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cv::fisheye::CALIB_FIX_SKEW = 1 << 3,
cv::fisheye::CALIB_FIX_K1 = 1 << 4,
cv::fisheye::CALIB_FIX_K2 = 1 << 5,
cv::fisheye::CALIB_FIX_K3 = 1 << 6,
Undistorts 2D points using fisheye model. More...
Detailed Description
Definitions: Let P be a point in 3D of coordinates X in the world reference frame (stored in the matrix X) The coordinate vector of P in the camera reference frame is:
Fisheye camera model
Camera Calibration and 3D Reconstruction
Namespaces
cv::fisheye
The methods in this namespace use a so-called fisheye camera model.
The pinhole projection coordinates of P is [a; b] where
a=x/z and b=y/zr2=a2+b2θ=atan(r)
Fisheye distortion:
θd=θ(1+k1θ2+k2θ4+k3θ6+k4θ8)
The distorted point coordinates are [x'; y'] where
Performs camera calibaration. More...
void cv::fisheye::distortPoints (InputArray undistorted, OutputArray distorted, InputArray K, InputArray D, double alpha=0)
double cv::fisheye::stereoCalibrate (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize, OutputArray R, OutputArray T, int flags=fisheye::CALIB_FIX_INTRINSIC, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, DBL_EPSILON))
x′=(θd/r)ay′=(θd/r)b
Finally, conversion into pixel coordinates: The final pixel coordinates vector [u; v] where:
u=fx(x′+αy′)+cxv=fyy′+cy
Enumeration Type Documentation
void cv::fisheye::projectPoints (InputArray objectPoints, OutputArray imagePoints, const Affine3d &affine, InputArray K, InputArray D, double alpha=0, OutputArray jacobian=noArray())
Stereo rectification for fisheye camera model. More...
void cv::fisheye::undistortImage (InputArray distorted, OutputArray undistorted, InputArray K, InputArray D, InputArray Knew=cv::noArray(), const Size &new_size=Size())
Xc=RX+T
where R is the rotation matrix corresponding to the rotation vector om: R = rodrigues(om); call x, y and z the 3 coordinates of Xc:
x=Xc1y=Xc2z=Xc3
anonymous enum
Enumerator
CALIB_USE_INTRINSIC_GUESS
CALIB_RECOMPUTE_EXTRINSIC
CALIB_CHECK_COND
CALIB_FIX_SKEW
CALIB_FIX_K1
CALIB_FIX_K2
CALIB_FIX_K3
Distorts 2D points using fisheye model. More...
void cv::fisheye::estimateNewCameraMatrixForUndistortRectify (InputArray K, InputArray D, const Size &image_size, InputArray R, OutputArray P, double balance=0.0, const Size &new_size=Size(), double fov_scale=1.0)
Computes undistortion and rectification maps for image transform by cv::remap(). If D is empty zero distortion is used, if R or P is empty identity matrixes are used. More...
Transforms an image to compensate for fisheye lens distortion. More...
void cv::fisheye: OutputArray undistorted, InputArray K, InputArray D, InputArray R=noArray(), InputArray P=noArray())
cv::fisheye::CALIB_FIX_K4 = 1 << 7,
cv::fisheye::CALIB_FIX_INTRINSIC = 1 << 8,
cv::fisheye::CALIB_FIX_PRINCIPAL_POINT = 1 << 9
}
Functions
Logo
OpenCV 3.1.0-dev
Open Source Computer Vision
Main Page
Related Pages
Modules
+Namespaces
+Classes
+Files
Examples
Sphinx Documentation
Namespaces | Enumerations | Functions
CALIB_FIX_K4
CALIB_FIX_INTRINSIC
CALIB_FIX_PRINCIPAL_POINT
Function Documentation
double cv::fisheye::calibrate ( InputArrayOfArrays objectPoints,
InputArrayOfArrays imagePoints,
const Size & image_size,
InputOutputArray K,
InputOutputArray D,
OutputArrayOfArrays rvecs,
OutputArrayOfArrays tvecs,
Performs stereo calibration. More...
void cv::fisheye::stereoRectify (InputArray K1, InputArray D1, InputArray K2, InputArray D2, const Size &imageSize, InputArray R, InputArray tvec, OutputArray R1, OutputArray R2, OutputArray P1, OutputArray P2, OutputArray Q, int flags, const Size &newImageSize=Size(), double balance=0.0, double fov_scale=1.0)
Estimates new camera matrix for undistortion or rectification. More...
void cv::fisheye::initUndistortRectifyMap (InputArray K, InputArray D, InputArray R, InputArray P, const cv::Size &size, int m1type, OutputArray map1, OutputArray map2)
int flags = 0,
TermCriteria criteria = TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, DBL_EPSILON)
)
Projects points using fisheye model. More...
void cv::fisheye::projectPoints (InputArray objectPoints, OutputArray imagePoints, InputArray rvec, InputArray tvec, InputArray K, InputArray D, double alpha=0, OutputArray jacobian=noArray())
Enumerations
enum {
cv::fisheye::CALIB_USE_INTRINSIC_GUESS = 1 << 0,
cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC = 1 << 1,
cv::fisheye::CALIB_CHECK_COND = 1 << 2,
double cv::fisheye::calibrate (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, const Size &image_size, InputOutputArray K, InputOutputArray D, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags=0, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, DBL_EPSILON))
cv::fisheye::CALIB_FIX_K1 = 1 << 4,
cv::fisheye::CALIB_FIX_K2 = 1 << 5,
cv::fisheye::CALIB_FIX_K3 = 1 << 6,
Undistorts 2D points using fisheye model. More...
Detailed Description
Definitions: Let P be a point in 3D of coordinates X in the world reference frame (stored in the matrix X) The coordinate vector of P in the camera reference frame is:
Fisheye camera model
Camera Calibration and 3D Reconstruction
Namespaces
cv::fisheye
The methods in this namespace use a so-called fisheye camera model.
The pinhole projection coordinates of P is [a; b] where
a=x/z and b=y/zr2=a2+b2θ=atan(r)
Fisheye distortion:
θd=θ(1+k1θ2+k2θ4+k3θ6+k4θ8)
The distorted point coordinates are [x'; y'] where
Performs camera calibaration. More...
void cv::fisheye::distortPoints (InputArray undistorted, OutputArray distorted, InputArray K, InputArray D, double alpha=0)
double cv::fisheye::stereoCalibrate (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize, OutputArray R, OutputArray T, int flags=fisheye::CALIB_FIX_INTRINSIC, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, DBL_EPSILON))
x′=(θd/r)ay′=(θd/r)b
Finally, conversion into pixel coordinates: The final pixel coordinates vector [u; v] where:
u=fx(x′+αy′)+cxv=fyy′+cy
Enumeration Type Documentation
void cv::fisheye::projectPoints (InputArray objectPoints, OutputArray imagePoints, const Affine3d &affine, InputArray K, InputArray D, double alpha=0, OutputArray jacobian=noArray())
Stereo rectification for fisheye camera model. More...
void cv::fisheye::undistortImage (InputArray distorted, OutputArray undistorted, InputArray K, InputArray D, InputArray Knew=cv::noArray(), const Size &new_size=Size())
Xc=RX+T
where R is the rotation matrix corresponding to the rotation vector om: R = rodrigues(om); call x, y and z the 3 coordinates of Xc:
x=Xc1y=Xc2z=Xc3
anonymous enum
Enumerator
CALIB_USE_INTRINSIC_GUESS
CALIB_RECOMPUTE_EXTRINSIC
CALIB_CHECK_COND
CALIB_FIX_SKEW
CALIB_FIX_K1
CALIB_FIX_K2
CALIB_FIX_K3
Distorts 2D points using fisheye model. More...
void cv::fisheye::estimateNewCameraMatrixForUndistortRectify (InputArray K, InputArray D, const Size &image_size, InputArray R, OutputArray P, double balance=0.0, const Size &new_size=Size(), double fov_scale=1.0)
Computes undistortion and rectification maps for image transform by cv::remap(). If D is empty zero distortion is used, if R or P is empty identity matrixes are used. More...
Transforms an image to compensate for fisheye lens distortion. More...
void cv::fisheye: OutputArray undistorted, InputArray K, InputArray D, InputArray R=noArray(), InputArray P=noArray())
cv::fisheye::CALIB_FIX_K4 = 1 << 7,
cv::fisheye::CALIB_FIX_INTRINSIC = 1 << 8,
cv::fisheye::CALIB_FIX_PRINCIPAL_POINT = 1 << 9
}
Functions
Logo
OpenCV 3.1.0-dev
Open Source Computer Vision
Main Page
Related Pages
Modules
+Namespaces
+Classes
+Files
Examples
Sphinx Documentation
Namespaces | Enumerations | Functions
CALIB_FIX_K4
CALIB_FIX_INTRINSIC
CALIB_FIX_PRINCIPAL_POINT
Function Documentation
double cv::fisheye::calibrate ( InputArrayOfArrays objectPoints,
InputArrayOfArrays imagePoints,
const Size & image_size,
InputOutputArray K,
InputOutputArray D,
OutputArrayOfArrays rvecs,
OutputArrayOfArrays tvecs,
Performs stereo calibration. More...
void cv::fisheye::stereoRectify (InputArray K1, InputArray D1, InputArray K2, InputArray D2, const Size &imageSize, InputArray R, InputArray tvec, OutputArray R1, OutputArray R2, OutputArray P1, OutputArray P2, OutputArray Q, int flags, const Size &newImageSize=Size(), double balance=0.0, double fov_scale=1.0)
Estimates new camera matrix for undistortion or rectification. More...
void cv::fisheye::initUndistortRectifyMap (InputArray K, InputArray D, InputArray R, InputArray P, const cv::Size &size, int m1type, OutputArray map1, OutputArray map2)
int flags = 0,
TermCriteria criteria = TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, DBL_EPSILON)
)
Projects points using fisheye model. More...
void cv::fisheye::projectPoints (InputArray objectPoints, OutputArray imagePoints, InputArray rvec, InputArray tvec, InputArray K, InputArray D, double alpha=0, OutputArray jacobian=noArray())
Enumerations
enum {
cv::fisheye::CALIB_USE_INTRINSIC_GUESS = 1 << 0,
cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC = 1 << 1,
cv::fisheye::CALIB_CHECK_COND = 1 << 2,
double cv::fisheye::calibrate (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, const Size &image_size, InputOutputArray K, InputOutputArray D, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags=0, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, DBL_EPSILON))