OpenCV 4.12.0
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calib3d.hpp 檔案參考
#include "opencv2/core.hpp"
#include "opencv2/core/types.hpp"
#include "opencv2/features2d.hpp"
#include "opencv2/core/affine.hpp"
#include "opencv2/core/utils/logger.hpp"
calib3d.hpp 的包含依賴關係圖
此圖顯示了哪些檔案直接或間接包含此檔案

類

類  cv::LMSolver::Callback
 
結構體  cv::CirclesGridFinderParameters
 
類  cv::LMSolver
 
類  cv::StereoBM
 用於使用塊匹配演算法計算立體對應關係的類，由 K. Konolige 引入並貢獻給 OpenCV。更多...
 
類  cv::StereoMatcher
 立體對應演算法的基類。更多...
 
類  cv::StereoSGBM
 該類實現了修改後的 H. Hirschmuller 演算法 [128]，與原始演算法的不同之處如下：更多...
 
結構體  cv::UsacParams
 

名稱空間

名稱空間  cv
 
名稱空間  cv::fisheye
 此名稱空間中的方法使用所謂的魚眼相機模型。
 

型別定義

typedef CirclesGridFinderParameters cv::CirclesGridFinderParameters2
 

列舉

列舉  {
  cv::fisheye::CALIB_USE_INTRINSIC_GUESS = 1 << 0 ,
  cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC = 1 << 1 ,
  cv::fisheye::CALIB_CHECK_COND = 1 << 2 ,
  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 ,
  cv::fisheye::CALIB_FIX_K4 = 1 << 7 ,
  cv::fisheye::CALIB_FIX_INTRINSIC = 1 << 8 ,
  cv::fisheye::CALIB_FIX_PRINCIPAL_POINT = 1 << 9 ,
  cv::fisheye::CALIB_ZERO_DISPARITY = 1 << 10 ,
  cv::fisheye::CALIB_FIX_FOCAL_LENGTH = 1 << 11
}
 
列舉  {
  cv::LMEDS = 4 ,
  cv::RANSAC = 8 ,
  cv::RHO = 16 ,
  cv::USAC_DEFAULT = 32 ,
  cv::USAC_PARALLEL = 33 ,
  cv::USAC_FM_8PTS = 34 ,
  cv::USAC_FAST = 35 ,
  cv::USAC_ACCURATE = 36 ,
  cv::USAC_PROSAC = 37 ,
  cv::USAC_MAGSAC = 38
}
 魯棒估計算法型別 更多...
 
列舉  {
  cv::CALIB_CB_ADAPTIVE_THRESH = 1 ,
  cv::CALIB_CB_NORMALIZE_IMAGE = 2 ,
  cv::CALIB_CB_FILTER_QUADS = 4 ,
  cv::CALIB_CB_FAST_CHECK = 8 ,
  cv::CALIB_CB_EXHAUSTIVE = 16 ,
  cv::CALIB_CB_ACCURACY = 32 ,
  cv::CALIB_CB_LARGER = 64 ,
  cv::CALIB_CB_MARKER = 128 ,
  cv::CALIB_CB_PLAIN = 256
}
 
列舉  {
  cv::CALIB_CB_SYMMETRIC_GRID = 1 ,
  cv::CALIB_CB_ASYMMETRIC_GRID = 2 ,
  cv::CALIB_CB_CLUSTERING = 4
}
 
列舉  {
  cv::CALIB_NINTRINSIC = 18 ,
  cv::CALIB_USE_INTRINSIC_GUESS = 0x00001 ,
  cv::CALIB_FIX_ASPECT_RATIO = 0x00002 ,
  cv::CALIB_FIX_PRINCIPAL_POINT = 0x00004 ,
  cv::CALIB_ZERO_TANGENT_DIST = 0x00008 ,
  cv::CALIB_FIX_FOCAL_LENGTH = 0x00010 ,
  cv::CALIB_FIX_K1 = 0x00020 ,
  cv::CALIB_FIX_K2 = 0x00040 ,
  cv::CALIB_FIX_K3 = 0x00080 ,
  cv::CALIB_FIX_K4 = 0x00800 ,
  cv::CALIB_FIX_K5 = 0x01000 ,
  cv::CALIB_FIX_K6 = 0x02000 ,
  cv::CALIB_RATIONAL_MODEL = 0x04000 ,
  cv::CALIB_THIN_PRISM_MODEL = 0x08000 ,
  cv::CALIB_FIX_S1_S2_S3_S4 = 0x10000 ,
  cv::CALIB_TILTED_MODEL = 0x40000 ,
  cv::CALIB_FIX_TAUX_TAUY = 0x80000 ,
  cv::CALIB_USE_QR = 0x100000 ,
  cv::CALIB_FIX_TANGENT_DIST = 0x200000 ,
  cv::CALIB_FIX_INTRINSIC = 0x00100 ,
  cv::CALIB_SAME_FOCAL_LENGTH = 0x00200 ,
  cv::CALIB_ZERO_DISPARITY = 0x00400 ,
  cv::CALIB_USE_LU = (1 << 17) ,
  cv::CALIB_USE_EXTRINSIC_GUESS = (1 << 22)
}
 
列舉  {
  cv::FM_7POINT = 1 ,
  cv::FM_8POINT = 2 ,
  cv::FM_LMEDS = 4 ,
  cv::FM_RANSAC = 8
}
 查詢基本矩陣的演算法 更多...
 
列舉  cv::HandEyeCalibrationMethod {
  cv::CALIB_HAND_EYE_TSAI = 0 ,
  cv::CALIB_HAND_EYE_PARK = 1 ,
  cv::CALIB_HAND_EYE_HORAUD = 2 ,
  cv::CALIB_HAND_EYE_ANDREFF = 3 ,
  cv::CALIB_HAND_EYE_DANIILIDIS = 4
}
 
列舉  cv::LocalOptimMethod {
  cv::LOCAL_OPTIM_NULL =0 ,
  cv::LOCAL_OPTIM_INNER_LO =1 ,
  cv::LOCAL_OPTIM_INNER_AND_ITER_LO =2 ,
  cv::LOCAL_OPTIM_GC =3 ,
  cv::LOCAL_OPTIM_SIGMA =4
}
 
列舉  cv::NeighborSearchMethod {
  cv::NEIGH_FLANN_KNN =0 ,
  cv::NEIGH_GRID =1 ,
  cv::NEIGH_FLANN_RADIUS =2
}
 
列舉  cv::PolishingMethod {
  cv::NONE_POLISHER =0 ,
  cv::LSQ_POLISHER =1 ,
  cv::MAGSAC =2 ,
  cv::COV_POLISHER =3
}
 
列舉  cv::RobotWorldHandEyeCalibrationMethod {
  cv::CALIB_ROBOT_WORLD_HAND_EYE_SHAH = 0 ,
  cv::CALIB_ROBOT_WORLD_HAND_EYE_LI = 1
}
 
列舉  cv::SamplingMethod {
  cv::SAMPLING_UNIFORM =0 ,
  cv::SAMPLING_PROGRESSIVE_NAPSAC =1 ,
  cv::SAMPLING_NAPSAC =2 ,
  cv::SAMPLING_PROSAC =3
}
 
列舉  cv::ScoreMethod {
  cv::SCORE_METHOD_RANSAC =0 ,
  cv::SCORE_METHOD_MSAC =1 ,
  cv::SCORE_METHOD_MAGSAC =2 ,
  cv::SCORE_METHOD_LMEDS =3
}
 
列舉  cv::SolvePnPMethod {
  cv::SOLVEPNP_ITERATIVE = 0 ,
  cv::SOLVEPNP_EPNP = 1 ,
  cv::SOLVEPNP_P3P = 2 ,
  cv::SOLVEPNP_DLS = 3 ,
  cv::SOLVEPNP_UPNP = 4 ,
  cv::SOLVEPNP_AP3P = 5 ,
  cv::SOLVEPNP_IPPE = 6 ,
  cv::SOLVEPNP_IPPE_SQUARE = 7 ,
  cv::SOLVEPNP_SQPNP = 8
}
 
列舉  cv::UndistortTypes {
  cv::PROJ_SPHERICAL_ORTHO = 0 ,
  cv::PROJ_SPHERICAL_EQRECT = 1
}
 cv::undistort 模式 更多...
 

函式

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))
 執行相機標定。
 
double cv::calibrateCamera (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags=0, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON))
 
double cv::calibrateCamera (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, OutputArray stdDeviationsIntrinsics, OutputArray stdDeviationsExtrinsics, OutputArray perViewErrors, int flags=0, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON))
 從標定模式的多個檢視中查詢相機內參和外參。
 
double cv::calibrateCameraRO (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size imageSize, int iFixedPoint, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, OutputArray newObjPoints, int flags=0, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON))
 
double cv::calibrateCameraRO (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size imageSize, int iFixedPoint, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, OutputArray newObjPoints, OutputArray stdDeviationsIntrinsics, OutputArray stdDeviationsExtrinsics, OutputArray stdDeviationsObjPoints, OutputArray perViewErrors, int flags=0, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON))
 從標定模式的多個檢視中查詢相機內參和外參。
 
void cv::calibrateHandEye (InputArrayOfArrays R_gripper2base, InputArrayOfArrays t_gripper2base, InputArrayOfArrays R_target2cam, InputArrayOfArrays t_target2cam, OutputArray R_cam2gripper, OutputArray t_cam2gripper, HandEyeCalibrationMethod method=CALIB_HAND_EYE_TSAI)
 計算手眼標定：\(_{}^{g}\textrm{T}_c\)。
 
void cv::calibrateRobotWorldHandEye (InputArrayOfArrays R_world2cam, InputArrayOfArrays t_world2cam, InputArrayOfArrays R_base2gripper, InputArrayOfArrays t_base2gripper, OutputArray R_base2world, OutputArray t_base2world, OutputArray R_gripper2cam, OutputArray t_gripper2cam, RobotWorldHandEyeCalibrationMethod method=CALIB_ROBOT_WORLD_HAND_EYE_SHAH)
 計算機器人-世界/手眼標定：\(_{}^{w}\textrm{T}_b\) 和 \(_{}^{c}\textrm{T}_g\)。
 
void cv::calibrationMatrixValues (InputArray cameraMatrix, Size imageSize, double apertureWidth, double apertureHeight, double &fovx, double &fovy, double &focalLength, Point2d &principalPoint, double &aspectRatio)
 從相機內參矩陣計算有用的相機特性。
 
bool cv::checkChessboard (InputArray img, Size size)
 
void cv::composeRT (InputArray rvec1, InputArray tvec1, InputArray rvec2, InputArray tvec2, OutputArray rvec3, OutputArray tvec3, OutputArray dr3dr1=noArray(), OutputArray dr3dt1=noArray(), OutputArray dr3dr2=noArray(), OutputArray dr3dt2=noArray(), OutputArray dt3dr1=noArray(), OutputArray dt3dt1=noArray(), OutputArray dt3dr2=noArray(), OutputArray dt3dt2=noArray())
 組合兩個旋轉平移變換。
 
void cv::computeCorrespondEpilines (InputArray points, int whichImage, InputArray F, OutputArray lines)
 對於立體影像對中一個影像中的點，計算另一個影像中的對應極線。
 
void cv::convertPointsFromHomogeneous (InputArray src, OutputArray dst)
 將點從齊次座標空間轉換為歐幾里得空間。
 
void cv::convertPointsHomogeneous (InputArray src, OutputArray dst)
 將點轉換為齊次座標或從齊次座標轉換。
 
void cv::convertPointsToHomogeneous (InputArray src, OutputArray dst)
 將點從歐幾里得空間轉換為齊次空間。
 
void cv::correctMatches (InputArray F, InputArray points1, InputArray points2, OutputArray newPoints1, OutputArray newPoints2)
 細化對應點的座標。
 
void cv::decomposeEssentialMat (InputArray E, OutputArray R1, OutputArray R2, OutputArray t)
 將本徵矩陣分解為可能的旋轉和平移。
 
int cv::decomposeHomographyMat (InputArray H, InputArray K, OutputArrayOfArrays rotations, OutputArrayOfArrays translations, OutputArrayOfArrays normals)
 將單應性矩陣分解為旋轉、平移和平面法線。
 
void cv::decomposeProjectionMatrix (InputArray projMatrix, OutputArray cameraMatrix, OutputArray rotMatrix, OutputArray transVect, OutputArray rotMatrixX=noArray(), OutputArray rotMatrixY=noArray(), OutputArray rotMatrixZ=noArray(), OutputArray eulerAngles=noArray())
 將投影矩陣分解為旋轉矩陣和相機內參矩陣。
 
void cv::fisheye::distortPoints (InputArray undistorted, OutputArray distorted, InputArray K, InputArray D, double alpha=0)
 使用魚眼模型扭曲 2D 點。
 
void cv::fisheye::distortPoints (InputArray undistorted, OutputArray distorted, InputArray Kundistorted, InputArray K, InputArray D, double alpha=0)
 
void cv::drawChessboardCorners (InputOutputArray image, Size patternSize, InputArray corners, bool patternWasFound)
 渲染檢測到的棋盤角點。
 
void cv::drawFrameAxes (InputOutputArray image, InputArray cameraMatrix, InputArray distCoeffs, InputArray rvec, InputArray tvec, float length, int thickness=3)
 從姿態估計中繪製世界/物件座標系的軸。
 
cv::Mat cv::estimateAffine2D (InputArray from, InputArray to, OutputArray inliers=noArray(), int method=RANSAC, double ransacReprojThreshold=3, size_t maxIters=2000, double confidence=0.99, size_t refineIters=10)
 計算兩個二維點集之間的最優仿射變換。
 
cv::Mat cv::estimateAffine2D (InputArray pts1, InputArray pts2, OutputArray inliers, const UsacParams &params)
 
cv::Mat cv::estimateAffine3D (InputArray src, InputArray dst, double *scale=nullptr, bool force_rotation=true)
 計算兩個三維點集之間的最優仿射變換。
 
int cv::estimateAffine3D (InputArray src, InputArray dst, OutputArray out, OutputArray inliers, double ransacThreshold=3, double confidence=0.99)
 計算兩個三維點集之間的最優仿射變換。
 
cv::Mat cv::estimateAffinePartial2D (InputArray from, InputArray to, OutputArray inliers=noArray(), int method=RANSAC, double ransacReprojThreshold=3, size_t maxIters=2000, double confidence=0.99, size_t refineIters=10)
 計算兩個二維點集之間具有4個自由度的最優受限仿射變換。
 
Scalar cv::estimateChessboardSharpness (InputArray image, Size patternSize, InputArray corners, float rise_distance=0.8F, bool vertical=false, OutputArray sharpness=noArray())
 估計檢測到的棋盤的清晰度。
 
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)
 估算用於去畸變或校正的新相機內參矩陣。
 
int cv::estimateTranslation3D (InputArray src, InputArray dst, OutputArray out, OutputArray inliers, double ransacThreshold=3, double confidence=0.99)
 計算兩個三維點集之間的最優平移。
 
void cv::filterHomographyDecompByVisibleRefpoints (InputArrayOfArrays rotations, InputArrayOfArrays normals, InputArray beforePoints, InputArray afterPoints, OutputArray possibleSolutions, InputArray pointsMask=noArray())
 根據附加資訊過濾單應性分解。
 
void cv::filterSpeckles (InputOutputArray img, double newVal, int maxSpeckleSize, double maxDiff, InputOutputArray buf=noArray())
 過濾視差圖中小的噪聲斑點。
 
bool cv::find4QuadCornerSubpix (InputArray img, InputOutputArray corners, Size region_size)
 查詢棋盤角點的亞畫素精確位置
 
bool cv::findChessboardCorners (InputArray image, Size patternSize, OutputArray corners, int flags=CALIB_CB_ADAPTIVE_THRESH+CALIB_CB_NORMALIZE_IMAGE)
 查詢棋盤內部角點的位置。
 
bool cv::findChessboardCornersSB (InputArray image, Size patternSize, OutputArray corners, int flags, OutputArray meta)
 使用基於扇區的方法查詢棋盤內部角點的位置。
 
bool cv::findChessboardCornersSB (InputArray image, Size patternSize, OutputArray corners, int flags=0)
 
bool cv::findCirclesGrid (InputArray image, Size patternSize, OutputArray centers, int flags, const Ptr< FeatureDetector > &blobDetector, const CirclesGridFinderParameters &parameters)
 在圓形網格中查詢中心。
 
bool cv::findCirclesGrid (InputArray image, Size patternSize, OutputArray centers, int flags=CALIB_CB_SYMMETRIC_GRID, const Ptr< FeatureDetector > &blobDetector=SimpleBlobDetector::create())
 
Mat cv::findEssentialMat (InputArray points1, InputArray points2, double focal, Point2d pp, int method, double prob, double threshold, OutputArray mask)
 
Mat cv::findEssentialMat (InputArray points1, InputArray points2, double focal=1.0, Point2d pp=Point2d(0, 0), int method=RANSAC, double prob=0.999, double threshold=1.0, int maxIters=1000, OutputArray mask=noArray())
 
Mat cv::findEssentialMat (InputArray points1, InputArray points2, InputArray cameraMatrix, int method, double prob, double threshold, OutputArray mask)
 
Mat cv::findEssentialMat (InputArray points1, InputArray points2, InputArray cameraMatrix, int method=RANSAC, double prob=0.999, double threshold=1.0, int maxIters=1000, OutputArray mask=noArray())
 從兩幅影像中的對應點計算本徵矩陣。
 
Mat cv::findEssentialMat (InputArray points1, InputArray points2, InputArray cameraMatrix1, InputArray cameraMatrix2, InputArray dist_coeff1, InputArray dist_coeff2, OutputArray mask, const UsacParams &params)
 
Mat cv::findEssentialMat (InputArray points1, InputArray points2, InputArray cameraMatrix1, InputArray distCoeffs1, InputArray cameraMatrix2, InputArray distCoeffs2, int method=RANSAC, double prob=0.999, double threshold=1.0, OutputArray mask=noArray())
 從可能來自兩個不同相機的兩幅影像中的對應點計算本徵矩陣。
 
Mat cv::findFundamentalMat (InputArray points1, InputArray points2, int method, double ransacReprojThreshold, double confidence, int maxIters, OutputArray mask=noArray())
 從兩幅影像中的對應點計算基本矩陣。
 
Mat cv::findFundamentalMat (InputArray points1, InputArray points2, int method=FM_RANSAC, double ransacReprojThreshold=3., double confidence=0.99, OutputArray mask=noArray())
 
Mat cv::findFundamentalMat (InputArray points1, InputArray points2, OutputArray mask, const UsacParams &params)
 
Mat cv::findFundamentalMat (InputArray points1, InputArray points2, OutputArray mask, int method=FM_RANSAC, double ransacReprojThreshold=3., double confidence=0.99)
 
Mat cv::findHomography (InputArray srcPoints, InputArray dstPoints, int method=0, double ransacReprojThreshold=3, OutputArray mask=noArray(), const int maxIters=2000, const double confidence=0.995)
 在兩個平面之間找到透視變換。
 
Mat cv::findHomography (InputArray srcPoints, InputArray dstPoints, OutputArray mask, const UsacParams &params)
 
Mat cv::findHomography (InputArray srcPoints, InputArray dstPoints, OutputArray mask, int method=0, double ransacReprojThreshold=3)
 
Mat cv::getDefaultNewCameraMatrix (InputArray cameraMatrix, Size imgsize=Size(), bool centerPrincipalPoint=false)
 返回預設的新相機矩陣。
 
Mat cv::getOptimalNewCameraMatrix (InputArray cameraMatrix, InputArray distCoeffs, Size imageSize, double alpha, Size newImgSize=Size(), Rect *validPixROI=0, bool centerPrincipalPoint=false)
 根據自由縮放參數返回新的相機內參矩陣。
 
Rect cv::getValidDisparityROI (Rect roi1, Rect roi2, int minDisparity, int numberOfDisparities, int blockSize)
 從校正影像的有效 ROI（由 stereoRectify 返回）計算有效視差 ROI
 
Mat cv::initCameraMatrix2D (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size imageSize, double aspectRatio=1.0)
 從 3D-2D 點對應關係中查詢初始相機內參矩陣。
 
void cv::initInverseRectificationMap (InputArray cameraMatrix, InputArray distCoeffs, InputArray R, InputArray newCameraMatrix, const Size &size, int m1type, OutputArray map1, OutputArray map2)
 計算投影和逆校正變換圖。本質上，這是 initUndistortRectifyMap 的逆操作，用於適應投影儀（“逆相機”）在投影儀-相機對中的立體校正。
 
void cv::fisheye::initUndistortRectifyMap (InputArray K, InputArray D, InputArray R, InputArray P, const cv::Size &size, int m1type, OutputArray map1, OutputArray map2)
 計算用於透過 remap 進行影像變換的去畸變和校正圖。如果 D 為空，則使用零畸變；如果 R 或 P 為空，則使用單位矩陣。
 
void cv::initUndistortRectifyMap (InputArray cameraMatrix, InputArray distCoeffs, InputArray R, InputArray newCameraMatrix, Size size, int m1type, OutputArray map1, OutputArray map2)
 計算去畸變和校正變換圖。
 
float cv::initWideAngleProjMap (InputArray cameraMatrix, InputArray distCoeffs, Size imageSize, int destImageWidth, int m1type, OutputArray map1, OutputArray map2, enum UndistortTypes projType=PROJ_SPHERICAL_EQRECT, double alpha=0)
 初始化廣角 remap 的對映
 
static float cv::initWideAngleProjMap (InputArray cameraMatrix, InputArray distCoeffs, Size imageSize, int destImageWidth, int m1type, OutputArray map1, OutputArray map2, int projType, double alpha=0)
 
void cv::matMulDeriv (InputArray A, InputArray B, OutputArray dABdA, OutputArray dABdB)
 計算每個相乘矩陣的矩陣乘積的偏導數。
 
void cv::fisheye::projectPoints (InputArray objectPoints, OutputArray imagePoints, const Affine3d &affine, InputArray K, InputArray D, double alpha=0, OutputArray jacobian=noArray())
 使用魚眼模型投影點。
 
void cv::fisheye::projectPoints (InputArray objectPoints, OutputArray imagePoints, InputArray rvec, InputArray tvec, InputArray K, InputArray D, double alpha=0, OutputArray jacobian=noArray())
 
void cv::projectPoints (InputArray objectPoints, InputArray rvec, InputArray tvec, InputArray cameraMatrix, InputArray distCoeffs, OutputArray imagePoints, OutputArray jacobian=noArray(), double aspectRatio=0)
 將三維點投影到影像平面。
 
int cv::recoverPose (InputArray E, InputArray points1, InputArray points2, InputArray cameraMatrix, OutputArray R, OutputArray t, double distanceThresh, InputOutputArray mask=noArray(), OutputArray triangulatedPoints=noArray())
 
int cv::recoverPose (InputArray E, InputArray points1, InputArray points2, InputArray cameraMatrix, OutputArray R, OutputArray t, InputOutputArray mask=noArray())
 從估計的本徵矩陣和兩幅影像中的對應點中恢復相對相機旋轉和平移，並使用手性檢查。返回透過檢查的內點數量。
 
int cv::recoverPose (InputArray E, InputArray points1, InputArray points2, OutputArray R, OutputArray t, double focal=1.0, Point2d pp=Point2d(0, 0), InputOutputArray mask=noArray())
 
int cv::recoverPose (InputArray points1, InputArray points2, InputArray cameraMatrix1, InputArray distCoeffs1, InputArray cameraMatrix2, InputArray distCoeffs2, OutputArray E, OutputArray R, OutputArray t, int method=cv::RANSAC, double prob=0.999, double threshold=1.0, InputOutputArray mask=noArray())
 從來自兩個不同相機的兩幅影像中的對應點中恢復相對相機旋轉和平移，並使用手性檢查。返回透過檢查的內點數量。
 
float cv::rectify3Collinear (InputArray cameraMatrix1, InputArray distCoeffs1, InputArray cameraMatrix2, InputArray distCoeffs2, InputArray cameraMatrix3, InputArray distCoeffs3, InputArrayOfArrays imgpt1, InputArrayOfArrays imgpt3, Size imageSize, InputArray R12, InputArray T12, InputArray R13, InputArray T13, OutputArray R1, OutputArray R2, OutputArray R3, OutputArray P1, OutputArray P2, OutputArray P3, OutputArray Q, double alpha, Size newImgSize, Rect *roi1, Rect *roi2, int flags)
 計算三頭相機的校正變換，其中所有相機頭都在同一直線上。
 
void cv::reprojectImageTo3D (InputArray disparity, OutputArray _3dImage, InputArray Q, bool handleMissingValues=false, int ddepth=-1)
 將視差影像重新投影到3D空間。
 
void cv::Rodrigues (InputArray src, OutputArray dst, OutputArray jacobian=noArray())
 將旋轉矩陣轉換為旋轉向量，反之亦然。
 
Vec3d cv::RQDecomp3x3 (InputArray src, OutputArray mtxR, OutputArray mtxQ, OutputArray Qx=noArray(), OutputArray Qy=noArray(), OutputArray Qz=noArray())
 計算3x3矩陣的RQ分解。
 
double cv::sampsonDistance (InputArray pt1, InputArray pt2, InputArray F)
 計算兩點之間的Sampson距離。
 
int cv::solveP3P (InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags)
 從3個3D-2D點對應關係中查詢物件姿態 \( {}^{c}\mathbf{T}_o \)。
 
bool cv::fisheye::solvePnP (InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false, int flags=SOLVEPNP_ITERATIVE, TermCriteria criteria=TermCriteria(TermCriteria::MAX_ITER+TermCriteria::EPS, 10, 1e-8))
 使用魚眼相機模型從 3D-2D 點對應關係中查詢物件姿態。
 
bool cv::solvePnP (InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false, int flags=SOLVEPNP_ITERATIVE)
 從 3D-2D 點對應關係中查詢物件姿態 \( {}^{c}\mathbf{T}_o \)
 
int cv::solvePnPGeneric (InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, bool useExtrinsicGuess=false, SolvePnPMethod flags=SOLVEPNP_ITERATIVE, InputArray rvec=noArray(), InputArray tvec=noArray(), OutputArray reprojectionError=noArray())
 從 3D-2D 點對應關係中查詢物件姿態 \( {}^{c}\mathbf{T}_o \)。
 
bool cv::fisheye::solvePnPRansac (InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false, int iterationsCount=100, float reprojectionError=8.0, double confidence=0.99, OutputArray inliers=noArray(), int flags=SOLVEPNP_ITERATIVE, TermCriteria criteria=TermCriteria(TermCriteria::MAX_ITER+TermCriteria::EPS, 10, 1e-8))
 使用 RANSAC 方案從 3D-2D 點對應關係中查詢魚眼相機模型下的物件姿態。
 
bool cv::solvePnPRansac (InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false, int iterationsCount=100, float reprojectionError=8.0, double confidence=0.99, OutputArray inliers=noArray(), int flags=SOLVEPNP_ITERATIVE)
 使用 RANSAC 方案從 3D-2D 點對應關係中查詢物件姿態 \( {}^{c}\mathbf{T}_o \)，以處理不匹配的情況。
 
bool cv::solvePnPRansac (InputArray objectPoints, InputArray imagePoints, InputOutputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, OutputArray inliers, const UsacParams &params=UsacParams())
 
void cv::solvePnPRefineLM (InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, InputOutputArray rvec, InputOutputArray tvec, TermCriteria criteria=TermCriteria(TermCriteria::EPS+TermCriteria::COUNT, 20, FLT_EPSILON))
 從 3D-2D 點對應關係和初始解開始，最佳化姿態（將以物件座標系表示的 3D 點轉換為相機座標系的平移和旋轉）。
 
void cv::solvePnPRefineVVS (InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, InputOutputArray rvec, InputOutputArray tvec, TermCriteria criteria=TermCriteria(TermCriteria::EPS+TermCriteria::COUNT, 20, FLT_EPSILON), double VVSlambda=1)
 從 3D-2D 點對應關係和初始解開始，最佳化姿態（將以物件座標系表示的 3D 點轉換為相機座標系的平移和旋轉）。
 
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))
 這是一個過載成員函式，為方便起見提供。它與上述函式的唯一區別在於它接受的引數。
 
double cv::fisheye::stereoCalibrate (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize, OutputArray R, OutputArray T, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags=fisheye::CALIB_FIX_INTRINSIC, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, DBL_EPSILON))
 執行立體標定。
 
double cv::stereoCalibrate (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputOutputArray cameraMatrix1, InputOutputArray distCoeffs1, InputOutputArray cameraMatrix2, InputOutputArray distCoeffs2, Size imageSize, InputOutputArray R, InputOutputArray T, OutputArray E, OutputArray F, OutputArray perViewErrors, int flags=CALIB_FIX_INTRINSIC, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 1e-6))
 這是一個過載成員函式，為方便起見提供。它與上述函式的唯一區別在於它接受的引數。
 
double cv::stereoCalibrate (InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputOutputArray cameraMatrix1, InputOutputArray distCoeffs1, InputOutputArray cameraMatrix2, InputOutputArray distCoeffs2, Size imageSize, InputOutputArray R, InputOutputArray T, OutputArray E, OutputArray F, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, OutputArray perViewErrors, int flags=CALIB_FIX_INTRINSIC, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 1e-6))
 標定立體相機設定。此函式查詢兩個相機各自的內參以及兩個相機之間的外參。
 
double cv::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))
 這是一個過載成員函式，為方便起見提供。它與上述函式的唯一區別在於它接受的引數。
 
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)
 魚眼相機模型的立體校正。
 
void cv::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(), Rect *validPixROI1=0, Rect *validPixROI2=0)
 計算已標定立體攝像機每個頭的校正變換。
 
bool cv::stereoRectifyUncalibrated (InputArray points1, InputArray points2, InputArray F, Size imgSize, OutputArray H1, OutputArray H2, double threshold=5)
 計算未標定立體攝像機的校正變換。
 
void cv::triangulatePoints (InputArray projMatr1, InputArray projMatr2, InputArray projPoints1, InputArray projPoints2, OutputArray points4D)
 此函式透過使用立體攝像機對三維點（齊次座標）的觀測來重建這些點。
 
void cv::undistort (InputArray src, OutputArray dst, InputArray cameraMatrix, InputArray distCoeffs, InputArray newCameraMatrix=noArray())
 變換影像以補償鏡頭畸變。
 
void cv::fisheye::undistortImage (InputArray distorted, OutputArray undistorted, InputArray K, InputArray D, InputArray Knew=cv::noArray(), const Size &new_size=Size())
 轉換影像以補償魚眼鏡頭畸變。
 
void cv::undistortImagePoints (InputArray src, OutputArray dst, InputArray cameraMatrix, InputArray distCoeffs, TermCriteria=TermCriteria(TermCriteria::MAX_ITER+TermCriteria::EPS, 5, 0.01))
 計算畸變校正後的影像點位置。
 
void cv::fisheye::undistortPoints (InputArray distorted, OutputArray undistorted, InputArray K, InputArray D, InputArray R=noArray(), InputArray P=noArray(), TermCriteria criteria=TermCriteria(TermCriteria::MAX_ITER+TermCriteria::EPS, 10, 1e-8))
 使用魚眼模型對 2D 點進行去畸變。
 
void cv::undistortPoints (InputArray src, OutputArray dst, InputArray cameraMatrix, InputArray distCoeffs, InputArray R, InputArray P, TermCriteria criteria)
 
void cv::undistortPoints (InputArray src, OutputArray dst, InputArray cameraMatrix, InputArray distCoeffs, InputArray R=noArray(), InputArray P=noArray())
 根據觀測點座標計算理想點座標。
 
void cv::validateDisparity (InputOutputArray disparity, InputArray cost, int minDisparity, int numberOfDisparities, int disp12MaxDisp=1)
 使用左右一致性檢查來驗證視差。矩陣“cost”應透過立體對應演算法計算。
 
生成於 2025 年 7 月 3 日 12:14:33，適用於 OpenCV，由 doxygen 1.12.0 生成