_x\) and \(c_y\) need to be scaled accordingly, while the distortion coefficients remain
- the same.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>src</code> - Input (distorted) image.</dd>
- <dd><code>dst</code> - Output (corrected) image that has the same size and type as src .</dd>
- <dd><code>cameraMatrix</code> - Input camera matrix \(A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\)
- of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.</dd>
- <dd><code>newCameraMatrix</code> - Camera matrix of the distorted image. By default, it is the same as
- cameraMatrix but you may additionally scale and shift the result by using a different matrix.</dd>
- </dl>
- </li>
- </ul>
- <a name="undistortImagePoints-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
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- <h4>undistortImagePoints</h4>
- <pre>public static void undistortImagePoints(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs)</pre>
- <div class="block">Compute undistorted image points position</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>src</code> - Observed points position, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel (CV_32FC2 or
- CV_64FC2) (or vector<Point2f> ).</dd>
- <dd><code>dst</code> - Output undistorted points position (1xN/Nx1 2-channel or vector<Point2f> ).</dd>
- <dd><code>cameraMatrix</code> - Camera matrix \(\vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) .</dd>
- <dd><code>distCoeffs</code> - Distortion coefficients</dd>
- </dl>
- </li>
- </ul>
- <a name="undistortImagePoints-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.TermCriteria-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>undistortImagePoints</h4>
- <pre>public static void undistortImagePoints(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/TermCriteria.html" title="class in org.opencv.core">TermCriteria</a> arg1)</pre>
- <div class="block">Compute undistorted image points position</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>src</code> - Observed points position, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel (CV_32FC2 or
- CV_64FC2) (or vector<Point2f> ).</dd>
- <dd><code>dst</code> - Output undistorted points position (1xN/Nx1 2-channel or vector<Point2f> ).</dd>
- <dd><code>cameraMatrix</code> - Camera matrix \(\vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) .</dd>
- <dd><code>distCoeffs</code> - Distortion coefficients</dd>
- <dd><code>arg1</code> - automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="undistortPoints-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>undistortPoints</h4>
- <pre>public static void undistortPoints(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> src,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> dst,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs)</pre>
- <div class="block">Computes the ideal point coordinates from the observed point coordinates.
- The function is similar to #undistort and #initUndistortRectifyMap but it operates on a
- sparse set of points instead of a raster image. Also the function performs a reverse transformation
- to #projectPoints. In case of a 3D object, it does not reconstruct its 3D coordinates, but for a
- planar object, it does, up to a translation vector, if the proper R is specified.
- For each observed point coordinate \((u, v)\) the function computes:
- \(
- \begin{array}{l}
- x^{"} \leftarrow (u - c_x)/f_x \\
- y^{"} \leftarrow (v - c_y)/f_y \\
- (x',y') = undistort(x^{"},y^{"}, \texttt{distCoeffs}) \\
- {[X\,Y\,W]} ^T \leftarrow R*[x' \, y' \, 1]^T \\
- x \leftarrow X/W \\
- y \leftarrow Y/W \\
- \text{only performed if P is specified:} \\
- u' \leftarrow x {f'}_x + {c'}_x \\
- v' \leftarrow y {f'}_y + {c'}_y
- \end{array}
- \)
- where *undistort* is an approximate iterative algorithm that estimates the normalized original
- point coordinates out of the normalized distorted point coordinates ("normalized" means that the
- coordinates do not depend on the camera matrix).
- The function can be used for both a stereo camera head or a monocular camera (when R is empty).</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>src</code> - Observed point coordinates, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel (CV_32FC2 or CV_64FC2) (or
- vector<Point2f> ).</dd>
- <dd><code>dst</code> - Output ideal point coordinates (1xN/Nx1 2-channel or vector<Point2f> ) after undistortion and reverse perspective
- transformation. If matrix P is identity or omitted, dst will contain normalized point coordinates.</dd>
- <dd><code>cameraMatrix</code> - Camera matrix \(\vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\)
- of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.
- #stereoRectify can be passed here. If the matrix is empty, the identity transformation is used.
- #stereoRectify can be passed here. If the matrix is empty, the identity new camera matrix is used.</dd>
- </dl>
- </li>
- </ul>
- <a name="undistortPoints-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>undistortPoints</h4>
- <pre>public static void undistortPoints(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> src,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> dst,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R)</pre>
- <div class="block">Computes the ideal point coordinates from the observed point coordinates.
- The function is similar to #undistort and #initUndistortRectifyMap but it operates on a
- sparse set of points instead of a raster image. Also the function performs a reverse transformation
- to #projectPoints. In case of a 3D object, it does not reconstruct its 3D coordinates, but for a
- planar object, it does, up to a translation vector, if the proper R is specified.
- For each observed point coordinate \((u, v)\) the function computes:
- \(
- \begin{array}{l}
- x^{"} \leftarrow (u - c_x)/f_x \\
- y^{"} \leftarrow (v - c_y)/f_y \\
- (x',y') = undistort(x^{"},y^{"}, \texttt{distCoeffs}) \\
- {[X\,Y\,W]} ^T \leftarrow R*[x' \, y' \, 1]^T \\
- x \leftarrow X/W \\
- y \leftarrow Y/W \\
- \text{only performed if P is specified:} \\
- u' \leftarrow x {f'}_x + {c'}_x \\
- v' \leftarrow y {f'}_y + {c'}_y
- \end{array}
- \)
- where *undistort* is an approximate iterative algorithm that estimates the normalized original
- point coordinates out of the normalized distorted point coordinates ("normalized" means that the
- coordinates do not depend on the camera matrix).
- The function can be used for both a stereo camera head or a monocular camera (when R is empty).</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>src</code> - Observed point coordinates, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel (CV_32FC2 or CV_64FC2) (or
- vector<Point2f> ).</dd>
- <dd><code>dst</code> - Output ideal point coordinates (1xN/Nx1 2-channel or vector<Point2f> ) after undistortion and reverse perspective
- transformation. If matrix P is identity or omitted, dst will contain normalized point coordinates.</dd>
- <dd><code>cameraMatrix</code> - Camera matrix \(\vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\)
- of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.</dd>
- <dd><code>R</code> - Rectification transformation in the object space (3x3 matrix). R1 or R2 computed by
- #stereoRectify can be passed here. If the matrix is empty, the identity transformation is used.
- #stereoRectify can be passed here. If the matrix is empty, the identity new camera matrix is used.</dd>
- </dl>
- </li>
- </ul>
- <a name="undistortPoints-org.opencv.core.MatOfPoint2f-org.opencv.core.MatOfPoint2f-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-">
- <!-- -->
- </a>
- <ul class="blockList">
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- <h4>undistortPoints</h4>
- <pre>public static void undistortPoints(<a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> src,
- <a href="../../../org/opencv/core/MatOfPoint2f.html" title="class in org.opencv.core">MatOfPoint2f</a> dst,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P)</pre>
- <div class="block">Computes the ideal point coordinates from the observed point coordinates.
- The function is similar to #undistort and #initUndistortRectifyMap but it operates on a
- sparse set of points instead of a raster image. Also the function performs a reverse transformation
- to #projectPoints. In case of a 3D object, it does not reconstruct its 3D coordinates, but for a
- planar object, it does, up to a translation vector, if the proper R is specified.
- For each observed point coordinate \((u, v)\) the function computes:
- \(
- \begin{array}{l}
- x^{"} \leftarrow (u - c_x)/f_x \\
- y^{"} \leftarrow (v - c_y)/f_y \\
- (x',y') = undistort(x^{"},y^{"}, \texttt{distCoeffs}) \\
- {[X\,Y\,W]} ^T \leftarrow R*[x' \, y' \, 1]^T \\
- x \leftarrow X/W \\
- y \leftarrow Y/W \\
- \text{only performed if P is specified:} \\
- u' \leftarrow x {f'}_x + {c'}_x \\
- v' \leftarrow y {f'}_y + {c'}_y
- \end{array}
- \)
- where *undistort* is an approximate iterative algorithm that estimates the normalized original
- point coordinates out of the normalized distorted point coordinates ("normalized" means that the
- coordinates do not depend on the camera matrix).
- The function can be used for both a stereo camera head or a monocular camera (when R is empty).</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>src</code> - Observed point coordinates, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel (CV_32FC2 or CV_64FC2) (or
- vector<Point2f> ).</dd>
- <dd><code>dst</code> - Output ideal point coordinates (1xN/Nx1 2-channel or vector<Point2f> ) after undistortion and reverse perspective
- transformation. If matrix P is identity or omitted, dst will contain normalized point coordinates.</dd>
- <dd><code>cameraMatrix</code> - Camera matrix \(\vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\) .</dd>
- <dd><code>distCoeffs</code> - Input vector of distortion coefficients
- \((k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\)
- of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.</dd>
- <dd><code>R</code> - Rectification transformation in the object space (3x3 matrix). R1 or R2 computed by
- #stereoRectify can be passed here. If the matrix is empty, the identity transformation is used.</dd>
- <dd><code>P</code> - New camera matrix (3x3) or new projection matrix (3x4) \(\begin{bmatrix} {f'}_x & 0 & {c'}_x & t_x \\ 0 & {f'}_y & {c'}_y & t_y \\ 0 & 0 & 1 & t_z \end{bmatrix}\). P1 or P2 computed by
- #stereoRectify can be passed here. If the matrix is empty, the identity new camera matrix is used.</dd>
- </dl>
- </li>
- </ul>
- <a name="undistortPointsIter-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.Mat-org.opencv.core.TermCriteria-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>undistortPointsIter</h4>
- <pre>public static void undistortPointsIter(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> src,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> dst,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cameraMatrix,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> distCoeffs,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> R,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> P,
- <a href="../../../org/opencv/core/TermCriteria.html" title="class in org.opencv.core">TermCriteria</a> criteria)</pre>
- <div class="block"><b>Note:</b> Default version of #undistortPoints does 5 iterations to compute undistorted points.</div>
- <dl>
- <dt><span class="paramLabel">Parameters:</span></dt>
- <dd><code>src</code> - automatically generated</dd>
- <dd><code>dst</code> - automatically generated</dd>
- <dd><code>cameraMatrix</code> - automatically generated</dd>
- <dd><code>distCoeffs</code> - automatically generated</dd>
- <dd><code>R</code> - automatically generated</dd>
- <dd><code>P</code> - automatically generated</dd>
- <dd><code>criteria</code> - automatically generated</dd>
- </dl>
- </li>
- </ul>
- <a name="validateDisparity-org.opencv.core.Mat-org.opencv.core.Mat-int-int-">
- <!-- -->
- </a>
- <ul class="blockList">
- <li class="blockList">
- <h4>validateDisparity</h4>
- <pre>public static void validateDisparity(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> disparity,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cost,
- int minDisparity,
- int numberOfDisparities)</pre>
- </li>
- </ul>
- <a name="validateDisparity-org.opencv.core.Mat-org.opencv.core.Mat-int-int-int-">
- <!-- -->
- </a>
- <ul class="blockListLast">
- <li class="blockList">
- <h4>validateDisparity</h4>
- <pre>public static void validateDisparity(<a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> disparity,
- <a href="../../../org/opencv/core/Mat.html" title="class in org.opencv.core">Mat</a> cost,
- int minDisparity,
- int numberOfDisparities,
- int disp12MaxDisp)</pre>
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- <p class="legalCopy"><small>Generated on 2023-06-28 12:47:21 / OpenCV 4.8.0</small></p>
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