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calib3d.hpp File Reference

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## Classes
class | CvLevMarq
struct | CvStereoBMState
struct | CvStereoGCState
class | cv::StereoBM
class | cv::StereoSGBM

## Namespaces
namespace | cv

## Macros
#define | CV_CALIB_CB_ADAPTIVE_THRESH 1
#define | CV_CALIB_CB_FAST_CHECK 8
#define | CV_CALIB_CB_FILTER_QUADS 4
#define | CV_CALIB_CB_NORMALIZE_IMAGE 2
#define | CV_CALIB_FIX_ASPECT_RATIO 2
#define | CV_CALIB_FIX_FOCAL_LENGTH 16
#define | CV_CALIB_FIX_INTRINSIC 256
#define | CV_CALIB_FIX_K1 32
#define | CV_CALIB_FIX_K2 64
#define | CV_CALIB_FIX_K3 128
#define | CV_CALIB_FIX_K4 2048
#define | CV_CALIB_FIX_K5 4096
#define | CV_CALIB_FIX_K6 8192
#define | CV_CALIB_FIX_PRINCIPAL_POINT 4
#define | CV_CALIB_RATIONAL_MODEL 16384
#define | CV_CALIB_SAME_FOCAL_LENGTH 512
#define | CV_CALIB_USE_INTRINSIC_GUESS 1
#define | CV_CALIB_ZERO_DISPARITY 1024
#define | CV_CALIB_ZERO_TANGENT_DIST 8
#define | CV_FM_7POINT 1
#define | CV_FM_8POINT 2
#define | CV_FM_LMEDS CV_LMEDS
#define | CV_FM_LMEDS_ONLY CV_LMEDS
#define | CV_FM_RANSAC CV_RANSAC
#define | CV_FM_RANSAC_ONLY CV_RANSAC
#define | CV_LMEDS 4
#define | CV_RANSAC 8
#define | CV_STEREO_BM_BASIC 0
#define | CV_STEREO_BM_FISH_EYE 1
#define | CV_STEREO_BM_NARROW 2
#define | CV_STEREO_BM_NORMALIZED_RESPONSE 0
#define | CV_STEREO_BM_XSOBEL 1
#define | CV_STEREO_GC_OCCLUDED SHRT_MAX

## Typedefs
typedef struct CvPOSITObject | CvPOSITObject
typedef struct CvStereoBMState | CvStereoBMState
typedef struct CvStereoGCState | CvStereoGCState

## Enumerations
enum | { cv::LMEDS =CV_LMEDS, cv::RANSAC =CV_RANSAC }
| type of the robust estimation algorithm More...
enum | { cv::CALIB_CB_ADAPTIVE_THRESH = 1, cv::CALIB_CB_NORMALIZE_IMAGE = 2, cv::CALIB_CB_FILTER_QUADS = 4, cv::CALIB_CB_FAST_CHECK = 8 }
enum | { cv::CALIB_USE_INTRINSIC_GUESS = CV_CALIB_USE_INTRINSIC_GUESS, cv::CALIB_FIX_ASPECT_RATIO = CV_CALIB_FIX_ASPECT_RATIO, cv::CALIB_FIX_PRINCIPAL_POINT = CV_CALIB_FIX_PRINCIPAL_POINT, cv::CALIB_ZERO_TANGENT_DIST = CV_CALIB_ZERO_TANGENT_DIST, cv::CALIB_FIX_FOCAL_LENGTH = CV_CALIB_FIX_FOCAL_LENGTH, cv::CALIB_FIX_K1 = CV_CALIB_FIX_K1, cv::CALIB_FIX_K2 = CV_CALIB_FIX_K2, cv::CALIB_FIX_K3 = CV_CALIB_FIX_K3, cv::CALIB_FIX_K4 = CV_CALIB_FIX_K4, cv::CALIB_FIX_K5 = CV_CALIB_FIX_K5, cv::CALIB_FIX_K6 = CV_CALIB_FIX_K6, cv::CALIB_RATIONAL_MODEL = CV_CALIB_RATIONAL_MODEL, cv::CALIB_FIX_INTRINSIC = CV_CALIB_FIX_INTRINSIC, cv::CALIB_SAME_FOCAL_LENGTH = CV_CALIB_SAME_FOCAL_LENGTH, cv::CALIB_ZERO_DISPARITY = CV_CALIB_ZERO_DISPARITY }
enum | { cv::FM_7POINT = CV_FM_7POINT, cv::FM_8POINT = CV_FM_8POINT, cv::FM_LMEDS = CV_FM_LMEDS, cv::FM_RANSAC = CV_FM_RANSAC }
| the algorithm for finding fundamental matrix More...

## Functions
CV_EXPORTS_W double | cv::calibrateCamera (const vector< vector< Point3f > > &objectPoints, const vector< vector< Point2f > > &imagePoints, Size imageSize, CV_IN_OUT Mat &cameraMatrix, CV_IN_OUT Mat &distCoeffs, CV_OUT vector< Mat > &rvecs, CV_OUT vector< Mat > &tvecs, int flags=0)
| finds intrinsic and extrinsic camera parameters from several fews of a known calibration pattern.
CV_EXPORTS_W void | cv::calibrationMatrixValues (const Mat &cameraMatrix, Size imageSize, double apertureWidth, double apertureHeight, CV_OUT double &fovx, CV_OUT double &fovy, CV_OUT double &focalLength, CV_OUT Point2d &principalPoint, CV_OUT double &aspectRatio)
| computes several useful camera characteristics from the camera matrix, camera frame resolution and the physical sensor size.
CV_EXPORTS_W void | cv::composeRT (const Mat &rvec1, const Mat &tvec1, const Mat &rvec2, const Mat &tvec2, CV_OUT Mat &rvec3, CV_OUT Mat &tvec3)
| composes 2 [R|t] transformations together
void | cv::computeCorrespondEpilines (const Mat &points1, int whichImage, const Mat &F, CV_OUT vector< Vec3f > &lines)
| finds coordinates of epipolar lines corresponding the specified points
void | cv::convertPointsHomogeneous (const Mat &src, CV_OUT vector< Point3f > &dst)
| converts point coordinates from normal pixel coordinates to homogeneous coordinates ((x,y)->(x,y,1))
void | cv::convertPointsHomogeneous (const Mat &src, CV_OUT vector< Point2f > &dst)
| converts point coordinates from homogeneous to normal pixel coordinates ((x,y,z)->(x/z, y/z))
| cv::CV_EXPORTS_AS (RodriguesJ) void Rodrigues(const Mat &src
| converts rotation vector to rotation matrix or vice versa using Rodrigues transformation. Also computes the Jacobian matrix
| cv::CV_EXPORTS_AS (findHomographyAndOutliers) Mat findHomography(const Mat &srcPoints
| computes the best-fit perspective transformation mapping srcPoints to dstPoints.
| cv::CV_EXPORTS_AS (composeRT_J) void composeRT(const Mat &rvec1
| composes 2 [R|t] transformations together. Also computes the derivatives of the result w.r.t the arguments
| cv::CV_EXPORTS_AS (projectPointsJ) void projectPoints(const Mat &objectPoints
| projects points from the model coordinate space to the image coordinates. Also computes derivatives of the image coordinates w.r.t the intrinsic and extrinsic camera parameters
void | cvCalcMatMulDeriv (const CvMat *A, const CvMat *B, CvMat *dABdA, CvMat *dABdB)
double | cvCalibrateCamera2 (const CvMat *object_points, const CvMat *image_points, const CvMat *point_counts, CvSize image_size, CvMat *camera_matrix, CvMat *distortion_coeffs, CvMat *rotation_vectors CV_DEFAULT(NULL), CvMat *translation_vectors CV_DEFAULT(NULL), int flags CV_DEFAULT(0))
void | cvCalibrationMatrixValues (const CvMat *camera_matrix, CvSize image_size, double aperture_width CV_DEFAULT(0), double aperture_height CV_DEFAULT(0), double *fovx CV_DEFAULT(NULL), double *fovy CV_DEFAULT(NULL), double *focal_length CV_DEFAULT(NULL), CvPoint2D64f *principal_point CV_DEFAULT(NULL), double *pixel_aspect_ratio CV_DEFAULT(NULL))
int | cvCheckChessboard (IplImage *src, CvSize size)
void | cvComposeRT (const CvMat *_rvec1, const CvMat *_tvec1, const CvMat *_rvec2, const CvMat *_tvec2, CvMat *_rvec3, CvMat *_tvec3, CvMat *dr3dr1 CV_DEFAULT(0), CvMat *dr3dt1 CV_DEFAULT(0), CvMat *dr3dr2 CV_DEFAULT(0), CvMat *dr3dt2 CV_DEFAULT(0), CvMat *dt3dr1 CV_DEFAULT(0), CvMat *dt3dt1 CV_DEFAULT(0), CvMat *dt3dr2 CV_DEFAULT(0), CvMat *dt3dt2 CV_DEFAULT(0))
void | cvComputeCorrespondEpilines (const CvMat *points, int which_image, const CvMat *fundamental_matrix, CvMat *correspondent_lines)
void | cvConvertPointsHomogeneous (const CvMat *src, CvMat *dst)
void | cvCorrectMatches (CvMat *F, CvMat *points1, CvMat *points2, CvMat *new_points1, CvMat *new_points2)
CvPOSITObject * | cvCreatePOSITObject (CvPoint3D32f *points, int point_count)
CvStereoBMState * | cvCreateStereoBMState (int preset CV_DEFAULT(CV_STEREO_BM_BASIC), int numberOfDisparities CV_DEFAULT(0))
CvStereoGCState * | cvCreateStereoGCState (int numberOfDisparities, int maxIters)
void | cvDecomposeProjectionMatrix (const CvMat *projMatr, CvMat *calibMatr, CvMat *rotMatr, CvMat *posVect, CvMat *rotMatrX CV_DEFAULT(NULL), CvMat *rotMatrY CV_DEFAULT(NULL), CvMat *rotMatrZ CV_DEFAULT(NULL), CvPoint3D64f *eulerAngles CV_DEFAULT(NULL))
void | cvDrawChessboardCorners (CvArr *image, CvSize pattern_size, CvPoint2D32f *corners, int count, int pattern_was_found)
int | cvFindChessboardCorners (const void *image, CvSize pattern_size, CvPoint2D32f *corners, int *corner_count CV_DEFAULT(NULL), int flags CV_DEFAULT(CV_CALIB_CB_ADAPTIVE_THRESH+CV_CALIB_CB_NORMALIZE_IMAGE))
void | cvFindExtrinsicCameraParams2 (const CvMat *object_points, const CvMat *image_points, const CvMat *camera_matrix, const CvMat *distortion_coeffs, CvMat *rotation_vector, CvMat *translation_vector, int use_extrinsic_guess CV_DEFAULT(0))
int | cvFindFundamentalMat (const CvMat *points1, const CvMat *points2, CvMat *fundamental_matrix, int method CV_DEFAULT(CV_FM_RANSAC), double param1 CV_DEFAULT(3.), double param2 CV_DEFAULT(0.99), CvMat *status CV_DEFAULT(NULL))
int | cvFindHomography (const CvMat *src_points, const CvMat *dst_points, CvMat *homography, int method CV_DEFAULT(0), double ransacReprojThreshold CV_DEFAULT(3), CvMat *mask CV_DEFAULT(0))
void | cvFindStereoCorrespondenceBM (const CvArr *left, const CvArr *right, CvArr *disparity, CvStereoBMState *state)
void | cvFindStereoCorrespondenceGC (const CvArr *left, const CvArr *right, CvArr *disparityLeft, CvArr *disparityRight, CvStereoGCState *state, int useDisparityGuess CV_DEFAULT(0))
void | cvGetOptimalNewCameraMatrix (const CvMat *camera_matrix, const CvMat *dist_coeffs, CvSize image_size, double alpha, CvMat *new_camera_matrix, CvSize new_imag_size CV_DEFAULT(cvSize(0, 0)), CvRect *valid_pixel_ROI CV_DEFAULT(0))
CvRect | cvGetValidDisparityROI (CvRect roi1, CvRect roi2, int minDisparity, int numberOfDisparities, int SADWindowSize)
void | cvInitIntrinsicParams2D (const CvMat *object_points, const CvMat *image_points, const CvMat *npoints, CvSize image_size, CvMat *camera_matrix, double aspect_ratio CV_DEFAULT(1.))
void | cvPOSIT (CvPOSITObject *posit_object, CvPoint2D32f *image_points, double focal_length, CvTermCriteria criteria, float *rotation_matrix, float *translation_vector)
void | cvProjectPoints2 (const CvMat *object_points, const CvMat *rotation_vector, const CvMat *translation_vector, const CvMat *camera_matrix, const CvMat *distortion_coeffs, CvMat *image_points, CvMat *dpdrot CV_DEFAULT(NULL), CvMat *dpdt CV_DEFAULT(NULL), CvMat *dpdf CV_DEFAULT(NULL), CvMat *dpdc CV_DEFAULT(NULL), CvMat *dpddist CV_DEFAULT(NULL), double aspect_ratio CV_DEFAULT(0))
int | cvRANSACUpdateNumIters (double p, double err_prob, int model_points, int max_iters)
void | cvReleasePOSITObject (CvPOSITObject **posit_object)
void | cvReleaseStereoBMState (CvStereoBMState **state)
void | cvReleaseStereoGCState (CvStereoGCState **state)
void | cvReprojectImageTo3D (const CvArr *disparityImage, CvArr *_3dImage, const CvMat *Q, int handleMissingValues CV_DEFAULT(0))
int | cvRodrigues2 (const CvMat *src, CvMat *dst, CvMat *jacobian CV_DEFAULT(0))
void | cvRQDecomp3x3 (const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ, CvMat *matrixQx CV_DEFAULT(NULL), CvMat *matrixQy CV_DEFAULT(NULL), CvMat *matrixQz CV_DEFAULT(NULL), CvPoint3D64f *eulerAngles CV_DEFAULT(NULL))
double | cvStereoCalibrate (const CvMat *object_points, const CvMat *image_points1, const CvMat *image_points2, const CvMat *npoints, CvMat *camera_matrix1, CvMat *dist_coeffs1, CvMat *camera_matrix2, CvMat *dist_coeffs2, CvSize image_size, CvMat *R, CvMat *T, CvMat *E CV_DEFAULT(0), CvMat *F CV_DEFAULT(0), CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 30, 1e-6)), int flags CV_DEFAULT(CV_CALIB_FIX_INTRINSIC))
void | cvStereoRectify (const CvMat *camera_matrix1, const CvMat *camera_matrix2, const CvMat *dist_coeffs1, const CvMat *dist_coeffs2, CvSize image_size, const CvMat *R, const CvMat *T, CvMat *R1, CvMat *R2, CvMat *P1, CvMat *P2, CvMat *Q CV_DEFAULT(0), int flags CV_DEFAULT(CV_CALIB_ZERO_DISPARITY), double alpha CV_DEFAULT(-1), CvSize new_image_size CV_DEFAULT(cvSize(0, 0)), CvRect *valid_pix_ROI1 CV_DEFAULT(0), CvRect *valid_pix_ROI2 CV_DEFAULT(0))
int | cvStereoRectifyUncalibrated (const CvMat *points1, const CvMat *points2, const CvMat *F, CvSize img_size, CvMat *H1, CvMat *H2, double threshold CV_DEFAULT(5))
void | cvTriangulatePoints (CvMat *projMatr1, CvMat *projMatr2, CvMat *projPoints1, CvMat *projPoints2, CvMat *points4D)
void | cvValidateDisparity (CvArr *disparity, const CvArr *cost, int minDisparity, int numberOfDisparities, int disp12MaxDiff CV_DEFAULT(1))
void | cv::decomposeProjectionMatrix (const Mat &projMatrix, Mat &cameraMatrix, Mat &rotMatrix, Mat &transVect)
| Decomposes the projection matrix into camera matrix and the rotation martix and the translation vector.
CV_EXPORTS_W void | cv::decomposeProjectionMatrix (const Mat &projMatrix, CV_OUT Mat &cameraMatrix, CV_OUT Mat &rotMatrix, CV_OUT Mat &transVect, CV_OUT Mat &rotMatrixX, CV_OUT Mat &rotMatrixY, CV_OUT Mat &rotMatrixZ, CV_OUT Vec3d &eulerAngles)
| Decomposes the projection matrix into camera matrix and the rotation martix and the translation vector. The rotation matrix is further decomposed.
CV_EXPORTS_W void | cv::drawChessboardCorners (Mat &image, Size patternSize, const Mat &corners, bool patternWasFound)
| draws the checkerboard pattern (found or partly found) in the image
void | cv::drawChessboardCorners (Mat &image, Size patternSize, const vector< Point2f > &corners, bool patternWasFound)
int | cv::estimateAffine3D (const Mat &from, const Mat &to, CV_OUT Mat &dst, CV_OUT vector< uchar > &outliers, double param1=3.0, double param2=0.99)
| computes the best-fit affine transformation that maps one 3D point set to another (RANSAC algorithm is used)
CV_EXPORTS_W void | cv::filterSpeckles (Mat &img, double newVal, int maxSpeckleSize, double maxDiff, Mat &buf)
| filters off speckles (small regions of incorrectly computed disparity)
CV_EXPORTS_W bool | cv::findChessboardCorners (const Mat &image, Size patternSize, CV_OUT vector< Point2f > &corners, int flags=CALIB_CB_ADAPTIVE_THRESH+CALIB_CB_NORMALIZE_IMAGE)
| finds checkerboard pattern of the specified size in the image
Mat | cv::findFundamentalMat (const Mat &points1, const Mat &points2, CV_OUT vector< uchar > &mask, int method=FM_RANSAC, double param1=3., double param2=0.99)
| finds fundamental matrix from a set of corresponding 2D points
CV_EXPORTS_W Mat | cv::findFundamentalMat (const Mat &points1, const Mat &points2, int method=FM_RANSAC, double param1=3., double param2=0.99)
| finds fundamental matrix from a set of corresponding 2D points
CV_EXPORTS_W Mat | cv::findHomography (const Mat &srcPoints, const Mat &dstPoints, int method=0, double ransacReprojThreshold=3)
| computes the best-fit perspective transformation mapping srcPoints to dstPoints.
CV_EXPORTS_W Mat | cv::getOptimalNewCameraMatrix (const Mat &cameraMatrix, const Mat &distCoeffs, Size imageSize, double alpha, Size newImgSize=Size(), CV_OUT Rect *validPixROI=0)
| returns the optimal new camera matrix
CV_EXPORTS_W Rect | cv::getValidDisparityROI (Rect roi1, Rect roi2, int minDisparity, int numberOfDisparities, int SADWindowSize)
| computes valid disparity ROI from the valid ROIs of the rectified images (that are returned by cv::stereoRectify())
CV_EXPORTS_W Mat | cv::initCameraMatrix2D (const vector< vector< Point3f > > &objectPoints, const vector< vector< Point2f > > &imagePoints, Size imageSize, double aspectRatio=1.)
| initializes camera matrix from a few 3D points and the corresponding projections.
CV_EXPORTS_W void | cv::matMulDeriv (const Mat &A, const Mat &B, CV_OUT Mat &dABdA, CV_OUT Mat &dABdB)
| computes derivatives of the matrix product w.r.t each of the multiplied matrix coefficients
CV_EXPORTS_W void | cv::projectPoints (const Mat &objectPoints, const Mat &rvec, const Mat &tvec, const Mat &cameraMatrix, const Mat &distCoeffs, CV_OUT vector< Point2f > &imagePoints)
| projects points from the model coordinate space to the image coordinates. Takes the intrinsic and extrinsic camera parameters into account
CV_EXPORTS_W float | cv::rectify3Collinear (const Mat &cameraMatrix1, const Mat &distCoeffs1, const Mat &cameraMatrix2, const Mat &distCoeffs2, const Mat &cameraMatrix3, const Mat &distCoeffs3, const vector< vector< Point2f > > &imgpt1, const vector< vector< Point2f > > &imgpt3, Size imageSize, const Mat &R12, const Mat &T12, const Mat &R13, const Mat &T13, CV_OUT Mat &R1, CV_OUT Mat &R2, CV_OUT Mat &R3, CV_OUT Mat &P1, CV_OUT Mat &P2, CV_OUT Mat &P3, CV_OUT Mat &Q, double alpha, Size newImgSize, CV_OUT Rect *roi1, CV_OUT Rect *roi2, int flags)
| computes the rectification transformations for 3-head camera, where all the heads are on the same line.
CV_EXPORTS_W void | cv::reprojectImageTo3D (const Mat &disparity, CV_OUT Mat &_3dImage, const Mat &Q, bool handleMissingValues=false)
| reprojects disparity image to 3D: (x,y,d)->(X,Y,Z) using the matrix Q returned by cv::stereoRectify
CV_EXPORTS_W void | cv::Rodrigues (const Mat &src, CV_OUT Mat &dst)
| converts rotation vector to rotation matrix or vice versa using Rodrigues transformation
void | cv::RQDecomp3x3 (const Mat &M, Mat &R, Mat &Q)
| Computes RQ decomposition of 3x3 matrix.
CV_EXPORTS_W Vec3d | cv::RQDecomp3x3 (const Mat &M, Mat &R, Mat &Q, CV_OUT Mat &Qx, CV_OUT Mat &Qy, CV_OUT Mat &Qz)
| Computes RQ decomposition of 3x3 matrix. Also, decomposes the output orthogonal matrix into the 3 primitive rotation matrices.
CV_EXPORTS_W void | cv::solvePnP (const Mat &objectPoints, const Mat &imagePoints, const Mat &cameraMatrix, const Mat &distCoeffs, CV_OUT Mat &rvec, CV_OUT Mat &tvec, bool useExtrinsicGuess=false)
| computes the camera pose from a few 3D points and the corresponding projections. The outliers are not handled.
CV_EXPORTS_W double | cv::stereoCalibrate (const vector< vector< Point3f > > &objectPoints, const vector< vector< Point2f > > &imagePoints1, const vector< vector< Point2f > > &imagePoints2, CV_IN_OUT Mat &cameraMatrix1, CV_IN_OUT Mat &distCoeffs1, CV_IN_OUT Mat &cameraMatrix2, CV_IN_OUT Mat &distCoeffs2, Size imageSize, CV_OUT Mat &R, CV_OUT Mat &T, CV_OUT Mat &E, CV_OUT Mat &F, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 1e-6), int flags=CALIB_FIX_INTRINSIC)
| finds intrinsic and extrinsic parameters of a stereo camera
void | cv::stereoRectify (const Mat &cameraMatrix1, const Mat &distCoeffs1, const Mat &cameraMatrix2, const Mat &distCoeffs2, Size imageSize, const Mat &R, const Mat &T, CV_OUT Mat &R1, CV_OUT Mat &R2, CV_OUT Mat &P1, CV_OUT Mat &P2, CV_OUT Mat &Q, int flags=CALIB_ZERO_DISPARITY)
| computes the rectification transformation for a stereo camera from its intrinsic and extrinsic parameters
CV_EXPORTS_W void | cv::stereoRectify (const Mat &cameraMatrix1, const Mat &distCoeffs1, const Mat &cameraMatrix2, const Mat &distCoeffs2, Size imageSize, const Mat &R, const Mat &T, CV_OUT Mat &R1, CV_OUT Mat &R2, CV_OUT Mat &P1, CV_OUT Mat &P2, CV_OUT Mat &Q, double alpha, Size newImageSize=Size(), CV_OUT Rect *validPixROI1=0, CV_OUT Rect *validPixROI2=0, int flags=CALIB_ZERO_DISPARITY)
| computes the rectification transformation for a stereo camera from its intrinsic and extrinsic parameters
CV_EXPORTS_W bool | cv::stereoRectifyUncalibrated (const Mat &points1, const Mat &points2, const Mat &F, Size imgSize, CV_OUT Mat &H1, CV_OUT Mat &H2, double threshold=5)
| computes the rectification transformation for an uncalibrated stereo camera (zero distortion is assumed)
CV_EXPORTS_W void | cv::validateDisparity (Mat &disparity, const Mat &cost, int minDisparity, int numberOfDisparities, int disp12MaxDisp=1)
| validates disparity using the left-right check. The matrix "cost" should be computed by the stereo correspondence algorithm

## Variables
const Mat const Mat const Mat const Mat CV_OUT vector < Point2f > CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat double | cv::aspectRatio =0 )
const Mat const Mat const Mat & | cv::cameraMatrix
const Mat const Mat const Mat const Mat & | cv::distCoeffs
const Mat const Mat const Mat const Mat CV_OUT vector < Point2f > CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat & | cv::dpdc
const Mat const Mat const Mat const Mat CV_OUT vector < Point2f > CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat & | cv::dpddist
const Mat const Mat const Mat const Mat CV_OUT vector < Point2f > CV_OUT Mat CV_OUT Mat CV_OUT Mat & | cv::dpdf
const Mat const Mat const Mat const Mat CV_OUT vector < Point2f > CV_OUT Mat & | cv::dpdrot
const Mat const Mat const Mat const Mat CV_OUT vector < Point2f > CV_OUT Mat CV_OUT Mat & | cv::dpdt
const Mat const Mat const Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat & | cv::dr3dr1
const Mat const Mat const Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat & | cv::dr3dr2
const Mat const Mat const Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat & | cv::dr3dt1
const Mat const Mat const Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat & | cv::dr3dt2
const Mat & | cv::dstPoints
const Mat const Mat const Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat & | cv::dt3dr1
const Mat const Mat const Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat & | cv::dt3dr2
const Mat const Mat const Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat & | cv::dt3dt1
const Mat const Mat const Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat CV_OUT Mat & | cv::dt3dt2
const Mat const Mat const Mat const Mat CV_OUT vector < Point2f > & | cv::imagePoints
CV_OUT Mat CV_OUT Mat & | cv::jacobian
const Mat vector< uchar > int double | cv::ransacReprojThreshold =3 )
const Mat & | cv::rvec
const Mat const Mat & | cv::rvec2
const Mat const Mat const Mat CV_OUT Mat & | cv::rvec3
const Mat const Mat & | cv::tvec
const Mat & | cv::tvec1
const Mat const Mat const Mat & | cv::tvec2
const Mat const Mat const Mat CV_OUT Mat CV_OUT Mat & | cv::tvec3

## Macro Definition Documentation

#define CV_CALIB_CB_ADAPTIVE_THRESH 1

#define CV_CALIB_CB_FAST_CHECK 8

#define CV_CALIB_CB_FILTER_QUADS 4

#define CV_CALIB_CB_NORMALIZE_IMAGE 2

#define CV_CALIB_FIX_ASPECT_RATIO 2

#define CV_CALIB_FIX_FOCAL_LENGTH 16

#define CV_CALIB_FIX_INTRINSIC 256

#define CV_CALIB_FIX_K1 32

#define CV_CALIB_FIX_K2 64

#define CV_CALIB_FIX_K3 128

#define CV_CALIB_FIX_K4 2048

#define CV_CALIB_FIX_K5 4096

#define CV_CALIB_FIX_K6 8192

#define CV_CALIB_FIX_PRINCIPAL_POINT 4

#define CV_CALIB_RATIONAL_MODEL 16384

#define CV_CALIB_SAME_FOCAL_LENGTH 512

#define CV_CALIB_USE_INTRINSIC_GUESS 1

#define CV_CALIB_ZERO_DISPARITY 1024

#define CV_CALIB_ZERO_TANGENT_DIST 8

#define CV_FM_7POINT 1

#define CV_FM_8POINT 2

#define CV_FM_LMEDS CV_LMEDS

#define CV_FM_LMEDS_ONLY CV_LMEDS

#define CV_FM_RANSAC CV_RANSAC

#define CV_FM_RANSAC_ONLY CV_RANSAC

#define CV_LMEDS 4

#define CV_RANSAC 8

#define CV_STEREO_BM_BASIC 0

#define CV_STEREO_BM_FISH_EYE 1

#define CV_STEREO_BM_NARROW 2

#define CV_STEREO_BM_NORMALIZED_RESPONSE 0

#define CV_STEREO_BM_XSOBEL 1

#define CV_STEREO_GC_OCCLUDED SHRT_MAX

## Typedef Documentation

typedef struct CvPOSITObject CvPOSITObject

typedef struct CvStereoBMState CvStereoBMState

typedef struct CvStereoGCState CvStereoGCState

## Function Documentation

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

double cvCalibrateCamera2 | ( | const CvMat * | object_points,
|  | const CvMat * | image_points,
|  | const CvMat * | point_counts,
|  | CvSize | image_size,
|  | CvMat * | camera_matrix,
|  | CvMat * | distortion_coeffs,
|  | CvMat *rotation_vectors | CV_DEFAULTNULL,
|  | CvMat *translation_vectors | CV_DEFAULTNULL,
|  | int flags | CV_DEFAULT0
| ) |  |

void cvCalibrationMatrixValues | ( | const CvMat * | camera_matrix,
|  | CvSize | image_size,
|  | double aperture_width | CV_DEFAULT0,
|  | double aperture_height | CV_DEFAULT0,
|  | double *fovx | CV_DEFAULTNULL,
|  | double *fovy | CV_DEFAULTNULL,
|  | double *focal_length | CV_DEFAULTNULL,
|  | CvPoint2D64f *principal_point | CV_DEFAULTNULL,
|  | double *pixel_aspect_ratio | CV_DEFAULTNULL
| ) |  |

int cvCheckChessboard | ( | IplImage * | src,
|  | CvSize | size
| ) |  |

void cvComposeRT | ( | const CvMat * | _rvec1,
|  | const CvMat * | _tvec1,
|  | const CvMat * | _rvec2,
|  | const CvMat * | _tvec2,
|  | CvMat * | _rvec3,
|  | CvMat * | _tvec3,
|  | CvMat *dr3dr1 | CV_DEFAULT0,
|  | CvMat *dr3dt1 | CV_DEFAULT0,
|  | CvMat *dr3dr2 | CV_DEFAULT0,
|  | CvMat *dr3dt2 | CV_DEFAULT0,
|  | CvMat *dt3dr1 | CV_DEFAULT0,
|  | CvMat *dt3dt1 | CV_DEFAULT0,
|  | CvMat *dt3dr2 | CV_DEFAULT0,
|  | CvMat *dt3dt2 | CV_DEFAULT0
| ) |  |

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

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

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

CvPOSITObject* cvCreatePOSITObject | ( | CvPoint3D32f * | points,
|  | int | point_count
| ) |  |

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

CvStereoGCState* cvCreateStereoGCState | ( | int | numberOfDisparities,
|  | int | maxIters
| ) |  |

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

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

int cvFindChessboardCorners | ( | const void * | image,
|  | CvSize | pattern_size,
|  | CvPoint2D32f * | corners,
|  | int *corner_count | CV_DEFAULTNULL,
|  | int flags | CV_DEFAULTCV_CALIB_CB_ADAPTIVE_THRESH+CV_CALIB_CB_NORMALIZE_IMAGE
| ) |  |

void cvFindExtrinsicCameraParams2 | ( | const CvMat * | object_points,
|  | const CvMat * | image_points,
|  | const CvMat * | camera_matrix,
|  | const CvMat * | distortion_coeffs,
|  | CvMat * | rotation_vector,
|  | CvMat * | translation_vector,
|  | int use_extrinsic_guess | CV_DEFAULT0
| ) |  |

int cvFindFundamentalMat | ( | const CvMat * | points1,
|  | const CvMat * | points2,
|  | CvMat * | fundamental_matrix,
|  | int method | CV_DEFAULTCV_FM_RANSAC,
|  | double param1 | CV_DEFAULT3.,
|  | double param2 | CV_DEFAULT0.99,
|  | CvMat *status | CV_DEFAULTNULL
| ) |  |

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

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

void cvFindStereoCorrespondenceGC | ( | const CvArr * | left,
|  | const CvArr * | right,
|  | CvArr * | disparityLeft,
|  | CvArr * | disparityRight,
|  | CvStereoGCState * | state,
|  | int useDisparityGuess | CV_DEFAULT0
| ) |  |

void cvGetOptimalNewCameraMatrix | ( | const CvMat * | camera_matrix,
|  | const CvMat * | dist_coeffs,
|  | CvSize | image_size,
|  | double | alpha,
|  | CvMat * | new_camera_matrix,
|  | CvSize new_imag_size | CV_DEFAULTcvSize(0, 0),
|  | CvRect *valid_pixel_ROI | CV_DEFAULT0
| ) |  |

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

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

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

void cvProjectPoints2 | ( | const CvMat * | object_points,
|  | const CvMat * | rotation_vector,
|  | const CvMat * | translation_vector,
|  | const CvMat * | camera_matrix,
|  | const CvMat * | distortion_coeffs,
|  | CvMat * | image_points,
|  | CvMat *dpdrot | CV_DEFAULTNULL,
|  | CvMat *dpdt | CV_DEFAULTNULL,
|  | CvMat *dpdf | CV_DEFAULTNULL,
|  | CvMat *dpdc | CV_DEFAULTNULL,
|  | CvMat *dpddist | CV_DEFAULTNULL,
|  | double aspect_ratio | CV_DEFAULT0
| ) |  |

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

void cvReleasePOSITObject | ( | CvPOSITObject ** | posit_object | ) |

void cvReleaseStereoBMState | ( | CvStereoBMState ** | state | ) |

void cvReleaseStereoGCState | ( | CvStereoGCState ** | state | ) |

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

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

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

double cvStereoCalibrate | ( | const CvMat * | object_points,
|  | const CvMat * | image_points1,
|  | const CvMat * | image_points2,
|  | const CvMat * | npoints,
|  | CvMat * | camera_matrix1,
|  | CvMat * | dist_coeffs1,
|  | CvMat * | camera_matrix2,
|  | CvMat * | dist_coeffs2,
|  | CvSize | image_size,
|  | CvMat * | R,
|  | CvMat * | T,
|  | CvMat *E | CV_DEFAULT0,
|  | CvMat *F | CV_DEFAULT0,
|  | CvTermCriteria term_crit | CV_DEFAULTcvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 30, 1e-6),
|  | int flags | CV_DEFAULTCV_CALIB_FIX_INTRINSIC
| ) |  |

void cvStereoRectify | ( | const CvMat * | camera_matrix1,
|  | const CvMat * | camera_matrix2,
|  | const CvMat * | dist_coeffs1,
|  | const CvMat * | dist_coeffs2,
|  | CvSize | image_size,
|  | const CvMat * | R,
|  | const CvMat * | T,
|  | CvMat * | R1,
|  | CvMat * | R2,
|  | CvMat * | P1,
|  | CvMat * | P2,
|  | CvMat *Q | CV_DEFAULT0,
|  | int flags | CV_DEFAULTCV_CALIB_ZERO_DISPARITY,
|  | double alpha | CV_DEFAULT-1,
|  | CvSize new_image_size | CV_DEFAULTcvSize(0, 0),
|  | CvRect *valid_pix_ROI1 | CV_DEFAULT0,
|  | CvRect *valid_pix_ROI2 | CV_DEFAULT0
| ) |  |

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

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

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