@ -424,44 +424,63 @@ public:
namespace cv
{
//! converts rotation vector to rotation matrix or vice versa using Rodrigues transformation
CV_EXPORTS void Rodrigues ( const Mat & src , Mat & dst ) ;
//! converts rotation vector to rotation matrix or vice versa using Rodrigues transformation. Also computes the Jacobian matrix
CV_EXPORTS void Rodrigues ( const Mat & src , Mat & dst , Mat & jacobian ) ;
enum { LMEDS = 4 , RANSAC = 8 } ;
//! type of the robust estimation algorithm
enum
{
LMEDS = 4 , //!< least-median algorithm
RANSAC = 8 //!< RANSAC algorithm
} ;
//! computes the best-fit perspective transformation mapping srcPoints to dstPoints.
CV_EXPORTS Mat findHomography ( const Mat & srcPoints ,
const Mat & dstPoints ,
Mat & mask , int method = 0 ,
double ransacReprojThreshold = 3 ) ;
//! computes the best-fit perspective transformation mapping srcPoints to dstPoints.
CV_EXPORTS Mat findHomography ( const Mat & srcPoints ,
const Mat & dstPoints ,
vector < uchar > & mask , int method = 0 ,
double ransacReprojThreshold = 3 ) ;
//! computes the best-fit perspective transformation mapping srcPoints to dstPoints.
CV_EXPORTS Mat findHomography ( const Mat & srcPoints ,
const Mat & dstPoints ,
int method = 0 , double ransacReprojThreshold = 3 ) ;
/* Computes RQ decomposition for 3x3 matrices */
//! Computes RQ decomposition of 3x3 matrix
CV_EXPORTS void RQDecomp3x3 ( const Mat & M , Mat & R , Mat & Q ) ;
//! Computes RQ decomposition of 3x3 matrix. Also, decomposes the output orthogonal matrix into the 3 primitive rotation matrices
CV_EXPORTS Vec3d RQDecomp3x3 ( const Mat & M , Mat & R , Mat & Q ,
Mat & Qx , Mat & Qy , Mat & Qz ) ;
//! Decomposes the projection matrix into camera matrix and the rotation martix and the translation vector
CV_EXPORTS void 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. The rotation matrix is further decomposed
CV_EXPORTS void decomposeProjectionMatrix ( const Mat & projMatrix , Mat & cameraMatrix ,
Mat & rotMatrix , Mat & transVect ,
Mat & rotMatrixX , Mat & rotMatrixY ,
Mat & rotMatrixZ , Vec3d & eulerAngles ) ;
//! computes derivatives of the matrix product w.r.t each of the multiplied matrix coefficients
CV_EXPORTS void matMulDeriv ( const Mat & A , const Mat & B , Mat & dABdA , Mat & dABdB ) ;
//! composes 2 [R|t] transformations together
CV_EXPORTS void composeRT ( const Mat & rvec1 , const Mat & tvec1 ,
const Mat & rvec2 , const Mat & tvec2 ,
Mat & rvec3 , Mat & tvec3 ) ;
//! composes 2 [R|t] transformations together. Also computes the derivatives of the result w.r.t the arguments
CV_EXPORTS void composeRT ( const Mat & rvec1 , const Mat & tvec1 ,
const Mat & rvec2 , const Mat & tvec2 ,
Mat & rvec3 , Mat & tvec3 ,
@ -470,12 +489,14 @@ CV_EXPORTS void composeRT( const Mat& rvec1, const Mat& tvec1,
Mat & dt3dr1 , Mat & dt3dt1 ,
Mat & dt3dr2 , Mat & dt3dt2 ) ;
//! projects points from the model coordinate space to the image coordinates. Takes the intrinsic and extrinsic camera parameters into account
CV_EXPORTS void projectPoints ( const Mat & objectPoints ,
const Mat & rvec , const Mat & tvec ,
const Mat & cameraMatrix ,
const Mat & distCoeffs ,
vector < Point2f > & imagePoints ) ;
//! 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
CV_EXPORTS void projectPoints ( const Mat & objectPoints ,
const Mat & rvec , const Mat & tvec ,
const Mat & cameraMatrix ,
@ -485,6 +506,7 @@ CV_EXPORTS void projectPoints( const Mat& objectPoints,
Mat & dpdc , Mat & dpddist ,
double aspectRatio = 0 ) ;
//! computes the camera pose from a few 3D points and the corresponding projections. The outliers are not handled.
CV_EXPORTS void solvePnP ( const Mat & objectPoints ,
const Mat & imagePoints ,
const Mat & cameraMatrix ,
@ -492,18 +514,22 @@ CV_EXPORTS void solvePnP( const Mat& objectPoints,
Mat & rvec , Mat & tvec ,
bool useExtrinsicGuess = false ) ;
//! initializes camera matrix from a few 3D points and the corresponding projections.
CV_EXPORTS Mat initCameraMatrix2D ( const vector < vector < Point3f > > & objectPoints ,
const vector < vector < Point2f > > & imagePoints ,
Size imageSize , double aspectRatio = 1. ) ;
enum { CALIB_CB_ADAPTIVE_THRESH = 1 , CALIB_CB_NORMALIZE_IMAGE = 2 ,
CALIB_CB_FILTER_QUADS = 4 , CALIB_CB_FAST_CHECK = 8 } ;
//! finds checkerboard pattern of the specified size in the image
CV_EXPORTS bool findChessboardCorners ( const Mat & image , Size patternSize ,
vector < Point2f > & corners ,
int flags = CALIB_CB_ADAPTIVE_THRESH +
CALIB_CB_NORMALIZE_IMAGE ) ;
//! draws the checkerboard pattern (found or partly found) in the image
CV_EXPORTS void drawChessboardCorners ( Mat & image , Size patternSize ,
const Mat & corners ,
bool patternWasFound ) ;
@ -525,6 +551,7 @@ enum
CALIB_ZERO_DISPARITY = 1024
} ;
//! finds intrinsic and extrinsic camera parameters from several fews of a known calibration pattern.
CV_EXPORTS double calibrateCamera ( const vector < vector < Point3f > > & objectPoints ,
const vector < vector < Point2f > > & imagePoints ,
Size imageSize ,
@ -532,6 +559,7 @@ CV_EXPORTS double calibrateCamera( const vector<vector<Point3f> >& objectPoints,
vector < Mat > & rvecs , vector < Mat > & tvecs ,
int flags = 0 ) ;
//! computes several useful camera characteristics from the camera matrix, camera frame resolution and the physical sensor size.
CV_EXPORTS void calibrationMatrixValues ( const Mat & cameraMatrix ,
Size imageSize ,
double apertureWidth ,
@ -541,7 +569,8 @@ CV_EXPORTS void calibrationMatrixValues( const Mat& cameraMatrix,
double & focalLength ,
Point2d & principalPoint ,
double & aspectRatio ) ;
//! finds intrinsic and extrinsic parameters of a stereo camera
CV_EXPORTS double stereoCalibrate ( const vector < vector < Point3f > > & objectPoints ,
const vector < vector < Point2f > > & imagePoints1 ,
const vector < vector < Point2f > > & imagePoints2 ,
@ -553,12 +582,14 @@ CV_EXPORTS double stereoCalibrate( const vector<vector<Point3f> >& objectPoints,
TermCriteria : : EPS , 30 , 1e-6 ) ,
int flags = CALIB_FIX_INTRINSIC ) ;
//! computes the rectification transformation for a stereo camera from its intrinsic and extrinsic parameters
CV_EXPORTS void stereoRectify ( const Mat & cameraMatrix1 , const Mat & distCoeffs1 ,
const Mat & cameraMatrix2 , const Mat & distCoeffs2 ,
Size imageSize , const Mat & R , const Mat & T ,
Mat & R1 , Mat & R2 , Mat & P1 , Mat & P2 , Mat & Q ,
int flags = CALIB_ZERO_DISPARITY ) ;
//! computes the rectification transformation for a stereo camera from its intrinsic and extrinsic parameters
CV_EXPORTS void stereoRectify ( const Mat & cameraMatrix1 , const Mat & distCoeffs1 ,
const Mat & cameraMatrix2 , const Mat & distCoeffs2 ,
Size imageSize , const Mat & R , const Mat & T ,
@ -567,67 +598,97 @@ CV_EXPORTS void stereoRectify( const Mat& cameraMatrix1, const Mat& distCoeffs1,
Rect * validPixROI1 = 0 , Rect * validPixROI2 = 0 ,
int flags = CALIB_ZERO_DISPARITY ) ;
//! computes the rectification transformation for an uncalibrated stereo camera (zero distortion is assumed)
CV_EXPORTS bool stereoRectifyUncalibrated ( const Mat & points1 ,
const Mat & points2 ,
const Mat & F , Size imgSize ,
Mat & H1 , Mat & H2 ,
double threshold = 5 ) ;
//! returns the optimal new camera matrix
CV_EXPORTS Mat getOptimalNewCameraMatrix ( const Mat & cameraMatrix , const Mat & distCoeffs ,
Size imageSize , double alpha , Size newImgSize = Size ( ) ,
Rect * validPixROI = 0 ) ;
//! converts point coordinates from normal pixel coordinates to homogeneous coordinates ((x,y)->(x,y,1))
CV_EXPORTS void convertPointsHomogeneous ( const Mat & src , vector < Point3f > & dst ) ;
//! converts point coordinates from homogeneous to normal pixel coordinates ((x,y,z)->(x/z, y/z))
CV_EXPORTS void convertPointsHomogeneous ( const Mat & src , vector < Point2f > & dst ) ;
//! the algorithm for finding fundamental matrix
enum
{
FM_7POINT = 1 , FM_8POINT = 2 , FM_LMEDS = 4 , FM_RANSAC = 8
FM_7POINT = 1 , //!< 7-point algorithm
FM_8POINT = 2 , //!< 8-point algorithm
FM_LMEDS = 4 , //!< least-median algorithm
FM_RANSAC = 8 //!< RANSAC algorithm
} ;
// finds fundamental matrix from a set of corresponding 2D points
CV_EXPORTS Mat findFundamentalMat ( const Mat & points1 , const Mat & points2 ,
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 Mat findFundamentalMat ( const Mat & points1 , const Mat & points2 ,
int method = FM_RANSAC ,
double param1 = 3. , double param2 = 0.99 ) ;
// finds coordinates of epipolar lines corresponding the specified points
CV_EXPORTS void computeCorrespondEpilines ( const Mat & points1 ,
int whichImage , const Mat & F ,
vector < Vec3f > & lines ) ;
template < > CV_EXPORTS void Ptr < CvStereoBMState > : : delete_obj ( ) ;
// Block matching stereo correspondence algorithm
/*!
Block Matching Stereo Correspondence Algorithm
The class implements BM stereo correspondence algorithm by K . Konolige .
*/
class CV_EXPORTS StereoBM
{
public :
enum { PREFILTER_NORMALIZED_RESPONSE = 0 , PREFILTER_XSOBEL = 1 ,
BASIC_PRESET = 0 , FISH_EYE_PRESET = 1 , NARROW_PRESET = 2 } ;
//! the default constructor
StereoBM ( ) ;
//! the full constructor taking the camera-specific preset, number of disparities and the SAD window size
StereoBM ( int preset , int ndisparities = 0 , int SADWindowSize = 21 ) ;
//! the method that reinitializes the state. The previous content is destroyed
void init ( int preset , int ndisparities = 0 , int SADWindowSize = 21 ) ;
//! the stereo correspondence operator. Finds the disparity for the specified rectified stereo pair
void operator ( ) ( const Mat & left , const Mat & right , Mat & disparity , int disptype = CV_16S ) ;
//! pointer to the underlying CvStereoBMState
Ptr < CvStereoBMState > state ;
} ;
/*!
Semi - Global Block Matching Stereo Correspondence Algorithm
The class implements the original SGBM stereo correspondence algorithm by H . Hirschmuller and some its modification .
*/
class CV_EXPORTS StereoSGBM
{
public :
enum { DISP_SHIFT = 4 , DISP_SCALE = ( 1 < < DISP_SHIFT ) } ;
//! the default constructor
StereoSGBM ( ) ;
//! the full constructor taking all the necessary algorithm parameters
StereoSGBM ( int minDisparity , int numDisparities , int SADWindowSize ,
int P1 = 0 , int P2 = 0 , int disp12MaxDiff = 0 ,
int preFilterCap = 0 , int uniquenessRatio = 0 ,
int speckleWindowSize = 0 , int speckleRange = 0 ,
bool fullDP = false ) ;
//! the destructor
virtual ~ StereoSGBM ( ) ;
//! the stereo correspondence operator that computes disparity map for the specified rectified stereo pair
virtual void operator ( ) ( const Mat & left , const Mat & right , Mat & disp ) ;
int minDisparity ;
@ -645,17 +706,20 @@ protected:
Mat buffer ;
} ;
//! filters off speckles (small regions of incorrectly computed disparity)
CV_EXPORTS void filterSpeckles ( Mat & img , double newVal , int maxSpeckleSize , double maxDiff , Mat & buf ) ;
//! computes valid disparity ROI from the valid ROIs of the rectified images (that are returned by cv::stereoRectify())
CV_EXPORTS Rect getValidDisparityROI ( Rect roi1 , Rect roi2 ,
int minDisparity , int numberOfDisparities ,
int SADWindowSize ) ;
//! validates disparity using the left-right check. The matrix "cost" should be computed by the stereo correspondence algorithm
CV_EXPORTS void validateDisparity ( Mat & disparity , const Mat & cost ,
int minDisparity , int numberOfDisparities ,
int disp12MaxDisp = 1 ) ;
//! reprojects disparity image to 3D: (x,y,d)->(X,Y,Z) using the matrix Q returned by cv::stereoRectify
CV_EXPORTS void reprojectImageTo3D ( const Mat & disparity ,
Mat & _3dImage , const Mat & Q ,
bool handleMissingValues = false ) ;
Vadim Pisarevsky
15 years ago