OpenCV 4.5.3(日本語機械翻訳)
omnidir.hpp
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41
42 #ifndef __OPENCV_OMNIDIR_HPP__
43 #define __OPENCV_OMNIDIR_HPP__
44
45 #include "opencv2/core.hpp"
46 #include "opencv2/core/affine.hpp"
47 #include <vector>
48
49 namespace cv
50{
51 namespace omnidir
52{
55
56 enum {
57 CALIB_USE_GUESS = 1,
58 CALIB_FIX_SKEW = 2,
59 CALIB_FIX_K1 = 4,
60 CALIB_FIX_K2 = 8,
61 CALIB_FIX_P1 = 16,
62 CALIB_FIX_P2 = 32,
63 CALIB_FIX_XI = 64,
64 CALIB_FIX_GAMMA = 128,
65 CALIB_FIX_CENTER = 256
66 };
67
68 enum{
69 RECTIFY_PERSPECTIVE = 1,
70 RECTIFY_CYLINDRICAL = 2,
71 RECTIFY_LONGLATI = 3,
72 RECTIFY_STEREOGRAPHIC = 4
73 };
74
75 enum{
76 XYZRGB = 1,
77 XYZ = 2
78 };
103 CV_EXPORTS_W void projectPoints(InputArray objectPoints, OutputArray imagePoints, InputArray rvec, InputArray tvec,
104 InputArray K, double xi, InputArray D, OutputArray jacobian = noArray());
105
107 CV_EXPORTS void projectPoints(InputArray objectPoints, OutputArray imagePoints, const Affine3d& affine,
108 InputArray K, double xi, InputArray D, OutputArray jacobian = noArray());
109
122 CV_EXPORTS_W void undistortPoints(InputArray distorted, OutputArray undistorted, InputArray K, InputArray D, InputArray xi, InputArray R);
123
141 CV_EXPORTS_W void initUndistortRectifyMap(InputArray K, InputArray D, InputArray xi, InputArray R, InputArray P, const cv::Size& size,
142 int m1type, OutputArray map1, OutputArray map2, int flags);
143
156 CV_EXPORTS_W void undistortImage(InputArray distorted, OutputArray undistorted, InputArray K, InputArray D, InputArray xi, int flags,
157 InputArray Knew = cv::noArray(), const Size& new_size = Size(), InputArray R = Mat::eye(3, 3, CV_64F));
158
176 CV_EXPORTS_W double calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size size,
177 InputOutputArray K, InputOutputArray xi, InputOutputArray D, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
178 int flags, TermCriteria criteria, OutputArray idx=noArray());
179
207 CV_EXPORTS_W double stereoCalibrate(InputOutputArrayOfArrays objectPoints, InputOutputArrayOfArrays imagePoints1, InputOutputArrayOfArrays imagePoints2,
208 const Size& imageSize1, const Size& imageSize2, InputOutputArray K1, InputOutputArray xi1, InputOutputArray D1, InputOutputArray K2, InputOutputArray xi2,
209 InputOutputArray D2, OutputArray rvec, OutputArray tvec, OutputArrayOfArrays rvecsL, OutputArrayOfArrays tvecsL, int flags, TermCriteria criteria, OutputArray idx=noArray());
210
218 CV_EXPORTS_W void stereoRectify(InputArray R, InputArray T, OutputArray R1, OutputArray R2);
219
243 CV_EXPORTS_W void stereoReconstruct(InputArray image1, InputArray image2, InputArray K1, InputArray D1, InputArray xi1,
244 InputArray K2, InputArray D2, InputArray xi2, InputArray R, InputArray T, int flag, int numDisparities, int SADWindowSize,
245 OutputArray disparity, OutputArray image1Rec, OutputArray image2Rec, const Size& newSize = Size(), InputArray Knew = cv::noArray(),
246 OutputArray pointCloud = cv::noArray(), int pointType = XYZRGB);
247
248 namespace internal
249{
250 void initializeCalibration(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size size, OutputArrayOfArrays omAll,
251 OutputArrayOfArrays tAll, OutputArray K, double& xi, OutputArray idx = noArray());
252
253 void initializeStereoCalibration(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
254 const Size& size1, const Size& size2, OutputArray om, OutputArray T, OutputArrayOfArrays omL, OutputArrayOfArrays tL, OutputArray K1, OutputArray D1, OutputArray K2, OutputArray D2,
255 double &xi1, double &xi2, int flags, OutputArray idx);
256
257 void computeJacobian(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, InputArray parameters, Mat& JTJ_inv, Mat& JTE, int flags,
258 double epsilon);
259
260 void computeJacobianStereo(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
261 InputArray parameters, Mat& JTJ_inv, Mat& JTE, int flags, double epsilon);
262
263 void encodeParameters(InputArray K, InputArrayOfArrays omAll, InputArrayOfArrays tAll, InputArray distoaration, double xi, OutputArray parameters);
264
265 void encodeParametersStereo(InputArray K1, InputArray K2, InputArray om, InputArray T, InputArrayOfArrays omL, InputArrayOfArrays tL,
266 InputArray D1, InputArray D2, double xi1, double xi2, OutputArray parameters);
267
268 void decodeParameters(InputArray paramsters, OutputArray K, OutputArrayOfArrays omAll, OutputArrayOfArrays tAll, OutputArray distoration, double& xi);
269
270 void decodeParametersStereo(InputArray parameters, OutputArray K1, OutputArray K2, OutputArray om, OutputArray T, OutputArrayOfArrays omL,
271 OutputArrayOfArrays tL, OutputArray D1, OutputArray D2, double& xi1, double& xi2);
272
273 void estimateUncertainties(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, InputArray parameters, Mat& errors, Vec2d& std_error, double& rms, int flags);
274
275 void estimateUncertaintiesStereo(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputArray parameters, Mat& errors,
276 Vec2d& std_error, double& rms, int flags);
277
278 double computeMeanReproErr(InputArrayOfArrays imagePoints, InputArrayOfArrays proImagePoints);
279
280 double computeMeanReproErr(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, InputArray K, InputArray D, double xi, InputArrayOfArrays omAll,
281 InputArrayOfArrays tAll);
282
283 double computeMeanReproErrStereo(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputArray K1, InputArray K2,
284 InputArray D1, InputArray D2, double xi1, double xi2, InputArray om, InputArray T, InputArrayOfArrays omL, InputArrayOfArrays TL);
285
286 void subMatrix(const Mat& src, Mat& dst, const std::vector<int>& cols, const std::vector<int>& rows);
287
288 void flags2idx(int flags, std::vector<int>& idx, int n);
289
290 void flags2idxStereo(int flags, std::vector<int>& idx, int n);
291
292 void fillFixed(Mat&G, int flags, int n);
293
294 void fillFixedStereo(Mat& G, int flags, int n);
295
296 double findMedian(const Mat& row);
297
298 Vec3d findMedian3(InputArray mat);
299
300 void getInterset(InputArray idx1, InputArray idx2, OutputArray inter1, OutputArray inter2, OutputArray inter_ori);
301
302 void compose_motion(InputArray _om1, InputArray _T1, InputArray _om2, InputArray _T2, Mat& om3, Mat& T3, Mat& dom3dom1,
303 Mat& dom3dT1, Mat& dom3dom2, Mat& dom3dT2, Mat& dT3dom1, Mat& dT3dT1, Mat& dT3dom2, Mat& dT3dT2);
304
305 //void JRodriguesMatlab(const Mat& src, Mat& dst);
306
307 //void dAB(InputArray A, InputArray B, OutputArray dABdA, OutputArray dABdB);
308} // internal
309
311
312} // omnidir
313
314} //cv
315 #endif
cv::_InputOutputArray
Definition: mat.hpp:386
cv::_OutputArray
This type is very similar to InputArray except that it is used for input/output and output function p...
Definition: mat.hpp:295
cv::Mat
n-dimensional dense array class
Definition: mat.hpp:802
cv::Mat::eye
static MatExpr eye(int rows, int cols, int type)
Returns an identity matrix of the specified size and type.
cv::Size_
Template class for specifying the size of an image or rectangle.
Definition: core/types.hpp:316
cv::TermCriteria
The class defining termination criteria for iterative algorithms.
Definition: core/types.hpp:853
cv::Vec
Template class for short numerical vectors, a partial case of Matx
Definition: matx.hpp:342
cv::undistortPoints
CV_EXPORTS_W void undistortPoints(InputArray src, OutputArray dst, InputArray cameraMatrix, InputArray distCoeffs, InputArray R=noArray(), InputArray P=noArray())
Computes the ideal point coordinates from the observed point coordinates.
cv::projectPoints
CV_EXPORTS_W void projectPoints(InputArray objectPoints, InputArray rvec, InputArray tvec, InputArray cameraMatrix, InputArray distCoeffs, OutputArray imagePoints, OutputArray jacobian=noArray(), double aspectRatio=0)
Projects 3D points to an image plane.
cv::initUndistortRectifyMap
CV_EXPORTS_W void initUndistortRectifyMap(InputArray cameraMatrix, InputArray distCoeffs, InputArray R, InputArray newCameraMatrix, Size size, int m1type, OutputArray map1, OutputArray map2)
Computes the undistortion and rectification transformation map.
cv::stereoRectify
CV_EXPORTS_W void stereoRectify(InputArray cameraMatrix1, InputArray distCoeffs1, InputArray cameraMatrix2, InputArray distCoeffs2, Size imageSize, InputArray R, InputArray T, OutputArray R1, OutputArray R2, OutputArray P1, OutputArray P2, OutputArray Q, int flags=CALIB_ZERO_DISPARITY, double alpha=-1, Size newImageSize=Size(), CV_OUT Rect *validPixROI1=0, CV_OUT Rect *validPixROI2=0)
Computes rectification transforms for each head of a calibrated stereo camera.
cv::stereoCalibrate
CV_EXPORTS_W double stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputOutputArray cameraMatrix1, InputOutputArray distCoeffs1, InputOutputArray cameraMatrix2, InputOutputArray distCoeffs2, Size imageSize, OutputArray R, OutputArray T, OutputArray E, OutputArray F, int flags=CALIB_FIX_INTRINSIC, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 1e-6))
これはオーバーロードされたメンバ関数です。利便性のために用意されています。元の関数との違いは引き数のみです。
cv::omnidir::calibrate
CV_EXPORTS_W double calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size size, InputOutputArray K, InputOutputArray xi, InputOutputArray D, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags, TermCriteria criteria, OutputArray idx=noArray())
Perform omnidirectional camera calibration, the default depth of outputs is CV_64F.
cv::omnidir::undistortImage
CV_EXPORTS_W void undistortImage(InputArray distorted, OutputArray undistorted, InputArray K, InputArray D, InputArray xi, int flags, InputArray Knew=cv::noArray(), const Size &new_size=Size(), InputArray R=Mat::eye(3, 3, CV_64F))
Undistort omnidirectional images to perspective images
cv::omnidir::stereoReconstruct
CV_EXPORTS_W void stereoReconstruct(InputArray image1, InputArray image2, InputArray K1, InputArray D1, InputArray xi1, InputArray K2, InputArray D2, InputArray xi2, InputArray R, InputArray T, int flag, int numDisparities, int SADWindowSize, OutputArray disparity, OutputArray image1Rec, OutputArray image2Rec, const Size &newSize=Size(), InputArray Knew=cv::noArray(), OutputArray pointCloud=cv::noArray(), int pointType=XYZRGB)
Stereo 3D reconstruction from a pair of images
cv
"black box" representation of the file storage associated with a file on disk.
Definition: aruco.hpp:75
構築: doxygen 1.9.2