316 lines
18 KiB
C++
316 lines
18 KiB
C++
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2015, Baisheng Lai (laibaisheng@gmail.com), Zhejiang University,
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// all rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef __OPENCV_OMNIDIR_HPP__
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#define __OPENCV_OMNIDIR_HPP__
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#include "opencv2/core.hpp"
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#include "opencv2/core/affine.hpp"
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#include <vector>
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namespace cv
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{
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namespace omnidir
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{
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//! @addtogroup ccalib
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//! @{
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enum {
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CALIB_USE_GUESS = 1,
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CALIB_FIX_SKEW = 2,
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CALIB_FIX_K1 = 4,
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CALIB_FIX_K2 = 8,
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CALIB_FIX_P1 = 16,
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CALIB_FIX_P2 = 32,
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CALIB_FIX_XI = 64,
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CALIB_FIX_GAMMA = 128,
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CALIB_FIX_CENTER = 256
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};
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enum{
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RECTIFY_PERSPECTIVE = 1,
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RECTIFY_CYLINDRICAL = 2,
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RECTIFY_LONGLATI = 3,
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RECTIFY_STEREOGRAPHIC = 4
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};
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enum{
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XYZRGB = 1,
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XYZ = 2
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};
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/**
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* This module was accepted as a GSoC 2015 project for OpenCV, authored by
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* Baisheng Lai, mentored by Bo Li.
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*/
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/** @brief Projects points for omnidirectional camera using CMei's model
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@param objectPoints Object points in world coordinate, vector of vector of Vec3f or Mat of
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1xN/Nx1 3-channel of type CV_32F and N is the number of points. 64F is also acceptable.
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@param imagePoints Output array of image points, vector of vector of Vec2f or
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1xN/Nx1 2-channel of type CV_32F. 64F is also acceptable.
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@param rvec vector of rotation between world coordinate and camera coordinate, i.e., om
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@param tvec vector of translation between pattern coordinate and camera coordinate
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@param K Camera matrix \f$K = \vecthreethree{f_x}{s}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$.
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@param D Input vector of distortion coefficients \f$(k_1, k_2, p_1, p_2)\f$.
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@param xi The parameter xi for CMei's model
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@param jacobian Optional output 2Nx16 of type CV_64F jacobian matrix, contains the derivatives of
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image pixel points wrt parameters including \f$om, T, f_x, f_y, s, c_x, c_y, xi, k_1, k_2, p_1, p_2\f$.
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This matrix will be used in calibration by optimization.
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The function projects object 3D points of world coordinate to image pixels, parameter by intrinsic
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and extrinsic parameters. Also, it optionally compute a by-product: the jacobian matrix containing
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contains the derivatives of image pixel points wrt intrinsic and extrinsic parameters.
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*/
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CV_EXPORTS_W void projectPoints(InputArray objectPoints, OutputArray imagePoints, InputArray rvec, InputArray tvec,
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InputArray K, double xi, InputArray D, OutputArray jacobian = noArray());
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/** @overload */
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CV_EXPORTS void projectPoints(InputArray objectPoints, OutputArray imagePoints, const Affine3d& affine,
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InputArray K, double xi, InputArray D, OutputArray jacobian = noArray());
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/** @brief Undistort 2D image points for omnidirectional camera using CMei's model
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@param distorted Array of distorted image points, vector of Vec2f
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or 1xN/Nx1 2-channel Mat of type CV_32F, 64F depth is also acceptable
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@param K Camera matrix \f$K = \vecthreethree{f_x}{s}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$.
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@param D Distortion coefficients \f$(k_1, k_2, p_1, p_2)\f$.
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@param xi The parameter xi for CMei's model
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@param R Rotation trainsform between the original and object space : 3x3 1-channel, or vector: 3x1/1x3
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1-channel or 1x1 3-channel
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@param undistorted array of normalized object points, vector of Vec2f/Vec2d or 1xN/Nx1 2-channel Mat with the same
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depth of distorted points.
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*/
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CV_EXPORTS_W void undistortPoints(InputArray distorted, OutputArray undistorted, InputArray K, InputArray D, InputArray xi, InputArray R);
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/** @brief Computes undistortion and rectification maps for omnidirectional camera image transform by a rotation R.
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It output two maps that are used for cv::remap(). If D is empty then zero distortion is used,
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if R or P is empty then identity matrices are used.
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@param K Camera matrix \f$K = \vecthreethree{f_x}{s}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$, with depth CV_32F or CV_64F
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@param D Input vector of distortion coefficients \f$(k_1, k_2, p_1, p_2)\f$, with depth CV_32F or CV_64F
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@param xi The parameter xi for CMei's model
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@param R Rotation transform between the original and object space : 3x3 1-channel, or vector: 3x1/1x3, with depth CV_32F or CV_64F
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@param P New camera matrix (3x3) or new projection matrix (3x4)
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@param size Undistorted image size.
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@param m1type Type of the first output map that can be CV_32FC1 or CV_16SC2 . See convertMaps()
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for details.
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@param map1 The first output map.
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@param map2 The second output map.
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@param flags Flags indicates the rectification type, RECTIFY_PERSPECTIVE, RECTIFY_CYLINDRICAL, RECTIFY_LONGLATI and RECTIFY_STEREOGRAPHIC
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are supported.
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*/
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CV_EXPORTS_W void initUndistortRectifyMap(InputArray K, InputArray D, InputArray xi, InputArray R, InputArray P, const cv::Size& size,
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int m1type, OutputArray map1, OutputArray map2, int flags);
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/** @brief Undistort omnidirectional images to perspective images
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@param distorted The input omnidirectional image.
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@param undistorted The output undistorted image.
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@param K Camera matrix \f$K = \vecthreethree{f_x}{s}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$.
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@param D Input vector of distortion coefficients \f$(k_1, k_2, p_1, p_2)\f$.
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@param xi The parameter xi for CMei's model.
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@param flags Flags indicates the rectification type, RECTIFY_PERSPECTIVE, RECTIFY_CYLINDRICAL, RECTIFY_LONGLATI and RECTIFY_STEREOGRAPHIC
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@param Knew Camera matrix of the distorted image. If it is not assigned, it is just K.
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@param new_size The new image size. By default, it is the size of distorted.
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@param R Rotation matrix between the input and output images. By default, it is identity matrix.
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*/
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CV_EXPORTS_W void undistortImage(InputArray distorted, OutputArray undistorted, InputArray K, InputArray D, InputArray xi, int flags,
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InputArray Knew = cv::noArray(), const Size& new_size = Size(), InputArray R = Mat::eye(3, 3, CV_64F));
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/** @brief Perform omnidirectional camera calibration, the default depth of outputs is CV_64F.
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@param objectPoints Vector of vector of Vec3f object points in world (pattern) coordinate.
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It also can be vector of Mat with size 1xN/Nx1 and type CV_32FC3. Data with depth of 64_F is also acceptable.
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@param imagePoints Vector of vector of Vec2f corresponding image points of objectPoints. It must be the same
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size and the same type with objectPoints.
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@param size Image size of calibration images.
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@param K Output calibrated camera matrix.
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@param xi Output parameter xi for CMei's model
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@param D Output distortion parameters \f$(k_1, k_2, p_1, p_2)\f$
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@param rvecs Output rotations for each calibration images
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@param tvecs Output translation for each calibration images
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@param flags The flags that control calibrate
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@param criteria Termination criteria for optimization
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@param idx Indices of images that pass initialization, which are really used in calibration. So the size of rvecs is the
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same as idx.total().
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*/
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CV_EXPORTS_W double calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size size,
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InputOutputArray K, InputOutputArray xi, InputOutputArray D, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
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int flags, TermCriteria criteria, OutputArray idx=noArray());
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/** @brief Stereo calibration for omnidirectional camera model. It computes the intrinsic parameters for two
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cameras and the extrinsic parameters between two cameras. The default depth of outputs is CV_64F.
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@param objectPoints Object points in world (pattern) coordinate. Its type is vector<vector<Vec3f> >.
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It also can be vector of Mat with size 1xN/Nx1 and type CV_32FC3. Data with depth of 64_F is also acceptable.
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@param imagePoints1 The corresponding image points of the first camera, with type vector<vector<Vec2f> >.
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It must be the same size and the same type as objectPoints.
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@param imagePoints2 The corresponding image points of the second camera, with type vector<vector<Vec2f> >.
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It must be the same size and the same type as objectPoints.
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@param imageSize1 Image size of calibration images of the first camera.
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@param imageSize2 Image size of calibration images of the second camera.
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@param K1 Output camera matrix for the first camera.
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@param xi1 Output parameter xi of Mei's model for the first camera
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@param D1 Output distortion parameters \f$(k_1, k_2, p_1, p_2)\f$ for the first camera
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@param K2 Output camera matrix for the first camera.
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@param xi2 Output parameter xi of CMei's model for the second camera
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@param D2 Output distortion parameters \f$(k_1, k_2, p_1, p_2)\f$ for the second camera
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@param rvec Output rotation between the first and second camera
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@param tvec Output translation between the first and second camera
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@param rvecsL Output rotation for each image of the first camera
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@param tvecsL Output translation for each image of the first camera
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@param flags The flags that control stereoCalibrate
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@param criteria Termination criteria for optimization
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@param idx Indices of image pairs that pass initialization, which are really used in calibration. So the size of rvecs is the
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same as idx.total().
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@
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*/
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CV_EXPORTS_W double stereoCalibrate(InputOutputArrayOfArrays objectPoints, InputOutputArrayOfArrays imagePoints1, InputOutputArrayOfArrays imagePoints2,
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const Size& imageSize1, const Size& imageSize2, InputOutputArray K1, InputOutputArray xi1, InputOutputArray D1, InputOutputArray K2, InputOutputArray xi2,
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InputOutputArray D2, OutputArray rvec, OutputArray tvec, OutputArrayOfArrays rvecsL, OutputArrayOfArrays tvecsL, int flags, TermCriteria criteria, OutputArray idx=noArray());
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/** @brief Stereo rectification for omnidirectional camera model. It computes the rectification rotations for two cameras
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@param R Rotation between the first and second camera
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@param T Translation between the first and second camera
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@param R1 Output 3x3 rotation matrix for the first camera
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@param R2 Output 3x3 rotation matrix for the second camera
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*/
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CV_EXPORTS_W void stereoRectify(InputArray R, InputArray T, OutputArray R1, OutputArray R2);
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/** @brief Stereo 3D reconstruction from a pair of images
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@param image1 The first input image
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@param image2 The second input image
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@param K1 Input camera matrix of the first camera
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@param D1 Input distortion parameters \f$(k_1, k_2, p_1, p_2)\f$ for the first camera
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@param xi1 Input parameter xi for the first camera for CMei's model
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@param K2 Input camera matrix of the second camera
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@param D2 Input distortion parameters \f$(k_1, k_2, p_1, p_2)\f$ for the second camera
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@param xi2 Input parameter xi for the second camera for CMei's model
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@param R Rotation between the first and second camera
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@param T Translation between the first and second camera
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@param flag Flag of rectification type, RECTIFY_PERSPECTIVE or RECTIFY_LONGLATI
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@param numDisparities The parameter 'numDisparities' in StereoSGBM, see StereoSGBM for details.
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@param SADWindowSize The parameter 'SADWindowSize' in StereoSGBM, see StereoSGBM for details.
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@param disparity Disparity map generated by stereo matching
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@param image1Rec Rectified image of the first image
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@param image2Rec rectified image of the second image
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@param newSize Image size of rectified image, see omnidir::undistortImage
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@param Knew New camera matrix of rectified image, see omnidir::undistortImage
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@param pointCloud Point cloud of 3D reconstruction, with type CV_64FC3
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@param pointType Point cloud type, it can be XYZRGB or XYZ
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*/
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CV_EXPORTS_W void stereoReconstruct(InputArray image1, InputArray image2, InputArray K1, InputArray D1, InputArray xi1,
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InputArray K2, InputArray D2, InputArray xi2, InputArray R, InputArray T, int flag, int numDisparities, int SADWindowSize,
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OutputArray disparity, OutputArray image1Rec, OutputArray image2Rec, const Size& newSize = Size(), InputArray Knew = cv::noArray(),
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OutputArray pointCloud = cv::noArray(), int pointType = XYZRGB);
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namespace internal
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{
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void initializeCalibration(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size size, OutputArrayOfArrays omAll,
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OutputArrayOfArrays tAll, OutputArray K, double& xi, OutputArray idx = noArray());
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void initializeStereoCalibration(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
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const Size& size1, const Size& size2, OutputArray om, OutputArray T, OutputArrayOfArrays omL, OutputArrayOfArrays tL, OutputArray K1, OutputArray D1, OutputArray K2, OutputArray D2,
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double &xi1, double &xi2, int flags, OutputArray idx);
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void computeJacobian(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, InputArray parameters, Mat& JTJ_inv, Mat& JTE, int flags,
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double epsilon);
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void computeJacobianStereo(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
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InputArray parameters, Mat& JTJ_inv, Mat& JTE, int flags, double epsilon);
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void encodeParameters(InputArray K, InputArrayOfArrays omAll, InputArrayOfArrays tAll, InputArray distoaration, double xi, OutputArray parameters);
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void encodeParametersStereo(InputArray K1, InputArray K2, InputArray om, InputArray T, InputArrayOfArrays omL, InputArrayOfArrays tL,
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InputArray D1, InputArray D2, double xi1, double xi2, OutputArray parameters);
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void decodeParameters(InputArray paramsters, OutputArray K, OutputArrayOfArrays omAll, OutputArrayOfArrays tAll, OutputArray distoration, double& xi);
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void decodeParametersStereo(InputArray parameters, OutputArray K1, OutputArray K2, OutputArray om, OutputArray T, OutputArrayOfArrays omL,
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OutputArrayOfArrays tL, OutputArray D1, OutputArray D2, double& xi1, double& xi2);
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void estimateUncertainties(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, InputArray parameters, Mat& errors, Vec2d& std_error, double& rms, int flags);
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void estimateUncertaintiesStereo(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputArray parameters, Mat& errors,
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Vec2d& std_error, double& rms, int flags);
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double computeMeanReproErr(InputArrayOfArrays imagePoints, InputArrayOfArrays proImagePoints);
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double computeMeanReproErr(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, InputArray K, InputArray D, double xi, InputArrayOfArrays omAll,
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InputArrayOfArrays tAll);
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double computeMeanReproErrStereo(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputArray K1, InputArray K2,
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InputArray D1, InputArray D2, double xi1, double xi2, InputArray om, InputArray T, InputArrayOfArrays omL, InputArrayOfArrays TL);
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void subMatrix(const Mat& src, Mat& dst, const std::vector<int>& cols, const std::vector<int>& rows);
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void flags2idx(int flags, std::vector<int>& idx, int n);
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void flags2idxStereo(int flags, std::vector<int>& idx, int n);
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void fillFixed(Mat&G, int flags, int n);
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void fillFixedStereo(Mat& G, int flags, int n);
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double findMedian(const Mat& row);
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Vec3d findMedian3(InputArray mat);
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void getInterset(InputArray idx1, InputArray idx2, OutputArray inter1, OutputArray inter2, OutputArray inter_ori);
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void compose_motion(InputArray _om1, InputArray _T1, InputArray _om2, InputArray _T2, Mat& om3, Mat& T3, Mat& dom3dom1,
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Mat& dom3dT1, Mat& dom3dom2, Mat& dom3dT2, Mat& dT3dom1, Mat& dT3dT1, Mat& dT3dom2, Mat& dT3dT2);
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//void JRodriguesMatlab(const Mat& src, Mat& dst);
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//void dAB(InputArray A, InputArray B, OutputArray dABdA, OutputArray dABdB);
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} // internal
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//! @}
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} // omnidir
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} //cv
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#endif
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