opencv_calib3d (JavaCPP Presets for OpenCV 4.5.3-1.5.6 API)

java.lang.Object
- org.bytedeco.opencv.presets.opencv_calib3d
- - org.bytedeco.opencv.global.opencv_calib3d

All Implemented Interfaces:: InfoMapper

public class opencv_calib3d
extends opencv_calib3d

Field Summary

Fields
Modifier and Type	Field and Description
`static int`	`CALIB_CB_ACCURACY` enum cv::
`static int`	`CALIB_CB_ADAPTIVE_THRESH` enum cv::
`static int`	`CALIB_CB_ASYMMETRIC_GRID` enum cv::
`static int`	`CALIB_CB_CLUSTERING` enum cv::
`static int`	`CALIB_CB_EXHAUSTIVE` enum cv::
`static int`	`CALIB_CB_FAST_CHECK` enum cv::
`static int`	`CALIB_CB_FILTER_QUADS` enum cv::
`static int`	`CALIB_CB_LARGER` enum cv::
`static int`	`CALIB_CB_MARKER` enum cv::
`static int`	`CALIB_CB_NORMALIZE_IMAGE` enum cv::
`static int`	`CALIB_CB_SYMMETRIC_GRID` enum cv::
`static int`	`CALIB_FIX_ASPECT_RATIO` enum cv::
`static int`	`CALIB_FIX_FOCAL_LENGTH` enum cv::
`static int`	`CALIB_FIX_INTRINSIC` enum cv::
`static int`	`CALIB_FIX_K1` enum cv::
`static int`	`CALIB_FIX_K2` enum cv::
`static int`	`CALIB_FIX_K3` enum cv::
`static int`	`CALIB_FIX_K4` enum cv::
`static int`	`CALIB_FIX_K5` enum cv::
`static int`	`CALIB_FIX_K6` enum cv::
`static int`	`CALIB_FIX_PRINCIPAL_POINT` enum cv::
`static int`	`CALIB_FIX_S1_S2_S3_S4` enum cv::
`static int`	`CALIB_FIX_TANGENT_DIST` enum cv::
`static int`	`CALIB_FIX_TAUX_TAUY` enum cv::
`static int`	`CALIB_HAND_EYE_ANDREFF` enum cv::HandEyeCalibrationMethod
`static int`	`CALIB_HAND_EYE_DANIILIDIS` enum cv::HandEyeCalibrationMethod
`static int`	`CALIB_HAND_EYE_HORAUD` enum cv::HandEyeCalibrationMethod
`static int`	`CALIB_HAND_EYE_PARK` enum cv::HandEyeCalibrationMethod
`static int`	`CALIB_HAND_EYE_TSAI` enum cv::HandEyeCalibrationMethod
`static int`	`CALIB_NINTRINSIC` enum cv::
`static int`	`CALIB_RATIONAL_MODEL` enum cv::
`static int`	`CALIB_ROBOT_WORLD_HAND_EYE_LI` enum cv::RobotWorldHandEyeCalibrationMethod
`static int`	`CALIB_ROBOT_WORLD_HAND_EYE_SHAH` enum cv::RobotWorldHandEyeCalibrationMethod
`static int`	`CALIB_SAME_FOCAL_LENGTH` enum cv::
`static int`	`CALIB_THIN_PRISM_MODEL` enum cv::
`static int`	`CALIB_TILTED_MODEL` enum cv::
`static int`	`CALIB_USE_EXTRINSIC_GUESS` enum cv::
`static int`	`CALIB_USE_INTRINSIC_GUESS` enum cv::
`static int`	`CALIB_USE_LU` enum cv::
`static int`	`CALIB_USE_QR` enum cv::
`static int`	`CALIB_ZERO_DISPARITY` enum cv::
`static int`	`CALIB_ZERO_TANGENT_DIST` enum cv::
`static int`	`CV_CALIB_CB_ADAPTIVE_THRESH`
`static int`	`CV_CALIB_CB_FAST_CHECK`
`static int`	`CV_CALIB_CB_FILTER_QUADS`
`static int`	`CV_CALIB_CB_NORMALIZE_IMAGE`
`static int`	`CV_CALIB_FIX_ASPECT_RATIO`
`static int`	`CV_CALIB_FIX_FOCAL_LENGTH`
`static int`	`CV_CALIB_FIX_INTRINSIC`
`static int`	`CV_CALIB_FIX_K1`
`static int`	`CV_CALIB_FIX_K2`
`static int`	`CV_CALIB_FIX_K3`
`static int`	`CV_CALIB_FIX_K4`
`static int`	`CV_CALIB_FIX_K5`
`static int`	`CV_CALIB_FIX_K6`
`static int`	`CV_CALIB_FIX_PRINCIPAL_POINT`
`static int`	`CV_CALIB_FIX_S1_S2_S3_S4`
`static int`	`CV_CALIB_FIX_TANGENT_DIST`
`static int`	`CV_CALIB_FIX_TAUX_TAUY`
`static int`	`CV_CALIB_NINTRINSIC`
`static int`	`CV_CALIB_RATIONAL_MODEL`
`static int`	`CV_CALIB_SAME_FOCAL_LENGTH`
`static int`	`CV_CALIB_THIN_PRISM_MODEL`
`static int`	`CV_CALIB_TILTED_MODEL`
`static int`	`CV_CALIB_USE_INTRINSIC_GUESS`
`static int`	`CV_CALIB_ZERO_DISPARITY`
`static int`	`CV_CALIB_ZERO_TANGENT_DIST`
`static int`	`CV_DLS` enum
`static int`	`CV_EPNP` enum
`static int`	`CV_FM_7POINT`
`static int`	`CV_FM_8POINT`
`static int`	`CV_FM_LMEDS`
`static int`	`CV_FM_LMEDS_ONLY`
`static int`	`CV_FM_RANSAC`
`static int`	`CV_FM_RANSAC_ONLY`
`static int`	`CV_ITERATIVE` enum
`static int`	`CV_LMEDS`
`static int`	`CV_P3P` enum
`static int`	`CV_RANSAC`
`static int`	`CV_STEREO_BM_NORMALIZED_RESPONSE`
`static int`	`CV_STEREO_BM_XSOBEL`
`static int`	`FISHEYE_CALIB_CHECK_COND` enum cv::fisheye::
`static int`	`FISHEYE_CALIB_FIX_FOCAL_LENGTH` enum cv::fisheye::
`static int`	`FISHEYE_CALIB_FIX_INTRINSIC` enum cv::fisheye::
`static int`	`FISHEYE_CALIB_FIX_K1` enum cv::fisheye::
`static int`	`FISHEYE_CALIB_FIX_K2` enum cv::fisheye::
`static int`	`FISHEYE_CALIB_FIX_K3` enum cv::fisheye::
`static int`	`FISHEYE_CALIB_FIX_K4` enum cv::fisheye::
`static int`	`FISHEYE_CALIB_FIX_PRINCIPAL_POINT` enum cv::fisheye::
`static int`	`FISHEYE_CALIB_FIX_SKEW` enum cv::fisheye::
`static int`	`FISHEYE_CALIB_RECOMPUTE_EXTRINSIC` enum cv::fisheye::
`static int`	`FISHEYE_CALIB_USE_INTRINSIC_GUESS` enum cv::fisheye::
`static int`	`FISHEYE_CALIB_ZERO_DISPARITY` enum cv::fisheye::
`static int`	`FM_7POINT` enum cv::
`static int`	`FM_8POINT` enum cv::
`static int`	`FM_LMEDS` enum cv::
`static int`	`FM_RANSAC` enum cv::
`static int`	`LMEDS` enum cv::
`static int`	`LOCAL_OPTIM_GC` enum cv::LocalOptimMethod
`static int`	`LOCAL_OPTIM_INNER_AND_ITER_LO` enum cv::LocalOptimMethod
`static int`	`LOCAL_OPTIM_INNER_LO` enum cv::LocalOptimMethod
`static int`	`LOCAL_OPTIM_NULL` enum cv::LocalOptimMethod
`static int`	`LOCAL_OPTIM_SIGMA` enum cv::LocalOptimMethod
`static int`	`NEIGH_FLANN_KNN` enum cv::NeighborSearchMethod
`static int`	`NEIGH_FLANN_RADIUS` enum cv::NeighborSearchMethod
`static int`	`NEIGH_GRID` enum cv::NeighborSearchMethod
`static int`	`PROJ_SPHERICAL_EQRECT` enum cv::UndistortTypes
`static int`	`PROJ_SPHERICAL_ORTHO` enum cv::UndistortTypes
`static int`	`RANSAC` enum cv::
`static int`	`RHO` enum cv::
`static int`	`SAMPLING_NAPSAC` enum cv::SamplingMethod
`static int`	`SAMPLING_PROGRESSIVE_NAPSAC` enum cv::SamplingMethod
`static int`	`SAMPLING_PROSAC` enum cv::SamplingMethod
`static int`	`SAMPLING_UNIFORM` enum cv::SamplingMethod
`static int`	`SCORE_METHOD_LMEDS` enum cv::ScoreMethod
`static int`	`SCORE_METHOD_MAGSAC` enum cv::ScoreMethod
`static int`	`SCORE_METHOD_MSAC` enum cv::ScoreMethod
`static int`	`SCORE_METHOD_RANSAC` enum cv::ScoreMethod
`static int`	`SOLVEPNP_AP3P` enum cv::SolvePnPMethod
`static int`	`SOLVEPNP_DLS` enum cv::SolvePnPMethod
`static int`	`SOLVEPNP_EPNP` enum cv::SolvePnPMethod
`static int`	`SOLVEPNP_IPPE` enum cv::SolvePnPMethod
`static int`	`SOLVEPNP_IPPE_SQUARE` enum cv::SolvePnPMethod
`static int`	`SOLVEPNP_ITERATIVE` enum cv::SolvePnPMethod
`static int`	`SOLVEPNP_MAX_COUNT` enum cv::SolvePnPMethod
`static int`	`SOLVEPNP_P3P` enum cv::SolvePnPMethod
`static int`	`SOLVEPNP_SQPNP` enum cv::SolvePnPMethod
`static int`	`SOLVEPNP_UPNP` enum cv::SolvePnPMethod
`static int`	`USAC_ACCURATE` enum cv::
`static int`	`USAC_DEFAULT` enum cv::
`static int`	`USAC_FAST` enum cv::
`static int`	`USAC_FM_8PTS` enum cv::
`static int`	`USAC_MAGSAC` enum cv::
`static int`	`USAC_PARALLEL` enum cv::
`static int`	`USAC_PROSAC` enum cv::

Constructor Summary

Constructors
Constructor and Description

opencv_calib3d()

Constructors
Constructor and Description
`opencv_calib3d()`

Method Summary

All Methods Static Methods Concrete Methods
Modifier and Type	Method and Description
`static double`	`calibrate(GpuMatVector objectPoints, GpuMatVector imagePoints, Size image_size, GpuMat K, GpuMat D, GpuMatVector rvecs, GpuMatVector tvecs)`
`static double`	`calibrate(GpuMatVector objectPoints, GpuMatVector imagePoints, Size image_size, GpuMat K, GpuMat D, GpuMatVector rvecs, GpuMatVector tvecs, int flags, TermCriteria criteria)`
`static double`	`calibrate(GpuMatVector objectPoints, GpuMatVector imagePoints, Size image_size, Mat K, Mat D, GpuMatVector rvecs, GpuMatVector tvecs)`
`static double`	`calibrate(GpuMatVector objectPoints, GpuMatVector imagePoints, Size image_size, Mat K, Mat D, GpuMatVector rvecs, GpuMatVector tvecs, int flags, TermCriteria criteria)`
`static double`	`calibrate(GpuMatVector objectPoints, GpuMatVector imagePoints, Size image_size, UMat K, UMat D, GpuMatVector rvecs, GpuMatVector tvecs)`
`static double`	`calibrate(GpuMatVector objectPoints, GpuMatVector imagePoints, Size image_size, UMat K, UMat D, GpuMatVector rvecs, GpuMatVector tvecs, int flags, TermCriteria criteria)`
`static double`	`calibrate(MatVector objectPoints, MatVector imagePoints, Size image_size, GpuMat K, GpuMat D, MatVector rvecs, MatVector tvecs)`
`static double`	`calibrate(MatVector objectPoints, MatVector imagePoints, Size image_size, GpuMat K, GpuMat D, MatVector rvecs, MatVector tvecs, int flags, TermCriteria criteria)`
`static double`	`calibrate(MatVector objectPoints, MatVector imagePoints, Size image_size, Mat K, Mat D, MatVector rvecs, MatVector tvecs)`
`static double`	`calibrate(MatVector objectPoints, MatVector imagePoints, Size image_size, Mat K, Mat D, MatVector rvecs, MatVector tvecs, int flags, TermCriteria criteria)` \brief Performs camera calibaration
`static double`	`calibrate(MatVector objectPoints, MatVector imagePoints, Size image_size, UMat K, UMat D, MatVector rvecs, MatVector tvecs)`
`static double`	`calibrate(MatVector objectPoints, MatVector imagePoints, Size image_size, UMat K, UMat D, MatVector rvecs, MatVector tvecs, int flags, TermCriteria criteria)`
`static double`	`calibrate(UMatVector objectPoints, UMatVector imagePoints, Size image_size, GpuMat K, GpuMat D, UMatVector rvecs, UMatVector tvecs)`
`static double`	`calibrate(UMatVector objectPoints, UMatVector imagePoints, Size image_size, GpuMat K, GpuMat D, UMatVector rvecs, UMatVector tvecs, int flags, TermCriteria criteria)`
`static double`	`calibrate(UMatVector objectPoints, UMatVector imagePoints, Size image_size, Mat K, Mat D, UMatVector rvecs, UMatVector tvecs)`
`static double`	`calibrate(UMatVector objectPoints, UMatVector imagePoints, Size image_size, Mat K, Mat D, UMatVector rvecs, UMatVector tvecs, int flags, TermCriteria criteria)`
`static double`	`calibrate(UMatVector objectPoints, UMatVector imagePoints, Size image_size, UMat K, UMat D, UMatVector rvecs, UMatVector tvecs)`
`static double`	`calibrate(UMatVector objectPoints, UMatVector imagePoints, Size image_size, UMat K, UMat D, UMatVector rvecs, UMatVector tvecs, int flags, TermCriteria criteria)`
`static double`	`calibrateCamera(Point3fVectorVector objectPoints, Point2fVectorVector imagePoints, Size imageSize, Mat cameraMatrix, Mat distCoeffs, MatVector rvecs, MatVector tvecs)`
`static double`	`calibrateCamera(Point3fVectorVector objectPoints, Point2fVectorVector imagePoints, Size imageSize, Mat cameraMatrix, Mat distCoeffs, MatVector rvecs, MatVector tvecs, int flags, TermCriteria criteria)`
`static double`	`calibrateCameraExtended(Point3fVectorVector objectPoints, Point2fVectorVector imagePoints, Size imageSize, Mat cameraMatrix, Mat distCoeffs, MatVector rvecs, MatVector tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors)`
`static double`	`calibrateCameraExtended(Point3fVectorVector objectPoints, Point2fVectorVector imagePoints, Size imageSize, Mat cameraMatrix, Mat distCoeffs, MatVector rvecs, MatVector tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors, int flags, TermCriteria criteria)` \brief Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern.
`static double`	`calibrateCameraRO(Point3fVectorVector objectPoints, Point2fVectorVector imagePoints, Size imageSize, int iFixedPoint, Mat cameraMatrix, Mat distCoeffs, MatVector rvecs, MatVector tvecs, Mat newObjPoints)`
`static double`	`calibrateCameraRO(Point3fVectorVector objectPoints, Point2fVectorVector imagePoints, Size imageSize, int iFixedPoint, Mat cameraMatrix, Mat distCoeffs, MatVector rvecs, MatVector tvecs, Mat newObjPoints, int flags, TermCriteria criteria)`
`static double`	`calibrateCameraROExtended(Point3fVectorVector objectPoints, Point2fVectorVector imagePoints, Size imageSize, int iFixedPoint, Mat cameraMatrix, Mat distCoeffs, MatVector rvecs, MatVector tvecs, Mat newObjPoints, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat stdDeviationsObjPoints, Mat perViewErrors)`
`static double`	`calibrateCameraROExtended(Point3fVectorVector objectPoints, Point2fVectorVector imagePoints, Size imageSize, int iFixedPoint, Mat cameraMatrix, Mat distCoeffs, MatVector rvecs, MatVector tvecs, Mat newObjPoints, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat stdDeviationsObjPoints, Mat perViewErrors, int flags, TermCriteria criteria)` \brief Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern.
`static void`	`calibrateHandEye(GpuMatVector R_gripper2base, GpuMatVector t_gripper2base, GpuMatVector R_target2cam, GpuMatVector t_target2cam, GpuMat R_cam2gripper, GpuMat t_cam2gripper)`
`static void`	`calibrateHandEye(GpuMatVector R_gripper2base, GpuMatVector t_gripper2base, GpuMatVector R_target2cam, GpuMatVector t_target2cam, GpuMat R_cam2gripper, GpuMat t_cam2gripper, int method)`
`static void`	`calibrateHandEye(GpuMatVector R_gripper2base, GpuMatVector t_gripper2base, GpuMatVector R_target2cam, GpuMatVector t_target2cam, Mat R_cam2gripper, Mat t_cam2gripper)`
`static void`	`calibrateHandEye(GpuMatVector R_gripper2base, GpuMatVector t_gripper2base, GpuMatVector R_target2cam, GpuMatVector t_target2cam, Mat R_cam2gripper, Mat t_cam2gripper, int method)`
`static void`	`calibrateHandEye(GpuMatVector R_gripper2base, GpuMatVector t_gripper2base, GpuMatVector R_target2cam, GpuMatVector t_target2cam, UMat R_cam2gripper, UMat t_cam2gripper)`
`static void`	`calibrateHandEye(GpuMatVector R_gripper2base, GpuMatVector t_gripper2base, GpuMatVector R_target2cam, GpuMatVector t_target2cam, UMat R_cam2gripper, UMat t_cam2gripper, int method)`
`static void`	`calibrateHandEye(MatVector R_gripper2base, MatVector t_gripper2base, MatVector R_target2cam, MatVector t_target2cam, GpuMat R_cam2gripper, GpuMat t_cam2gripper)`
`static void`	`calibrateHandEye(MatVector R_gripper2base, MatVector t_gripper2base, MatVector R_target2cam, MatVector t_target2cam, GpuMat R_cam2gripper, GpuMat t_cam2gripper, int method)`
`static void`	`calibrateHandEye(MatVector R_gripper2base, MatVector t_gripper2base, MatVector R_target2cam, MatVector t_target2cam, Mat R_cam2gripper, Mat t_cam2gripper)`
`static void`	`calibrateHandEye(MatVector R_gripper2base, MatVector t_gripper2base, MatVector R_target2cam, MatVector t_target2cam, Mat R_cam2gripper, Mat t_cam2gripper, int method)` \brief Computes Hand-Eye calibration: `_{}^{g}\textrm{T}_c`
`static void`	`calibrateHandEye(MatVector R_gripper2base, MatVector t_gripper2base, MatVector R_target2cam, MatVector t_target2cam, UMat R_cam2gripper, UMat t_cam2gripper)`
`static void`	`calibrateHandEye(MatVector R_gripper2base, MatVector t_gripper2base, MatVector R_target2cam, MatVector t_target2cam, UMat R_cam2gripper, UMat t_cam2gripper, int method)`
`static void`	`calibrateHandEye(UMatVector R_gripper2base, UMatVector t_gripper2base, UMatVector R_target2cam, UMatVector t_target2cam, GpuMat R_cam2gripper, GpuMat t_cam2gripper)`
`static void`	`calibrateHandEye(UMatVector R_gripper2base, UMatVector t_gripper2base, UMatVector R_target2cam, UMatVector t_target2cam, GpuMat R_cam2gripper, GpuMat t_cam2gripper, int method)`
`static void`	`calibrateHandEye(UMatVector R_gripper2base, UMatVector t_gripper2base, UMatVector R_target2cam, UMatVector t_target2cam, Mat R_cam2gripper, Mat t_cam2gripper)`
`static void`	`calibrateHandEye(UMatVector R_gripper2base, UMatVector t_gripper2base, UMatVector R_target2cam, UMatVector t_target2cam, Mat R_cam2gripper, Mat t_cam2gripper, int method)`
`static void`	`calibrateHandEye(UMatVector R_gripper2base, UMatVector t_gripper2base, UMatVector R_target2cam, UMatVector t_target2cam, UMat R_cam2gripper, UMat t_cam2gripper)`
`static void`	`calibrateHandEye(UMatVector R_gripper2base, UMatVector t_gripper2base, UMatVector R_target2cam, UMatVector t_target2cam, UMat R_cam2gripper, UMat t_cam2gripper, int method)`
`static void`	`calibrateRobotWorldHandEye(GpuMatVector R_world2cam, GpuMatVector t_world2cam, GpuMatVector R_base2gripper, GpuMatVector t_base2gripper, GpuMat R_base2world, GpuMat t_base2world, GpuMat R_gripper2cam, GpuMat t_gripper2cam)`
`static void`	`calibrateRobotWorldHandEye(GpuMatVector R_world2cam, GpuMatVector t_world2cam, GpuMatVector R_base2gripper, GpuMatVector t_base2gripper, GpuMat R_base2world, GpuMat t_base2world, GpuMat R_gripper2cam, GpuMat t_gripper2cam, int method)`
`static void`	`calibrateRobotWorldHandEye(GpuMatVector R_world2cam, GpuMatVector t_world2cam, GpuMatVector R_base2gripper, GpuMatVector t_base2gripper, Mat R_base2world, Mat t_base2world, Mat R_gripper2cam, Mat t_gripper2cam)`
`static void`	`calibrateRobotWorldHandEye(GpuMatVector R_world2cam, GpuMatVector t_world2cam, GpuMatVector R_base2gripper, GpuMatVector t_base2gripper, Mat R_base2world, Mat t_base2world, Mat R_gripper2cam, Mat t_gripper2cam, int method)`
`static void`	`calibrateRobotWorldHandEye(GpuMatVector R_world2cam, GpuMatVector t_world2cam, GpuMatVector R_base2gripper, GpuMatVector t_base2gripper, UMat R_base2world, UMat t_base2world, UMat R_gripper2cam, UMat t_gripper2cam)`
`static void`	`calibrateRobotWorldHandEye(GpuMatVector R_world2cam, GpuMatVector t_world2cam, GpuMatVector R_base2gripper, GpuMatVector t_base2gripper, UMat R_base2world, UMat t_base2world, UMat R_gripper2cam, UMat t_gripper2cam, int method)`
`static void`	`calibrateRobotWorldHandEye(MatVector R_world2cam, MatVector t_world2cam, MatVector R_base2gripper, MatVector t_base2gripper, GpuMat R_base2world, GpuMat t_base2world, GpuMat R_gripper2cam, GpuMat t_gripper2cam)`
`static void`	`calibrateRobotWorldHandEye(MatVector R_world2cam, MatVector t_world2cam, MatVector R_base2gripper, MatVector t_base2gripper, GpuMat R_base2world, GpuMat t_base2world, GpuMat R_gripper2cam, GpuMat t_gripper2cam, int method)`
`static void`	`calibrateRobotWorldHandEye(MatVector R_world2cam, MatVector t_world2cam, MatVector R_base2gripper, MatVector t_base2gripper, Mat R_base2world, Mat t_base2world, Mat R_gripper2cam, Mat t_gripper2cam)`
`static void`	`calibrateRobotWorldHandEye(MatVector R_world2cam, MatVector t_world2cam, MatVector R_base2gripper, MatVector t_base2gripper, Mat R_base2world, Mat t_base2world, Mat R_gripper2cam, Mat t_gripper2cam, int method)` \brief Computes Robot-World/Hand-Eye calibration: `_{}^{w}\textrm{T}_b` and `_{}^{c}\textrm{T}_g`
`static void`	`calibrateRobotWorldHandEye(MatVector R_world2cam, MatVector t_world2cam, MatVector R_base2gripper, MatVector t_base2gripper, UMat R_base2world, UMat t_base2world, UMat R_gripper2cam, UMat t_gripper2cam)`
`static void`	`calibrateRobotWorldHandEye(MatVector R_world2cam, MatVector t_world2cam, MatVector R_base2gripper, MatVector t_base2gripper, UMat R_base2world, UMat t_base2world, UMat R_gripper2cam, UMat t_gripper2cam, int method)`
`static void`	`calibrateRobotWorldHandEye(UMatVector R_world2cam, UMatVector t_world2cam, UMatVector R_base2gripper, UMatVector t_base2gripper, GpuMat R_base2world, GpuMat t_base2world, GpuMat R_gripper2cam, GpuMat t_gripper2cam)`
`static void`	`calibrateRobotWorldHandEye(UMatVector R_world2cam, UMatVector t_world2cam, UMatVector R_base2gripper, UMatVector t_base2gripper, GpuMat R_base2world, GpuMat t_base2world, GpuMat R_gripper2cam, GpuMat t_gripper2cam, int method)`
`static void`	`calibrateRobotWorldHandEye(UMatVector R_world2cam, UMatVector t_world2cam, UMatVector R_base2gripper, UMatVector t_base2gripper, Mat R_base2world, Mat t_base2world, Mat R_gripper2cam, Mat t_gripper2cam)`
`static void`	`calibrateRobotWorldHandEye(UMatVector R_world2cam, UMatVector t_world2cam, UMatVector R_base2gripper, UMatVector t_base2gripper, Mat R_base2world, Mat t_base2world, Mat R_gripper2cam, Mat t_gripper2cam, int method)`
`static void`	`calibrateRobotWorldHandEye(UMatVector R_world2cam, UMatVector t_world2cam, UMatVector R_base2gripper, UMatVector t_base2gripper, UMat R_base2world, UMat t_base2world, UMat R_gripper2cam, UMat t_gripper2cam)`
`static void`	`calibrateRobotWorldHandEye(UMatVector R_world2cam, UMatVector t_world2cam, UMatVector R_base2gripper, UMatVector t_base2gripper, UMat R_base2world, UMat t_base2world, UMat R_gripper2cam, UMat t_gripper2cam, int method)`
`static void`	`calibrationMatrixValues(GpuMat cameraMatrix, Size imageSize, double apertureWidth, double apertureHeight, double[] fovx, double[] fovy, double[] focalLength, Point2d principalPoint, double[] aspectRatio)`
`static void`	`calibrationMatrixValues(GpuMat cameraMatrix, Size imageSize, double apertureWidth, double apertureHeight, DoubleBuffer fovx, DoubleBuffer fovy, DoubleBuffer focalLength, Point2d principalPoint, DoubleBuffer aspectRatio)`
`static void`	`calibrationMatrixValues(GpuMat cameraMatrix, Size imageSize, double apertureWidth, double apertureHeight, DoublePointer fovx, DoublePointer fovy, DoublePointer focalLength, Point2d principalPoint, DoublePointer aspectRatio)`
`static void`	`calibrationMatrixValues(Mat cameraMatrix, Size imageSize, double apertureWidth, double apertureHeight, double[] fovx, double[] fovy, double[] focalLength, Point2d principalPoint, double[] aspectRatio)`
`static void`	`calibrationMatrixValues(Mat cameraMatrix, Size imageSize, double apertureWidth, double apertureHeight, DoubleBuffer fovx, DoubleBuffer fovy, DoubleBuffer focalLength, Point2d principalPoint, DoubleBuffer aspectRatio)`
`static void`	`calibrationMatrixValues(Mat cameraMatrix, Size imageSize, double apertureWidth, double apertureHeight, DoublePointer fovx, DoublePointer fovy, DoublePointer focalLength, Point2d principalPoint, DoublePointer aspectRatio)` \brief Computes useful camera characteristics from the camera intrinsic matrix.
`static void`	`calibrationMatrixValues(UMat cameraMatrix, Size imageSize, double apertureWidth, double apertureHeight, double[] fovx, double[] fovy, double[] focalLength, Point2d principalPoint, double[] aspectRatio)`
`static void`	`calibrationMatrixValues(UMat cameraMatrix, Size imageSize, double apertureWidth, double apertureHeight, DoubleBuffer fovx, DoubleBuffer fovy, DoubleBuffer focalLength, Point2d principalPoint, DoubleBuffer aspectRatio)`
`static void`	`calibrationMatrixValues(UMat cameraMatrix, Size imageSize, double apertureWidth, double apertureHeight, DoublePointer fovx, DoublePointer fovy, DoublePointer focalLength, Point2d principalPoint, DoublePointer aspectRatio)`
`static boolean`	`checkChessboard(GpuMat img, Size size)`
`static boolean`	`checkChessboard(Mat img, Size size)`
`static boolean`	`checkChessboard(UMat img, Size size)`
`static void`	`composeRT(GpuMat rvec1, GpuMat tvec1, GpuMat rvec2, GpuMat tvec2, GpuMat rvec3, GpuMat tvec3)`
`static void`	`composeRT(GpuMat rvec1, GpuMat tvec1, GpuMat rvec2, GpuMat tvec2, GpuMat rvec3, GpuMat tvec3, GpuMat dr3dr1, GpuMat dr3dt1, GpuMat dr3dr2, GpuMat dr3dt2, GpuMat dt3dr1, GpuMat dt3dt1, GpuMat dt3dr2, GpuMat dt3dt2)`
`static void`	`composeRT(Mat rvec1, Mat tvec1, Mat rvec2, Mat tvec2, Mat rvec3, Mat tvec3)`
`static void`	`composeRT(Mat rvec1, Mat tvec1, Mat rvec2, Mat tvec2, Mat rvec3, Mat tvec3, Mat dr3dr1, Mat dr3dt1, Mat dr3dr2, Mat dr3dt2, Mat dt3dr1, Mat dt3dt1, Mat dt3dr2, Mat dt3dt2)` \brief Combines two rotation-and-shift transformations.
`static void`	`composeRT(UMat rvec1, UMat tvec1, UMat rvec2, UMat tvec2, UMat rvec3, UMat tvec3)`
`static void`	`composeRT(UMat rvec1, UMat tvec1, UMat rvec2, UMat tvec2, UMat rvec3, UMat tvec3, UMat dr3dr1, UMat dr3dt1, UMat dr3dr2, UMat dr3dt2, UMat dt3dr1, UMat dt3dt1, UMat dt3dr2, UMat dt3dt2)`
`static void`	`computeCorrespondEpilines(GpuMat points, int whichImage, GpuMat F, GpuMat lines)`
`static void`	`computeCorrespondEpilines(Mat points, int whichImage, Mat F, Mat lines)` \brief For points in an image of a stereo pair, computes the corresponding epilines in the other image.
`static void`	`computeCorrespondEpilines(UMat points, int whichImage, UMat F, UMat lines)`
`static void`	`convertPointsFromHomogeneous(GpuMat src, GpuMat dst)`
`static void`	`convertPointsFromHomogeneous(Mat src, Mat dst)` \brief Converts points from homogeneous to Euclidean space.
`static void`	`convertPointsFromHomogeneous(UMat src, UMat dst)`
`static void`	`convertPointsHomogeneous(GpuMat src, GpuMat dst)`
`static void`	`convertPointsHomogeneous(Mat src, Mat dst)` \brief Converts points to/from homogeneous coordinates.
`static void`	`convertPointsHomogeneous(UMat src, UMat dst)`
`static void`	`convertPointsToHomogeneous(GpuMat src, GpuMat dst)`
`static void`	`convertPointsToHomogeneous(Mat src, Mat dst)` \brief Converts points from Euclidean to homogeneous space.
`static void`	`convertPointsToHomogeneous(UMat src, UMat dst)`
`static void`	`correctMatches(GpuMat F, GpuMat points1, GpuMat points2, GpuMat newPoints1, GpuMat newPoints2)`
`static void`	`correctMatches(Mat F, Mat points1, Mat points2, Mat newPoints1, Mat newPoints2)` \brief Refines coordinates of corresponding points.
`static void`	`correctMatches(UMat F, UMat points1, UMat points2, UMat newPoints1, UMat newPoints2)`
`static void`	`decomposeEssentialMat(GpuMat E, GpuMat R1, GpuMat R2, GpuMat t)`
`static void`	`decomposeEssentialMat(Mat E, Mat R1, Mat R2, Mat t)` \brief Decompose an essential matrix to possible rotations and translation.
`static void`	`decomposeEssentialMat(UMat E, UMat R1, UMat R2, UMat t)`
`static int`	`decomposeHomographyMat(GpuMat H, GpuMat K, GpuMatVector rotations, GpuMatVector translations, GpuMatVector normals)`
`static int`	`decomposeHomographyMat(GpuMat H, GpuMat K, MatVector rotations, MatVector translations, MatVector normals)`
`static int`	`decomposeHomographyMat(GpuMat H, GpuMat K, UMatVector rotations, UMatVector translations, UMatVector normals)`
`static int`	`decomposeHomographyMat(Mat H, Mat K, GpuMatVector rotations, GpuMatVector translations, GpuMatVector normals)`
`static int`	`decomposeHomographyMat(Mat H, Mat K, MatVector rotations, MatVector translations, MatVector normals)` \brief Decompose a homography matrix to rotation(s), translation(s) and plane normal(s).
`static int`	`decomposeHomographyMat(Mat H, Mat K, UMatVector rotations, UMatVector translations, UMatVector normals)`
`static int`	`decomposeHomographyMat(UMat H, UMat K, GpuMatVector rotations, GpuMatVector translations, GpuMatVector normals)`
`static int`	`decomposeHomographyMat(UMat H, UMat K, MatVector rotations, MatVector translations, MatVector normals)`
`static int`	`decomposeHomographyMat(UMat H, UMat K, UMatVector rotations, UMatVector translations, UMatVector normals)`
`static void`	`decomposeProjectionMatrix(GpuMat projMatrix, GpuMat cameraMatrix, GpuMat rotMatrix, GpuMat transVect)`
`static void`	`decomposeProjectionMatrix(GpuMat projMatrix, GpuMat cameraMatrix, GpuMat rotMatrix, GpuMat transVect, GpuMat rotMatrixX, GpuMat rotMatrixY, GpuMat rotMatrixZ, GpuMat eulerAngles)`
`static void`	`decomposeProjectionMatrix(Mat projMatrix, Mat cameraMatrix, Mat rotMatrix, Mat transVect)`
`static void`	`decomposeProjectionMatrix(Mat projMatrix, Mat cameraMatrix, Mat rotMatrix, Mat transVect, Mat rotMatrixX, Mat rotMatrixY, Mat rotMatrixZ, Mat eulerAngles)` \brief Decomposes a projection matrix into a rotation matrix and a camera intrinsic matrix.
`static void`	`decomposeProjectionMatrix(UMat projMatrix, UMat cameraMatrix, UMat rotMatrix, UMat transVect)`
`static void`	`decomposeProjectionMatrix(UMat projMatrix, UMat cameraMatrix, UMat rotMatrix, UMat transVect, UMat rotMatrixX, UMat rotMatrixY, UMat rotMatrixZ, UMat eulerAngles)`
`static void`	`distortPoints(GpuMat undistorted, GpuMat distorted, GpuMat K, GpuMat D)`
`static void`	`distortPoints(GpuMat undistorted, GpuMat distorted, GpuMat K, GpuMat D, double alpha)`
`static void`	`distortPoints(Mat undistorted, Mat distorted, Mat K, Mat D)`
`static void`	`distortPoints(Mat undistorted, Mat distorted, Mat K, Mat D, double alpha)` \brief Distorts 2D points using fisheye model.
`static void`	`distortPoints(UMat undistorted, UMat distorted, UMat K, UMat D)`
`static void`	`distortPoints(UMat undistorted, UMat distorted, UMat K, UMat D, double alpha)`
`static void`	`drawChessboardCorners(GpuMat image, Size patternSize, GpuMat corners, boolean patternWasFound)`
`static void`	`drawChessboardCorners(Mat image, Size patternSize, Mat corners, boolean patternWasFound)` \brief Renders the detected chessboard corners.
`static void`	`drawChessboardCorners(UMat image, Size patternSize, UMat corners, boolean patternWasFound)`
`static void`	`drawFrameAxes(GpuMat image, GpuMat cameraMatrix, GpuMat distCoeffs, GpuMat rvec, GpuMat tvec, float length)`
`static void`	`drawFrameAxes(GpuMat image, GpuMat cameraMatrix, GpuMat distCoeffs, GpuMat rvec, GpuMat tvec, float length, int thickness)`
`static void`	`drawFrameAxes(Mat image, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec, float length)`
`static void`	`drawFrameAxes(Mat image, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec, float length, int thickness)` \brief Draw axes of the world/object coordinate system from pose estimation.
`static void`	`drawFrameAxes(UMat image, UMat cameraMatrix, UMat distCoeffs, UMat rvec, UMat tvec, float length)`
`static void`	`drawFrameAxes(UMat image, UMat cameraMatrix, UMat distCoeffs, UMat rvec, UMat tvec, float length, int thickness)`
`static Mat`	`estimateAffine2D(GpuMat from, GpuMat to)`
`static Mat`	`estimateAffine2D(GpuMat from, GpuMat to, GpuMat inliers, int method, double ransacReprojThreshold, long maxIters, double confidence, long refineIters)`
`static Mat`	`estimateAffine2D(GpuMat pts1, GpuMat pts2, GpuMat inliers, UsacParams params)`
`static Mat`	`estimateAffine2D(Mat from, Mat to)`
`static Mat`	`estimateAffine2D(Mat from, Mat to, Mat inliers, int method, double ransacReprojThreshold, long maxIters, double confidence, long refineIters)` \brief Computes an optimal affine transformation between two 2D point sets.
`static Mat`	`estimateAffine2D(Mat pts1, Mat pts2, Mat inliers, UsacParams params)`
`static Mat`	`estimateAffine2D(UMat from, UMat to)`
`static Mat`	`estimateAffine2D(UMat from, UMat to, UMat inliers, int method, double ransacReprojThreshold, long maxIters, double confidence, long refineIters)`
`static Mat`	`estimateAffine2D(UMat pts1, UMat pts2, UMat inliers, UsacParams params)`
`static Mat`	`estimateAffine3D(GpuMat src, GpuMat dst)`
`static Mat`	`estimateAffine3D(GpuMat src, GpuMat dst, double[] scale, boolean force_rotation)`
`static Mat`	`estimateAffine3D(GpuMat src, GpuMat dst, DoubleBuffer scale, boolean force_rotation)`
`static Mat`	`estimateAffine3D(GpuMat src, GpuMat dst, DoublePointer scale, boolean force_rotation)`
`static int`	`estimateAffine3D(GpuMat src, GpuMat dst, GpuMat out, GpuMat inliers)`
`static int`	`estimateAffine3D(GpuMat src, GpuMat dst, GpuMat out, GpuMat inliers, double ransacThreshold, double confidence)`
`static Mat`	`estimateAffine3D(Mat src, Mat dst)`
`static Mat`	`estimateAffine3D(Mat src, Mat dst, double[] scale, boolean force_rotation)`
`static Mat`	`estimateAffine3D(Mat src, Mat dst, DoubleBuffer scale, boolean force_rotation)`
`static Mat`	`estimateAffine3D(Mat src, Mat dst, DoublePointer scale, boolean force_rotation)` \brief Computes an optimal affine transformation between two 3D point sets.
`static int`	`estimateAffine3D(Mat src, Mat dst, Mat out, Mat inliers)`
`static int`	`estimateAffine3D(Mat src, Mat dst, Mat out, Mat inliers, double ransacThreshold, double confidence)` \brief Computes an optimal affine transformation between two 3D point sets.
`static Mat`	`estimateAffine3D(UMat src, UMat dst)`
`static Mat`	`estimateAffine3D(UMat src, UMat dst, double[] scale, boolean force_rotation)`
`static Mat`	`estimateAffine3D(UMat src, UMat dst, DoubleBuffer scale, boolean force_rotation)`
`static Mat`	`estimateAffine3D(UMat src, UMat dst, DoublePointer scale, boolean force_rotation)`
`static int`	`estimateAffine3D(UMat src, UMat dst, UMat out, UMat inliers)`
`static int`	`estimateAffine3D(UMat src, UMat dst, UMat out, UMat inliers, double ransacThreshold, double confidence)`
`static Mat`	`estimateAffinePartial2D(GpuMat from, GpuMat to)`
`static Mat`	`estimateAffinePartial2D(GpuMat from, GpuMat to, GpuMat inliers, int method, double ransacReprojThreshold, long maxIters, double confidence, long refineIters)`
`static Mat`	`estimateAffinePartial2D(Mat from, Mat to)`
`static Mat`	`estimateAffinePartial2D(Mat from, Mat to, Mat inliers, int method, double ransacReprojThreshold, long maxIters, double confidence, long refineIters)` \brief Computes an optimal limited affine transformation with 4 degrees of freedom between two 2D point sets.
`static Mat`	`estimateAffinePartial2D(UMat from, UMat to)`
`static Mat`	`estimateAffinePartial2D(UMat from, UMat to, UMat inliers, int method, double ransacReprojThreshold, long maxIters, double confidence, long refineIters)`
`static Scalar`	`estimateChessboardSharpness(GpuMat image, Size patternSize, GpuMat corners)`
`static Scalar`	`estimateChessboardSharpness(GpuMat image, Size patternSize, GpuMat corners, float rise_distance, boolean vertical, GpuMat sharpness)`
`static Scalar`	`estimateChessboardSharpness(Mat image, Size patternSize, Mat corners)`
`static Scalar`	`estimateChessboardSharpness(Mat image, Size patternSize, Mat corners, float rise_distance, boolean vertical, Mat sharpness)` \brief Estimates the sharpness of a detected chessboard.
`static Scalar`	`estimateChessboardSharpness(UMat image, Size patternSize, UMat corners)`
`static Scalar`	`estimateChessboardSharpness(UMat image, Size patternSize, UMat corners, float rise_distance, boolean vertical, UMat sharpness)`
`static void`	`estimateNewCameraMatrixForUndistortRectify(GpuMat K, GpuMat D, Size image_size, GpuMat R, GpuMat P)`
`static void`	`estimateNewCameraMatrixForUndistortRectify(GpuMat K, GpuMat D, Size image_size, GpuMat R, GpuMat P, double balance, Size new_size, double fov_scale)`
`static void`	`estimateNewCameraMatrixForUndistortRectify(Mat K, Mat D, Size image_size, Mat R, Mat P)`
`static void`	`estimateNewCameraMatrixForUndistortRectify(Mat K, Mat D, Size image_size, Mat R, Mat P, double balance, Size new_size, double fov_scale)` \brief Estimates new camera intrinsic matrix for undistortion or rectification.
`static void`	`estimateNewCameraMatrixForUndistortRectify(UMat K, UMat D, Size image_size, UMat R, UMat P)`
`static void`	`estimateNewCameraMatrixForUndistortRectify(UMat K, UMat D, Size image_size, UMat R, UMat P, double balance, Size new_size, double fov_scale)`
`static int`	`estimateTranslation3D(GpuMat src, GpuMat dst, GpuMat out, GpuMat inliers)`
`static int`	`estimateTranslation3D(GpuMat src, GpuMat dst, GpuMat out, GpuMat inliers, double ransacThreshold, double confidence)`
`static int`	`estimateTranslation3D(Mat src, Mat dst, Mat out, Mat inliers)`
`static int`	`estimateTranslation3D(Mat src, Mat dst, Mat out, Mat inliers, double ransacThreshold, double confidence)` \brief Computes an optimal translation between two 3D point sets.
`static int`	`estimateTranslation3D(UMat src, UMat dst, UMat out, UMat inliers)`
`static int`	`estimateTranslation3D(UMat src, UMat dst, UMat out, UMat inliers, double ransacThreshold, double confidence)`
`static void`	`filterHomographyDecompByVisibleRefpoints(GpuMatVector rotations, GpuMatVector normals, GpuMat beforePoints, GpuMat afterPoints, GpuMat possibleSolutions)`
`static void`	`filterHomographyDecompByVisibleRefpoints(GpuMatVector rotations, GpuMatVector normals, GpuMat beforePoints, GpuMat afterPoints, GpuMat possibleSolutions, GpuMat pointsMask)`
`static void`	`filterHomographyDecompByVisibleRefpoints(GpuMatVector rotations, GpuMatVector normals, Mat beforePoints, Mat afterPoints, Mat possibleSolutions)`
`static void`	`filterHomographyDecompByVisibleRefpoints(GpuMatVector rotations, GpuMatVector normals, Mat beforePoints, Mat afterPoints, Mat possibleSolutions, Mat pointsMask)`
`static void`	`filterHomographyDecompByVisibleRefpoints(GpuMatVector rotations, GpuMatVector normals, UMat beforePoints, UMat afterPoints, UMat possibleSolutions)`
`static void`	`filterHomographyDecompByVisibleRefpoints(GpuMatVector rotations, GpuMatVector normals, UMat beforePoints, UMat afterPoints, UMat possibleSolutions, UMat pointsMask)`
`static void`	`filterHomographyDecompByVisibleRefpoints(MatVector rotations, MatVector normals, GpuMat beforePoints, GpuMat afterPoints, GpuMat possibleSolutions)`
`static void`	`filterHomographyDecompByVisibleRefpoints(MatVector rotations, MatVector normals, GpuMat beforePoints, GpuMat afterPoints, GpuMat possibleSolutions, GpuMat pointsMask)`
`static void`	`filterHomographyDecompByVisibleRefpoints(MatVector rotations, MatVector normals, Mat beforePoints, Mat afterPoints, Mat possibleSolutions)`
`static void`	`filterHomographyDecompByVisibleRefpoints(MatVector rotations, MatVector normals, Mat beforePoints, Mat afterPoints, Mat possibleSolutions, Mat pointsMask)` \brief Filters homography decompositions based on additional information.
`static void`	`filterHomographyDecompByVisibleRefpoints(MatVector rotations, MatVector normals, UMat beforePoints, UMat afterPoints, UMat possibleSolutions)`
`static void`	`filterHomographyDecompByVisibleRefpoints(MatVector rotations, MatVector normals, UMat beforePoints, UMat afterPoints, UMat possibleSolutions, UMat pointsMask)`
`static void`	`filterHomographyDecompByVisibleRefpoints(UMatVector rotations, UMatVector normals, GpuMat beforePoints, GpuMat afterPoints, GpuMat possibleSolutions)`
`static void`	`filterHomographyDecompByVisibleRefpoints(UMatVector rotations, UMatVector normals, GpuMat beforePoints, GpuMat afterPoints, GpuMat possibleSolutions, GpuMat pointsMask)`
`static void`	`filterHomographyDecompByVisibleRefpoints(UMatVector rotations, UMatVector normals, Mat beforePoints, Mat afterPoints, Mat possibleSolutions)`
`static void`	`filterHomographyDecompByVisibleRefpoints(UMatVector rotations, UMatVector normals, Mat beforePoints, Mat afterPoints, Mat possibleSolutions, Mat pointsMask)`
`static void`	`filterHomographyDecompByVisibleRefpoints(UMatVector rotations, UMatVector normals, UMat beforePoints, UMat afterPoints, UMat possibleSolutions)`
`static void`	`filterHomographyDecompByVisibleRefpoints(UMatVector rotations, UMatVector normals, UMat beforePoints, UMat afterPoints, UMat possibleSolutions, UMat pointsMask)`
`static void`	`filterSpeckles(GpuMat img, double newVal, int maxSpeckleSize, double maxDiff)`
`static void`	`filterSpeckles(GpuMat img, double newVal, int maxSpeckleSize, double maxDiff, GpuMat buf)`
`static void`	`filterSpeckles(Mat img, double newVal, int maxSpeckleSize, double maxDiff)`
`static void`	`filterSpeckles(Mat img, double newVal, int maxSpeckleSize, double maxDiff, Mat buf)` \brief Filters off small noise blobs (speckles) in the disparity map
`static void`	`filterSpeckles(UMat img, double newVal, int maxSpeckleSize, double maxDiff)`
`static void`	`filterSpeckles(UMat img, double newVal, int maxSpeckleSize, double maxDiff, UMat buf)`
`static boolean`	`find4QuadCornerSubpix(GpuMat img, GpuMat corners, Size region_size)`
`static boolean`	`find4QuadCornerSubpix(Mat img, Mat corners, Size region_size)` finds subpixel-accurate positions of the chessboard corners
`static boolean`	`find4QuadCornerSubpix(UMat img, UMat corners, Size region_size)`
`static boolean`	`findChessboardCorners(GpuMat image, Size patternSize, GpuMat corners)`
`static boolean`	`findChessboardCorners(GpuMat image, Size patternSize, GpuMat corners, int flags)`
`static boolean`	`findChessboardCorners(Mat image, Size patternSize, Mat corners)`
`static boolean`	`findChessboardCorners(Mat image, Size patternSize, Mat corners, int flags)` \brief Finds the positions of internal corners of the chessboard.
`static boolean`	`findChessboardCorners(UMat image, Size patternSize, UMat corners)`
`static boolean`	`findChessboardCorners(UMat image, Size patternSize, UMat corners, int flags)`
`static boolean`	`findChessboardCornersSB(GpuMat image, Size patternSize, GpuMat corners)`
`static boolean`	`findChessboardCornersSB(GpuMat image, Size patternSize, GpuMat corners, int flags)`
`static boolean`	`findChessboardCornersSB(Mat image, Size patternSize, Mat corners)`
`static boolean`	`findChessboardCornersSB(Mat image, Size patternSize, Mat corners, int flags)` \overload
`static boolean`	`findChessboardCornersSB(UMat image, Size patternSize, UMat corners)`
`static boolean`	`findChessboardCornersSB(UMat image, Size patternSize, UMat corners, int flags)`
`static boolean`	`findChessboardCornersSBWithMeta(GpuMat image, Size patternSize, GpuMat corners, int flags, GpuMat meta)`
`static boolean`	`findChessboardCornersSBWithMeta(Mat image, Size patternSize, Mat corners, int flags, Mat meta)` \brief Finds the positions of internal corners of the chessboard using a sector based approach.
`static boolean`	`findChessboardCornersSBWithMeta(UMat image, Size patternSize, UMat corners, int flags, UMat meta)`
`static boolean`	`findCirclesGrid(GpuMat image, Size patternSize, GpuMat centers)`
`static boolean`	`findCirclesGrid(GpuMat image, Size patternSize, GpuMat centers, int flags, Feature2D blobDetector)`
`static boolean`	`findCirclesGrid(GpuMat image, Size patternSize, GpuMat centers, int flags, Feature2D blobDetector, CirclesGridFinderParameters parameters)`
`static boolean`	`findCirclesGrid(Mat image, Size patternSize, Mat centers)`
`static boolean`	`findCirclesGrid(Mat image, Size patternSize, Mat centers, int flags, Feature2D blobDetector)` \overload
`static boolean`	`findCirclesGrid(Mat image, Size patternSize, Mat centers, int flags, Feature2D blobDetector, CirclesGridFinderParameters parameters)` \brief Finds centers in the grid of circles.
`static boolean`	`findCirclesGrid(UMat image, Size patternSize, UMat centers)`
`static boolean`	`findCirclesGrid(UMat image, Size patternSize, UMat centers, int flags, Feature2D blobDetector)`
`static boolean`	`findCirclesGrid(UMat image, Size patternSize, UMat centers, int flags, Feature2D blobDetector, CirclesGridFinderParameters parameters)`
`static Mat`	`findEssentialMat(GpuMat points1, GpuMat points2)`
`static Mat`	`findEssentialMat(GpuMat points1, GpuMat points2, double focal, Point2d pp, int method, double prob, double threshold, GpuMat mask)`
`static Mat`	`findEssentialMat(GpuMat points1, GpuMat points2, double focal, Point2d pp, int method, double prob, double threshold, int maxIters, GpuMat mask)`
`static Mat`	`findEssentialMat(GpuMat points1, GpuMat points2, GpuMat cameraMatrix)`
`static Mat`	`findEssentialMat(GpuMat points1, GpuMat points2, GpuMat cameraMatrix1, GpuMat distCoeffs1, GpuMat cameraMatrix2, GpuMat distCoeffs2)`
`static Mat`	`findEssentialMat(GpuMat points1, GpuMat points2, GpuMat cameraMatrix1, GpuMat cameraMatrix2, GpuMat dist_coeff1, GpuMat dist_coeff2, GpuMat mask, UsacParams params)`
`static Mat`	`findEssentialMat(GpuMat points1, GpuMat points2, GpuMat cameraMatrix1, GpuMat distCoeffs1, GpuMat cameraMatrix2, GpuMat distCoeffs2, int method, double prob, double threshold, GpuMat mask)`
`static Mat`	`findEssentialMat(GpuMat points1, GpuMat points2, GpuMat cameraMatrix, int method, double prob, double threshold, GpuMat mask)`
`static Mat`	`findEssentialMat(GpuMat points1, GpuMat points2, GpuMat cameraMatrix, int method, double prob, double threshold, int maxIters, GpuMat mask)`
`static Mat`	`findEssentialMat(Mat points1, Mat points2)`
`static Mat`	`findEssentialMat(Mat points1, Mat points2, double focal, Point2d pp, int method, double prob, double threshold, int maxIters, Mat mask)` \overload
`static Mat`	`findEssentialMat(Mat points1, Mat points2, double focal, Point2d pp, int method, double prob, double threshold, Mat mask)` \overload
`static Mat`	`findEssentialMat(Mat points1, Mat points2, Mat cameraMatrix)`
`static Mat`	`findEssentialMat(Mat points1, Mat points2, Mat cameraMatrix, int method, double prob, double threshold, int maxIters, Mat mask)` \brief Calculates an essential matrix from the corresponding points in two images.
`static Mat`	`findEssentialMat(Mat points1, Mat points2, Mat cameraMatrix, int method, double prob, double threshold, Mat mask)` \overload
`static Mat`	`findEssentialMat(Mat points1, Mat points2, Mat cameraMatrix1, Mat distCoeffs1, Mat cameraMatrix2, Mat distCoeffs2)`
`static Mat`	`findEssentialMat(Mat points1, Mat points2, Mat cameraMatrix1, Mat distCoeffs1, Mat cameraMatrix2, Mat distCoeffs2, int method, double prob, double threshold, Mat mask)` \brief Calculates an essential matrix from the corresponding points in two images from potentially two different cameras.
`static Mat`	`findEssentialMat(Mat points1, Mat points2, Mat cameraMatrix1, Mat cameraMatrix2, Mat dist_coeff1, Mat dist_coeff2, Mat mask, UsacParams params)`
`static Mat`	`findEssentialMat(UMat points1, UMat points2)`
`static Mat`	`findEssentialMat(UMat points1, UMat points2, double focal, Point2d pp, int method, double prob, double threshold, int maxIters, UMat mask)`
`static Mat`	`findEssentialMat(UMat points1, UMat points2, double focal, Point2d pp, int method, double prob, double threshold, UMat mask)`
`static Mat`	`findEssentialMat(UMat points1, UMat points2, UMat cameraMatrix)`
`static Mat`	`findEssentialMat(UMat points1, UMat points2, UMat cameraMatrix, int method, double prob, double threshold, int maxIters, UMat mask)`
`static Mat`	`findEssentialMat(UMat points1, UMat points2, UMat cameraMatrix, int method, double prob, double threshold, UMat mask)`
`static Mat`	`findEssentialMat(UMat points1, UMat points2, UMat cameraMatrix1, UMat distCoeffs1, UMat cameraMatrix2, UMat distCoeffs2)`
`static Mat`	`findEssentialMat(UMat points1, UMat points2, UMat cameraMatrix1, UMat distCoeffs1, UMat cameraMatrix2, UMat distCoeffs2, int method, double prob, double threshold, UMat mask)`
`static Mat`	`findEssentialMat(UMat points1, UMat points2, UMat cameraMatrix1, UMat cameraMatrix2, UMat dist_coeff1, UMat dist_coeff2, UMat mask, UsacParams params)`
`static Mat`	`findFundamentalMat(GpuMat points1, GpuMat points2)`
`static Mat`	`findFundamentalMat(GpuMat points1, GpuMat points2, GpuMat mask)`
`static Mat`	`findFundamentalMat(GpuMat points1, GpuMat points2, GpuMat mask, int method, double ransacReprojThreshold, double confidence)`
`static Mat`	`findFundamentalMat(GpuMat points1, GpuMat points2, GpuMat mask, UsacParams params)`
`static Mat`	`findFundamentalMat(GpuMat points1, GpuMat points2, int method, double ransacReprojThreshold, double confidence, GpuMat mask)`
`static Mat`	`findFundamentalMat(GpuMat points1, GpuMat points2, int method, double ransacReprojThreshold, double confidence, int maxIters)`
`static Mat`	`findFundamentalMat(GpuMat points1, GpuMat points2, int method, double ransacReprojThreshold, double confidence, int maxIters, GpuMat mask)`
`static Mat`	`findFundamentalMat(Mat points1, Mat points2)`
`static Mat`	`findFundamentalMat(Mat points1, Mat points2, int method, double ransacReprojThreshold, double confidence, int maxIters)`
`static Mat`	`findFundamentalMat(Mat points1, Mat points2, int method, double ransacReprojThreshold, double confidence, int maxIters, Mat mask)` \brief Calculates a fundamental matrix from the corresponding points in two images.
`static Mat`	`findFundamentalMat(Mat points1, Mat points2, int method, double ransacReprojThreshold, double confidence, Mat mask)` \overload
`static Mat`	`findFundamentalMat(Mat points1, Mat points2, Mat mask)`
`static Mat`	`findFundamentalMat(Mat points1, Mat points2, Mat mask, int method, double ransacReprojThreshold, double confidence)` \overload
`static Mat`	`findFundamentalMat(Mat points1, Mat points2, Mat mask, UsacParams params)`
`static Mat`	`findFundamentalMat(UMat points1, UMat points2)`
`static Mat`	`findFundamentalMat(UMat points1, UMat points2, int method, double ransacReprojThreshold, double confidence, int maxIters)`
`static Mat`	`findFundamentalMat(UMat points1, UMat points2, int method, double ransacReprojThreshold, double confidence, int maxIters, UMat mask)`
`static Mat`	`findFundamentalMat(UMat points1, UMat points2, int method, double ransacReprojThreshold, double confidence, UMat mask)`
`static Mat`	`findFundamentalMat(UMat points1, UMat points2, UMat mask)`
`static Mat`	`findFundamentalMat(UMat points1, UMat points2, UMat mask, int method, double ransacReprojThreshold, double confidence)`
`static Mat`	`findFundamentalMat(UMat points1, UMat points2, UMat mask, UsacParams params)`
`static Mat`	`findHomography(GpuMat srcPoints, GpuMat dstPoints)`
`static Mat`	`findHomography(GpuMat srcPoints, GpuMat dstPoints, GpuMat mask)`
`static Mat`	`findHomography(GpuMat srcPoints, GpuMat dstPoints, GpuMat mask, int method, double ransacReprojThreshold)`
`static Mat`	`findHomography(GpuMat srcPoints, GpuMat dstPoints, GpuMat mask, UsacParams params)`
`static Mat`	`findHomography(GpuMat srcPoints, GpuMat dstPoints, int method, double ransacReprojThreshold, GpuMat mask, int maxIters, double confidence)`
`static Mat`	`findHomography(Mat srcPoints, Mat dstPoints)`
`static Mat`	`findHomography(Mat srcPoints, Mat dstPoints, int method, double ransacReprojThreshold, Mat mask, int maxIters, double confidence)` \brief Finds a perspective transformation between two planes.
`static Mat`	`findHomography(Mat srcPoints, Mat dstPoints, Mat mask)`
`static Mat`	`findHomography(Mat srcPoints, Mat dstPoints, Mat mask, int method, double ransacReprojThreshold)` \overload
`static Mat`	`findHomography(Mat srcPoints, Mat dstPoints, Mat mask, UsacParams params)`
`static Mat`	`findHomography(UMat srcPoints, UMat dstPoints)`
`static Mat`	`findHomography(UMat srcPoints, UMat dstPoints, int method, double ransacReprojThreshold, UMat mask, int maxIters, double confidence)`
`static Mat`	`findHomography(UMat srcPoints, UMat dstPoints, UMat mask)`
`static Mat`	`findHomography(UMat srcPoints, UMat dstPoints, UMat mask, int method, double ransacReprojThreshold)`
`static Mat`	`findHomography(UMat srcPoints, UMat dstPoints, UMat mask, UsacParams params)`
`static Mat`	`getDefaultNewCameraMatrix(GpuMat cameraMatrix)`
`static Mat`	`getDefaultNewCameraMatrix(GpuMat cameraMatrix, Size imgsize, boolean centerPrincipalPoint)`
`static Mat`	`getDefaultNewCameraMatrix(Mat cameraMatrix)`
`static Mat`	`getDefaultNewCameraMatrix(Mat cameraMatrix, Size imgsize, boolean centerPrincipalPoint)` \brief Returns the default new camera matrix.
`static Mat`	`getDefaultNewCameraMatrix(UMat cameraMatrix)`
`static Mat`	`getDefaultNewCameraMatrix(UMat cameraMatrix, Size imgsize, boolean centerPrincipalPoint)`
`static Mat`	`getOptimalNewCameraMatrix(GpuMat cameraMatrix, GpuMat distCoeffs, Size imageSize, double alpha)`
`static Mat`	`getOptimalNewCameraMatrix(GpuMat cameraMatrix, GpuMat distCoeffs, Size imageSize, double alpha, Size newImgSize, Rect validPixROI, boolean centerPrincipalPoint)`
`static Mat`	`getOptimalNewCameraMatrix(Mat cameraMatrix, Mat distCoeffs, Size imageSize, double alpha)`
`static Mat`	`getOptimalNewCameraMatrix(Mat cameraMatrix, Mat distCoeffs, Size imageSize, double alpha, Size newImgSize, Rect validPixROI, boolean centerPrincipalPoint)` \brief Returns the new camera intrinsic matrix based on the free scaling parameter.
`static Mat`	`getOptimalNewCameraMatrix(UMat cameraMatrix, UMat distCoeffs, Size imageSize, double alpha)`
`static Mat`	`getOptimalNewCameraMatrix(UMat cameraMatrix, UMat distCoeffs, Size imageSize, double alpha, Size newImgSize, Rect validPixROI, boolean centerPrincipalPoint)`
`static Rect`	`getValidDisparityROI(Rect roi1, Rect roi2, int minDisparity, int numberOfDisparities, int blockSize)` computes valid disparity ROI from the valid ROIs of the rectified images (that are returned by #stereoRectify)
`static Mat`	`initCameraMatrix2D(Point3fVectorVector objectPoints, Point2fVectorVector imagePoints, Size imageSize)`
`static Mat`	`initCameraMatrix2D(Point3fVectorVector objectPoints, Point2fVectorVector imagePoints, Size imageSize, double aspectRatio)` \brief Finds an initial camera intrinsic matrix from 3D-2D point correspondences.
`static void`	`initInverseRectificationMap(GpuMat cameraMatrix, GpuMat distCoeffs, GpuMat R, GpuMat newCameraMatrix, Size size, int m1type, GpuMat map1, GpuMat map2)`
`static void`	`initInverseRectificationMap(Mat cameraMatrix, Mat distCoeffs, Mat R, Mat newCameraMatrix, Size size, int m1type, Mat map1, Mat map2)` \brief Computes the projection and inverse-rectification transformation map.
`static void`	`initInverseRectificationMap(UMat cameraMatrix, UMat distCoeffs, UMat R, UMat newCameraMatrix, Size size, int m1type, UMat map1, UMat map2)`
`static void`	`initUndistortRectifyMap(GpuMat cameraMatrix, GpuMat distCoeffs, GpuMat R, GpuMat newCameraMatrix, Size size, int m1type, GpuMat map1, GpuMat map2)`
`static void`	`initUndistortRectifyMap(Mat cameraMatrix, Mat distCoeffs, Mat R, Mat newCameraMatrix, Size size, int m1type, Mat map1, Mat map2)` \brief Computes the undistortion and rectification transformation map.
`static void`	`initUndistortRectifyMap(UMat cameraMatrix, UMat distCoeffs, UMat R, UMat newCameraMatrix, Size size, int m1type, UMat map1, UMat map2)`
`static float`	`initWideAngleProjMap(GpuMat cameraMatrix, GpuMat distCoeffs, Size imageSize, int destImageWidth, int m1type, GpuMat map1, GpuMat map2)`
`static float`	`initWideAngleProjMap(GpuMat cameraMatrix, GpuMat distCoeffs, Size imageSize, int destImageWidth, int m1type, GpuMat map1, GpuMat map2, int projType)`
`static float`	`initWideAngleProjMap(GpuMat cameraMatrix, GpuMat distCoeffs, Size imageSize, int destImageWidth, int m1type, GpuMat map1, GpuMat map2, int projType, double alpha)`
`static float`	`initWideAngleProjMap(Mat cameraMatrix, Mat distCoeffs, Size imageSize, int destImageWidth, int m1type, Mat map1, Mat map2)`
`static float`	`initWideAngleProjMap(Mat cameraMatrix, Mat distCoeffs, Size imageSize, int destImageWidth, int m1type, Mat map1, Mat map2, int projType)`
`static float`	`initWideAngleProjMap(Mat cameraMatrix, Mat distCoeffs, Size imageSize, int destImageWidth, int m1type, Mat map1, Mat map2, int projType, double alpha)` initializes maps for #remap for wide-angle
`static float`	`initWideAngleProjMap(UMat cameraMatrix, UMat distCoeffs, Size imageSize, int destImageWidth, int m1type, UMat map1, UMat map2)`
`static float`	`initWideAngleProjMap(UMat cameraMatrix, UMat distCoeffs, Size imageSize, int destImageWidth, int m1type, UMat map1, UMat map2, int projType)`
`static float`	`initWideAngleProjMap(UMat cameraMatrix, UMat distCoeffs, Size imageSize, int destImageWidth, int m1type, UMat map1, UMat map2, int projType, double alpha)`
`static void`	`matMulDeriv(GpuMat A, GpuMat B, GpuMat dABdA, GpuMat dABdB)`
`static void`	`matMulDeriv(Mat A, Mat B, Mat dABdA, Mat dABdB)` \brief Computes partial derivatives of the matrix product for each multiplied matrix.
`static void`	`matMulDeriv(UMat A, UMat B, UMat dABdA, UMat dABdB)`
`static void`	`projectPoints(GpuMat objectPoints, GpuMat rvec, GpuMat tvec, GpuMat cameraMatrix, GpuMat distCoeffs, GpuMat imagePoints)`
`static void`	`projectPoints(GpuMat objectPoints, GpuMat imagePoints, GpuMat rvec, GpuMat tvec, GpuMat K, GpuMat D, double alpha, GpuMat jacobian)`
`static void`	`projectPoints(GpuMat objectPoints, GpuMat rvec, GpuMat tvec, GpuMat cameraMatrix, GpuMat distCoeffs, GpuMat imagePoints, GpuMat jacobian, double aspectRatio)`
`static void`	`projectPoints(GpuMat objectPoints, GpuMat imagePoints, Mat affine, GpuMat K, GpuMat D)`
`static void`	`projectPoints(GpuMat objectPoints, GpuMat imagePoints, Mat affine, GpuMat K, GpuMat D, double alpha, GpuMat jacobian)`
`static void`	`projectPoints(Mat objectPoints, Mat imagePoints, Mat affine, Mat K, Mat D)`
`static void`	`projectPoints(Mat objectPoints, Mat imagePoints, Mat affine, Mat K, Mat D, double alpha, Mat jacobian)` \brief Projects points using fisheye model
`static void`	`projectPoints(Mat objectPoints, Mat rvec, Mat tvec, Mat cameraMatrix, Mat distCoeffs, Mat imagePoints)`
`static void`	`projectPoints(Mat objectPoints, Mat imagePoints, Mat rvec, Mat tvec, Mat K, Mat D, double alpha, Mat jacobian)` \overload
`static void`	`projectPoints(Mat objectPoints, Mat rvec, Mat tvec, Mat cameraMatrix, Mat distCoeffs, Mat imagePoints, Mat jacobian, double aspectRatio)` \brief Projects 3D points to an image plane.
`static void`	`projectPoints(UMat objectPoints, UMat imagePoints, Mat affine, UMat K, UMat D)`
`static void`	`projectPoints(UMat objectPoints, UMat imagePoints, Mat affine, UMat K, UMat D, double alpha, UMat jacobian)`
`static void`	`projectPoints(UMat objectPoints, UMat rvec, UMat tvec, UMat cameraMatrix, UMat distCoeffs, UMat imagePoints)`
`static void`	`projectPoints(UMat objectPoints, UMat imagePoints, UMat rvec, UMat tvec, UMat K, UMat D, double alpha, UMat jacobian)`
`static void`	`projectPoints(UMat objectPoints, UMat rvec, UMat tvec, UMat cameraMatrix, UMat distCoeffs, UMat imagePoints, UMat jacobian, double aspectRatio)`
`static int`	`recoverPose(GpuMat E, GpuMat points1, GpuMat points2, GpuMat R, GpuMat t)`
`static int`	`recoverPose(GpuMat E, GpuMat points1, GpuMat points2, GpuMat R, GpuMat t, double focal, Point2d pp, GpuMat mask)`
`static int`	`recoverPose(GpuMat E, GpuMat points1, GpuMat points2, GpuMat cameraMatrix, GpuMat R, GpuMat t)`
`static int`	`recoverPose(GpuMat E, GpuMat points1, GpuMat points2, GpuMat cameraMatrix, GpuMat R, GpuMat t, double distanceThresh)`
`static int`	`recoverPose(GpuMat E, GpuMat points1, GpuMat points2, GpuMat cameraMatrix, GpuMat R, GpuMat t, double distanceThresh, GpuMat mask, GpuMat triangulatedPoints)`
`static int`	`recoverPose(GpuMat E, GpuMat points1, GpuMat points2, GpuMat cameraMatrix, GpuMat R, GpuMat t, GpuMat mask)`
`static int`	`recoverPose(Mat E, Mat points1, Mat points2, Mat R, Mat t)`
`static int`	`recoverPose(Mat E, Mat points1, Mat points2, Mat R, Mat t, double focal, Point2d pp, Mat mask)` \overload
`static int`	`recoverPose(Mat E, Mat points1, Mat points2, Mat cameraMatrix, Mat R, Mat t)`
`static int`	`recoverPose(Mat E, Mat points1, Mat points2, Mat cameraMatrix, Mat R, Mat t, double distanceThresh)`
`static int`	`recoverPose(Mat E, Mat points1, Mat points2, Mat cameraMatrix, Mat R, Mat t, double distanceThresh, Mat mask, Mat triangulatedPoints)` \overload
`static int`	`recoverPose(Mat E, Mat points1, Mat points2, Mat cameraMatrix, Mat R, Mat t, Mat mask)` \brief Recovers the relative camera rotation and the translation from an estimated essential matrix and the corresponding points in two images, using cheirality check.
`static int`	`recoverPose(UMat E, UMat points1, UMat points2, UMat R, UMat t)`
`static int`	`recoverPose(UMat E, UMat points1, UMat points2, UMat R, UMat t, double focal, Point2d pp, UMat mask)`
`static int`	`recoverPose(UMat E, UMat points1, UMat points2, UMat cameraMatrix, UMat R, UMat t)`
`static int`	`recoverPose(UMat E, UMat points1, UMat points2, UMat cameraMatrix, UMat R, UMat t, double distanceThresh)`
`static int`	`recoverPose(UMat E, UMat points1, UMat points2, UMat cameraMatrix, UMat R, UMat t, double distanceThresh, UMat mask, UMat triangulatedPoints)`
`static int`	`recoverPose(UMat E, UMat points1, UMat points2, UMat cameraMatrix, UMat R, UMat t, UMat mask)`
`static float`	`rectify3Collinear(GpuMat cameraMatrix1, GpuMat distCoeffs1, GpuMat cameraMatrix2, GpuMat distCoeffs2, GpuMat cameraMatrix3, GpuMat distCoeffs3, GpuMatVector imgpt1, GpuMatVector imgpt3, Size imageSize, GpuMat R12, GpuMat T12, GpuMat R13, GpuMat T13, GpuMat R1, GpuMat R2, GpuMat R3, GpuMat P1, GpuMat P2, GpuMat P3, GpuMat Q, double alpha, Size newImgSize, Rect roi1, Rect roi2, int flags)`
`static float`	`rectify3Collinear(GpuMat cameraMatrix1, GpuMat distCoeffs1, GpuMat cameraMatrix2, GpuMat distCoeffs2, GpuMat cameraMatrix3, GpuMat distCoeffs3, MatVector imgpt1, MatVector imgpt3, Size imageSize, GpuMat R12, GpuMat T12, GpuMat R13, GpuMat T13, GpuMat R1, GpuMat R2, GpuMat R3, GpuMat P1, GpuMat P2, GpuMat P3, GpuMat Q, double alpha, Size newImgSize, Rect roi1, Rect roi2, int flags)`
`static float`	`rectify3Collinear(GpuMat cameraMatrix1, GpuMat distCoeffs1, GpuMat cameraMatrix2, GpuMat distCoeffs2, GpuMat cameraMatrix3, GpuMat distCoeffs3, UMatVector imgpt1, UMatVector imgpt3, Size imageSize, GpuMat R12, GpuMat T12, GpuMat R13, GpuMat T13, GpuMat R1, GpuMat R2, GpuMat R3, GpuMat P1, GpuMat P2, GpuMat P3, GpuMat Q, double alpha, Size newImgSize, Rect roi1, Rect roi2, int flags)`
`static float`	`rectify3Collinear(Mat cameraMatrix1, Mat distCoeffs1, Mat cameraMatrix2, Mat distCoeffs2, Mat cameraMatrix3, Mat distCoeffs3, GpuMatVector imgpt1, GpuMatVector imgpt3, Size imageSize, Mat R12, Mat T12, Mat R13, Mat T13, Mat R1, Mat R2, Mat R3, Mat P1, Mat P2, Mat P3, Mat Q, double alpha, Size newImgSize, Rect roi1, Rect roi2, int flags)`
`static float`	`rectify3Collinear(Mat cameraMatrix1, Mat distCoeffs1, Mat cameraMatrix2, Mat distCoeffs2, Mat cameraMatrix3, Mat distCoeffs3, MatVector imgpt1, MatVector imgpt3, Size imageSize, Mat R12, Mat T12, Mat R13, Mat T13, Mat R1, Mat R2, Mat R3, Mat P1, Mat P2, Mat P3, Mat Q, double alpha, Size newImgSize, Rect roi1, Rect roi2, int flags)` computes the rectification transformations for 3-head camera, where all the heads are on the same line.
`static float`	`rectify3Collinear(Mat cameraMatrix1, Mat distCoeffs1, Mat cameraMatrix2, Mat distCoeffs2, Mat cameraMatrix3, Mat distCoeffs3, UMatVector imgpt1, UMatVector imgpt3, Size imageSize, Mat R12, Mat T12, Mat R13, Mat T13, Mat R1, Mat R2, Mat R3, Mat P1, Mat P2, Mat P3, Mat Q, double alpha, Size newImgSize, Rect roi1, Rect roi2, int flags)`
`static float`	`rectify3Collinear(UMat cameraMatrix1, UMat distCoeffs1, UMat cameraMatrix2, UMat distCoeffs2, UMat cameraMatrix3, UMat distCoeffs3, GpuMatVector imgpt1, GpuMatVector imgpt3, Size imageSize, UMat R12, UMat T12, UMat R13, UMat T13, UMat R1, UMat R2, UMat R3, UMat P1, UMat P2, UMat P3, UMat Q, double alpha, Size newImgSize, Rect roi1, Rect roi2, int flags)`
`static float`	`rectify3Collinear(UMat cameraMatrix1, UMat distCoeffs1, UMat cameraMatrix2, UMat distCoeffs2, UMat cameraMatrix3, UMat distCoeffs3, MatVector imgpt1, MatVector imgpt3, Size imageSize, UMat R12, UMat T12, UMat R13, UMat T13, UMat R1, UMat R2, UMat R3, UMat P1, UMat P2, UMat P3, UMat Q, double alpha, Size newImgSize, Rect roi1, Rect roi2, int flags)`
`static float`	`rectify3Collinear(UMat cameraMatrix1, UMat distCoeffs1, UMat cameraMatrix2, UMat distCoeffs2, UMat cameraMatrix3, UMat distCoeffs3, UMatVector imgpt1, UMatVector imgpt3, Size imageSize, UMat R12, UMat T12, UMat R13, UMat T13, UMat R1, UMat R2, UMat R3, UMat P1, UMat P2, UMat P3, UMat Q, double alpha, Size newImgSize, Rect roi1, Rect roi2, int flags)`
`static void`	`reprojectImageTo3D(GpuMat disparity, GpuMat _3dImage, GpuMat Q)`
`static void`	`reprojectImageTo3D(GpuMat disparity, GpuMat _3dImage, GpuMat Q, boolean handleMissingValues, int ddepth)`
`static void`	`reprojectImageTo3D(Mat disparity, Mat _3dImage, Mat Q)`
`static void`	`reprojectImageTo3D(Mat disparity, Mat _3dImage, Mat Q, boolean handleMissingValues, int ddepth)` \brief Reprojects a disparity image to 3D space.
`static void`	`reprojectImageTo3D(UMat disparity, UMat _3dImage, UMat Q)`
`static void`	`reprojectImageTo3D(UMat disparity, UMat _3dImage, UMat Q, boolean handleMissingValues, int ddepth)`
`static void`	`Rodrigues(GpuMat src, GpuMat dst)`
`static void`	`Rodrigues(GpuMat src, GpuMat dst, GpuMat jacobian)`
`static void`	`Rodrigues(Mat src, Mat dst)`
`static void`	`Rodrigues(Mat src, Mat dst, Mat jacobian)` \brief Converts a rotation matrix to a rotation vector or vice versa.
`static void`	`Rodrigues(UMat src, UMat dst)`
`static void`	`Rodrigues(UMat src, UMat dst, UMat jacobian)`
`static Point3d`	`RQDecomp3x3(GpuMat src, GpuMat mtxR, GpuMat mtxQ)`
`static Point3d`	`RQDecomp3x3(GpuMat src, GpuMat mtxR, GpuMat mtxQ, GpuMat Qx, GpuMat Qy, GpuMat Qz)`
`static Point3d`	`RQDecomp3x3(Mat src, Mat mtxR, Mat mtxQ)`
`static Point3d`	`RQDecomp3x3(Mat src, Mat mtxR, Mat mtxQ, Mat Qx, Mat Qy, Mat Qz)` \brief Computes an RQ decomposition of 3x3 matrices.
`static Point3d`	`RQDecomp3x3(UMat src, UMat mtxR, UMat mtxQ)`
`static Point3d`	`RQDecomp3x3(UMat src, UMat mtxR, UMat mtxQ, UMat Qx, UMat Qy, UMat Qz)`
`static double`	`sampsonDistance(GpuMat pt1, GpuMat pt2, GpuMat F)`
`static double`	`sampsonDistance(Mat pt1, Mat pt2, Mat F)` \brief Calculates the Sampson Distance between two points.
`static double`	`sampsonDistance(UMat pt1, UMat pt2, UMat F)`
`static int`	`solveP3P(GpuMat objectPoints, GpuMat imagePoints, GpuMat cameraMatrix, GpuMat distCoeffs, GpuMatVector rvecs, GpuMatVector tvecs, int flags)`
`static int`	`solveP3P(GpuMat objectPoints, GpuMat imagePoints, GpuMat cameraMatrix, GpuMat distCoeffs, MatVector rvecs, MatVector tvecs, int flags)`
`static int`	`solveP3P(GpuMat objectPoints, GpuMat imagePoints, GpuMat cameraMatrix, GpuMat distCoeffs, UMatVector rvecs, UMatVector tvecs, int flags)`
`static int`	`solveP3P(Mat objectPoints, Mat imagePoints, Mat cameraMatrix, Mat distCoeffs, GpuMatVector rvecs, GpuMatVector tvecs, int flags)`
`static int`	`solveP3P(Mat objectPoints, Mat imagePoints, Mat cameraMatrix, Mat distCoeffs, MatVector rvecs, MatVector tvecs, int flags)` \brief Finds an object pose from 3 3D-2D point correspondences.
`static int`	`solveP3P(Mat objectPoints, Mat imagePoints, Mat cameraMatrix, Mat distCoeffs, UMatVector rvecs, UMatVector tvecs, int flags)`
`static int`	`solveP3P(UMat objectPoints, UMat imagePoints, UMat cameraMatrix, UMat distCoeffs, GpuMatVector rvecs, GpuMatVector tvecs, int flags)`
`static int`	`solveP3P(UMat objectPoints, UMat imagePoints, UMat cameraMatrix, UMat distCoeffs, MatVector rvecs, MatVector tvecs, int flags)`
`static int`	`solveP3P(UMat objectPoints, UMat imagePoints, UMat cameraMatrix, UMat distCoeffs, UMatVector rvecs, UMatVector tvecs, int flags)`
`static boolean`	`solvePnP(GpuMat objectPoints, GpuMat imagePoints, GpuMat cameraMatrix, GpuMat distCoeffs, GpuMat rvec, GpuMat tvec)`
`static boolean`	`solvePnP(GpuMat objectPoints, GpuMat imagePoints, GpuMat cameraMatrix, GpuMat distCoeffs, GpuMat rvec, GpuMat tvec, boolean useExtrinsicGuess, int flags)`
`static boolean`	`solvePnP(Mat objectPoints, Mat imagePoints, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec)`
`static boolean`	`solvePnP(Mat objectPoints, Mat imagePoints, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec, boolean useExtrinsicGuess, int flags)` \brief Finds an object pose from 3D-2D point correspondences.
`static boolean`	`solvePnP(UMat objectPoints, UMat imagePoints, UMat cameraMatrix, UMat distCoeffs, UMat rvec, UMat tvec)`
`static boolean`	`solvePnP(UMat objectPoints, UMat imagePoints, UMat cameraMatrix, UMat distCoeffs, UMat rvec, UMat tvec, boolean useExtrinsicGuess, int flags)`
`static int`	`solvePnPGeneric(GpuMat objectPoints, GpuMat imagePoints, GpuMat cameraMatrix, GpuMat distCoeffs, GpuMatVector rvecs, GpuMatVector tvecs)`
`static int`	`solvePnPGeneric(GpuMat objectPoints, GpuMat imagePoints, GpuMat cameraMatrix, GpuMat distCoeffs, GpuMatVector rvecs, GpuMatVector tvecs, boolean useExtrinsicGuess, int flags, GpuMat rvec, GpuMat tvec, GpuMat reprojectionError)`
`static int`	`solvePnPGeneric(GpuMat objectPoints, GpuMat imagePoints, GpuMat cameraMatrix, GpuMat distCoeffs, MatVector rvecs, MatVector tvecs)`
`static int`	`solvePnPGeneric(GpuMat objectPoints, GpuMat imagePoints, GpuMat cameraMatrix, GpuMat distCoeffs, MatVector rvecs, MatVector tvecs, boolean useExtrinsicGuess, int flags, GpuMat rvec, GpuMat tvec, GpuMat reprojectionError)`
`static int`	`solvePnPGeneric(GpuMat objectPoints, GpuMat imagePoints, GpuMat cameraMatrix, GpuMat distCoeffs, UMatVector rvecs, UMatVector tvecs)`
`static int`	`solvePnPGeneric(GpuMat objectPoints, GpuMat imagePoints, GpuMat cameraMatrix, GpuMat distCoeffs, UMatVector rvecs, UMatVector tvecs, boolean useExtrinsicGuess, int flags, GpuMat rvec, GpuMat tvec, GpuMat reprojectionError)`
`static int`	`solvePnPGeneric(Mat objectPoints, Mat imagePoints, Mat cameraMatrix, Mat distCoeffs, GpuMatVector rvecs, GpuMatVector tvecs)`
`static int`	`solvePnPGeneric(Mat objectPoints, Mat imagePoints, Mat cameraMatrix, Mat distCoeffs, GpuMatVector rvecs, GpuMatVector tvecs, boolean useExtrinsicGuess, int flags, Mat rvec, Mat tvec, Mat reprojectionError)`
`static int`	`solvePnPGeneric(Mat objectPoints, Mat imagePoints, Mat cameraMatrix, Mat distCoeffs, MatVector rvecs, MatVector tvecs)`
`static int`	`solvePnPGeneric(Mat objectPoints, Mat imagePoints, Mat cameraMatrix, Mat distCoeffs, MatVector rvecs, MatVector tvecs, boolean useExtrinsicGuess, int flags, Mat rvec, Mat tvec, Mat reprojectionError)` \brief Finds an object pose from 3D-2D point correspondences.
`static int`	`solvePnPGeneric(Mat objectPoints, Mat imagePoints, Mat cameraMatrix, Mat distCoeffs, UMatVector rvecs, UMatVector tvecs)`
`static int`	`solvePnPGeneric(Mat objectPoints, Mat imagePoints, Mat cameraMatrix, Mat distCoeffs, UMatVector rvecs, UMatVector tvecs, boolean useExtrinsicGuess, int flags, Mat rvec, Mat tvec, Mat reprojectionError)`
`static int`	`solvePnPGeneric(UMat objectPoints, UMat imagePoints, UMat cameraMatrix, UMat distCoeffs, GpuMatVector rvecs, GpuMatVector tvecs)`
`static int`	`solvePnPGeneric(UMat objectPoints, UMat imagePoints, UMat cameraMatrix, UMat distCoeffs, GpuMatVector rvecs, GpuMatVector tvecs, boolean useExtrinsicGuess, int flags, UMat rvec, UMat tvec, UMat reprojectionError)`
`static int`	`solvePnPGeneric(UMat objectPoints, UMat imagePoints, UMat cameraMatrix, UMat distCoeffs, MatVector rvecs, MatVector tvecs)`
`static int`	`solvePnPGeneric(UMat objectPoints, UMat imagePoints, UMat cameraMatrix, UMat distCoeffs, MatVector rvecs, MatVector tvecs, boolean useExtrinsicGuess, int flags, UMat rvec, UMat tvec, UMat reprojectionError)`
`static int`	`solvePnPGeneric(UMat objectPoints, UMat imagePoints, UMat cameraMatrix, UMat distCoeffs, UMatVector rvecs, UMatVector tvecs)`
`static int`	`solvePnPGeneric(UMat objectPoints, UMat imagePoints, UMat cameraMatrix, UMat distCoeffs, UMatVector rvecs, UMatVector tvecs, boolean useExtrinsicGuess, int flags, UMat rvec, UMat tvec, UMat reprojectionError)`
`static boolean`	`solvePnPRansac(GpuMat objectPoints, GpuMat imagePoints, GpuMat cameraMatrix, GpuMat distCoeffs, GpuMat rvec, GpuMat tvec)`
`static boolean`	`solvePnPRansac(GpuMat objectPoints, GpuMat imagePoints, GpuMat cameraMatrix, GpuMat distCoeffs, GpuMat rvec, GpuMat tvec, boolean useExtrinsicGuess, int iterationsCount, float reprojectionError, double confidence, GpuMat inliers, int flags)`
`static boolean`	`solvePnPRansac(GpuMat objectPoints, GpuMat imagePoints, GpuMat cameraMatrix, GpuMat distCoeffs, GpuMat rvec, GpuMat tvec, GpuMat inliers)`
`static boolean`	`solvePnPRansac(GpuMat objectPoints, GpuMat imagePoints, GpuMat cameraMatrix, GpuMat distCoeffs, GpuMat rvec, GpuMat tvec, GpuMat inliers, UsacParams params)`
`static boolean`	`solvePnPRansac(Mat objectPoints, Mat imagePoints, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec)`
`static boolean`	`solvePnPRansac(Mat objectPoints, Mat imagePoints, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec, boolean useExtrinsicGuess, int iterationsCount, float reprojectionError, double confidence, Mat inliers, int flags)` \brief Finds an object pose from 3D-2D point correspondences using the RANSAC scheme.
`static boolean`	`solvePnPRansac(Mat objectPoints, Mat imagePoints, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec, Mat inliers)`
`static boolean`	`solvePnPRansac(Mat objectPoints, Mat imagePoints, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec, Mat inliers, UsacParams params)`
`static boolean`	`solvePnPRansac(UMat objectPoints, UMat imagePoints, UMat cameraMatrix, UMat distCoeffs, UMat rvec, UMat tvec)`
`static boolean`	`solvePnPRansac(UMat objectPoints, UMat imagePoints, UMat cameraMatrix, UMat distCoeffs, UMat rvec, UMat tvec, boolean useExtrinsicGuess, int iterationsCount, float reprojectionError, double confidence, UMat inliers, int flags)`
`static boolean`	`solvePnPRansac(UMat objectPoints, UMat imagePoints, UMat cameraMatrix, UMat distCoeffs, UMat rvec, UMat tvec, UMat inliers)`
`static boolean`	`solvePnPRansac(UMat objectPoints, UMat imagePoints, UMat cameraMatrix, UMat distCoeffs, UMat rvec, UMat tvec, UMat inliers, UsacParams params)`
`static void`	`solvePnPRefineLM(GpuMat objectPoints, GpuMat imagePoints, GpuMat cameraMatrix, GpuMat distCoeffs, GpuMat rvec, GpuMat tvec)`
`static void`	`solvePnPRefineLM(GpuMat objectPoints, GpuMat imagePoints, GpuMat cameraMatrix, GpuMat distCoeffs, GpuMat rvec, GpuMat tvec, TermCriteria criteria)`
`static void`	`solvePnPRefineLM(Mat objectPoints, Mat imagePoints, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec)`
`static void`	`solvePnPRefineLM(Mat objectPoints, Mat imagePoints, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec, TermCriteria criteria)` \brief Refine a pose (the translation and the rotation that transform a 3D point expressed in the object coordinate frame to the camera coordinate frame) from a 3D-2D point correspondences and starting from an initial solution.
`static void`	`solvePnPRefineLM(UMat objectPoints, UMat imagePoints, UMat cameraMatrix, UMat distCoeffs, UMat rvec, UMat tvec)`
`static void`	`solvePnPRefineLM(UMat objectPoints, UMat imagePoints, UMat cameraMatrix, UMat distCoeffs, UMat rvec, UMat tvec, TermCriteria criteria)`
`static void`	`solvePnPRefineVVS(GpuMat objectPoints, GpuMat imagePoints, GpuMat cameraMatrix, GpuMat distCoeffs, GpuMat rvec, GpuMat tvec)`
`static void`	`solvePnPRefineVVS(GpuMat objectPoints, GpuMat imagePoints, GpuMat cameraMatrix, GpuMat distCoeffs, GpuMat rvec, GpuMat tvec, TermCriteria criteria, double VVSlambda)`
`static void`	`solvePnPRefineVVS(Mat objectPoints, Mat imagePoints, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec)`
`static void`	`solvePnPRefineVVS(Mat objectPoints, Mat imagePoints, Mat cameraMatrix, Mat distCoeffs, Mat rvec, Mat tvec, TermCriteria criteria, double VVSlambda)` \brief Refine a pose (the translation and the rotation that transform a 3D point expressed in the object coordinate frame to the camera coordinate frame) from a 3D-2D point correspondences and starting from an initial solution.
`static void`	`solvePnPRefineVVS(UMat objectPoints, UMat imagePoints, UMat cameraMatrix, UMat distCoeffs, UMat rvec, UMat tvec)`
`static void`	`solvePnPRefineVVS(UMat objectPoints, UMat imagePoints, UMat cameraMatrix, UMat distCoeffs, UMat rvec, UMat tvec, TermCriteria criteria, double VVSlambda)`
`static double`	`stereoCalibrate(Point3fVectorVector objectPoints, Point2fVectorVector imagePoints1, Point2fVectorVector imagePoints2, Mat cameraMatrix1, Mat distCoeffs1, Mat cameraMatrix2, Mat distCoeffs2, Size imageSize, Mat R, Mat T, Mat E, Mat F)`
`static double`	`stereoCalibrate(Point3fVectorVector objectPoints, Point2fVectorVector imagePoints1, Point2fVectorVector imagePoints2, Mat cameraMatrix1, Mat distCoeffs1, Mat cameraMatrix2, Mat distCoeffs2, Size imageSize, Mat R, Mat T, Mat E, Mat F, int flags, TermCriteria criteria)`
`static double`	`stereoCalibrateExtended(Point3fVectorVector objectPoints, Point2fVectorVector imagePoints1, Point2fVectorVector imagePoints2, Mat cameraMatrix1, Mat distCoeffs1, Mat cameraMatrix2, Mat distCoeffs2, Size imageSize, Mat R, Mat T, Mat E, Mat F, Mat perViewErrors)`
`static double`	`stereoCalibrateExtended(Point3fVectorVector objectPoints, Point2fVectorVector imagePoints1, Point2fVectorVector imagePoints2, Mat cameraMatrix1, Mat distCoeffs1, Mat cameraMatrix2, Mat distCoeffs2, Size imageSize, Mat R, Mat T, Mat E, Mat F, Mat perViewErrors, int flags, TermCriteria criteria)` \brief Calibrates a stereo camera set up.
`static void`	`stereoRectify(GpuMat cameraMatrix1, GpuMat distCoeffs1, GpuMat cameraMatrix2, GpuMat distCoeffs2, Size imageSize, GpuMat R, GpuMat T, GpuMat R1, GpuMat R2, GpuMat P1, GpuMat P2, GpuMat Q)`
`static void`	`stereoRectify(GpuMat K1, GpuMat D1, GpuMat K2, GpuMat D2, Size imageSize, GpuMat R, GpuMat tvec, GpuMat R1, GpuMat R2, GpuMat P1, GpuMat P2, GpuMat Q, int flags)`
`static void`	`stereoRectify(GpuMat cameraMatrix1, GpuMat distCoeffs1, GpuMat cameraMatrix2, GpuMat distCoeffs2, Size imageSize, GpuMat R, GpuMat T, GpuMat R1, GpuMat R2, GpuMat P1, GpuMat P2, GpuMat Q, int flags, double alpha, Size newImageSize, Rect validPixROI1, Rect validPixROI2)`
`static void`	`stereoRectify(GpuMat K1, GpuMat D1, GpuMat K2, GpuMat D2, Size imageSize, GpuMat R, GpuMat tvec, GpuMat R1, GpuMat R2, GpuMat P1, GpuMat P2, GpuMat Q, int flags, Size newImageSize, double balance, double fov_scale)`
`static void`	`stereoRectify(Mat cameraMatrix1, Mat distCoeffs1, Mat cameraMatrix2, Mat distCoeffs2, Size imageSize, Mat R, Mat T, Mat R1, Mat R2, Mat P1, Mat P2, Mat Q)`
`static void`	`stereoRectify(Mat K1, Mat D1, Mat K2, Mat D2, Size imageSize, Mat R, Mat tvec, Mat R1, Mat R2, Mat P1, Mat P2, Mat Q, int flags)`
`static void`	`stereoRectify(Mat cameraMatrix1, Mat distCoeffs1, Mat cameraMatrix2, Mat distCoeffs2, Size imageSize, Mat R, Mat T, Mat R1, Mat R2, Mat P1, Mat P2, Mat Q, int flags, double alpha, Size newImageSize, Rect validPixROI1, Rect validPixROI2)` \brief Computes rectification transforms for each head of a calibrated stereo camera.
`static void`	`stereoRectify(Mat K1, Mat D1, Mat K2, Mat D2, Size imageSize, Mat R, Mat tvec, Mat R1, Mat R2, Mat P1, Mat P2, Mat Q, int flags, Size newImageSize, double balance, double fov_scale)` \brief Stereo rectification for fisheye camera model
`static void`	`stereoRectify(UMat cameraMatrix1, UMat distCoeffs1, UMat cameraMatrix2, UMat distCoeffs2, Size imageSize, UMat R, UMat T, UMat R1, UMat R2, UMat P1, UMat P2, UMat Q)`
`static void`	`stereoRectify(UMat K1, UMat D1, UMat K2, UMat D2, Size imageSize, UMat R, UMat tvec, UMat R1, UMat R2, UMat P1, UMat P2, UMat Q, int flags)`
`static void`	`stereoRectify(UMat cameraMatrix1, UMat distCoeffs1, UMat cameraMatrix2, UMat distCoeffs2, Size imageSize, UMat R, UMat T, UMat R1, UMat R2, UMat P1, UMat P2, UMat Q, int flags, double alpha, Size newImageSize, Rect validPixROI1, Rect validPixROI2)`
`static void`	`stereoRectify(UMat K1, UMat D1, UMat K2, UMat D2, Size imageSize, UMat R, UMat tvec, UMat R1, UMat R2, UMat P1, UMat P2, UMat Q, int flags, Size newImageSize, double balance, double fov_scale)`
`static boolean`	`stereoRectifyUncalibrated(GpuMat points1, GpuMat points2, GpuMat F, Size imgSize, GpuMat H1, GpuMat H2)`
`static boolean`	`stereoRectifyUncalibrated(GpuMat points1, GpuMat points2, GpuMat F, Size imgSize, GpuMat H1, GpuMat H2, double threshold)`
`static boolean`	`stereoRectifyUncalibrated(Mat points1, Mat points2, Mat F, Size imgSize, Mat H1, Mat H2)`
`static boolean`	`stereoRectifyUncalibrated(Mat points1, Mat points2, Mat F, Size imgSize, Mat H1, Mat H2, double threshold)` \brief Computes a rectification transform for an uncalibrated stereo camera.
`static boolean`	`stereoRectifyUncalibrated(UMat points1, UMat points2, UMat F, Size imgSize, UMat H1, UMat H2)`
`static boolean`	`stereoRectifyUncalibrated(UMat points1, UMat points2, UMat F, Size imgSize, UMat H1, UMat H2, double threshold)`
`static void`	`triangulatePoints(GpuMat projMatr1, GpuMat projMatr2, GpuMat projPoints1, GpuMat projPoints2, GpuMat points4D)`
`static void`	`triangulatePoints(Mat projMatr1, Mat projMatr2, Mat projPoints1, Mat projPoints2, Mat points4D)` \brief This function reconstructs 3-dimensional points (in homogeneous coordinates) by using their observations with a stereo camera.
`static void`	`triangulatePoints(UMat projMatr1, UMat projMatr2, UMat projPoints1, UMat projPoints2, UMat points4D)`
`static void`	`undistort(GpuMat src, GpuMat dst, GpuMat cameraMatrix, GpuMat distCoeffs)`
`static void`	`undistort(GpuMat src, GpuMat dst, GpuMat cameraMatrix, GpuMat distCoeffs, GpuMat newCameraMatrix)`
`static void`	`undistort(Mat src, Mat dst, Mat cameraMatrix, Mat distCoeffs)`
`static void`	`undistort(Mat src, Mat dst, Mat cameraMatrix, Mat distCoeffs, Mat newCameraMatrix)` \brief Transforms an image to compensate for lens distortion.
`static void`	`undistort(UMat src, UMat dst, UMat cameraMatrix, UMat distCoeffs)`
`static void`	`undistort(UMat src, UMat dst, UMat cameraMatrix, UMat distCoeffs, UMat newCameraMatrix)`
`static void`	`undistortImage(GpuMat distorted, GpuMat undistorted, GpuMat K, GpuMat D)`
`static void`	`undistortImage(GpuMat distorted, GpuMat undistorted, GpuMat K, GpuMat D, GpuMat Knew, Size new_size)`
`static void`	`undistortImage(Mat distorted, Mat undistorted, Mat K, Mat D)`
`static void`	`undistortImage(Mat distorted, Mat undistorted, Mat K, Mat D, Mat Knew, Size new_size)` \brief Transforms an image to compensate for fisheye lens distortion.
`static void`	`undistortImage(UMat distorted, UMat undistorted, UMat K, UMat D)`
`static void`	`undistortImage(UMat distorted, UMat undistorted, UMat K, UMat D, UMat Knew, Size new_size)`
`static void`	`undistortPoints(GpuMat src, GpuMat dst, GpuMat cameraMatrix, GpuMat distCoeffs)`
`static void`	`undistortPoints(GpuMat src, GpuMat dst, GpuMat cameraMatrix, GpuMat distCoeffs, GpuMat R, GpuMat P)`
`static void`	`undistortPoints(Mat src, Mat dst, Mat cameraMatrix, Mat distCoeffs)`
`static void`	`undistortPoints(Mat src, Mat dst, Mat cameraMatrix, Mat distCoeffs, Mat R, Mat P)` \brief Computes the ideal point coordinates from the observed point coordinates.
`static void`	`undistortPoints(UMat src, UMat dst, UMat cameraMatrix, UMat distCoeffs)`
`static void`	`undistortPoints(UMat src, UMat dst, UMat cameraMatrix, UMat distCoeffs, UMat R, UMat P)`
`static void`	`undistortPointsIter(GpuMat src, GpuMat dst, GpuMat cameraMatrix, GpuMat distCoeffs, GpuMat R, GpuMat P, TermCriteria criteria)`
`static void`	`undistortPointsIter(Mat src, Mat dst, Mat cameraMatrix, Mat distCoeffs, Mat R, Mat P, TermCriteria criteria)` \overload \note Default version of #undistortPoints does 5 iterations to compute undistorted points.
`static void`	`undistortPointsIter(UMat src, UMat dst, UMat cameraMatrix, UMat distCoeffs, UMat R, UMat P, TermCriteria criteria)`
`static void`	`validateDisparity(GpuMat disparity, GpuMat cost, int minDisparity, int numberOfDisparities)`
`static void`	`validateDisparity(GpuMat disparity, GpuMat cost, int minDisparity, int numberOfDisparities, int disp12MaxDisp)`
`static void`	`validateDisparity(Mat disparity, Mat cost, int minDisparity, int numberOfDisparities)`
`static void`	`validateDisparity(Mat disparity, Mat cost, int minDisparity, int numberOfDisparities, int disp12MaxDisp)` validates disparity using the left-right check.
`static void`	`validateDisparity(UMat disparity, UMat cost, int minDisparity, int numberOfDisparities)`
`static void`	`validateDisparity(UMat disparity, UMat cost, int minDisparity, int numberOfDisparities, int disp12MaxDisp)`

Methods inherited from class org.bytedeco.opencv.presets.opencv_calib3d
map

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail
- CV_FM_7POINT
```
public static final int CV_FM_7POINT
```
  See Also:
  
  Constant Field Values
- CV_FM_8POINT
```
public static final int CV_FM_8POINT
```
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  Constant Field Values
- CV_LMEDS
```
public static final int CV_LMEDS
```
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  Constant Field Values
- CV_RANSAC
```
public static final int CV_RANSAC
```
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  Constant Field Values
- CV_FM_LMEDS_ONLY
```
public static final int CV_FM_LMEDS_ONLY
```
  See Also:
  
  Constant Field Values
- CV_FM_RANSAC_ONLY
```
public static final int CV_FM_RANSAC_ONLY
```
  See Also:
  
  Constant Field Values
- CV_FM_LMEDS
```
public static final int CV_FM_LMEDS
```
  See Also:
  
  Constant Field Values
- CV_FM_RANSAC
```
public static final int CV_FM_RANSAC
```
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  Constant Field Values
- CV_ITERATIVE
```
public static final int CV_ITERATIVE
```
  enum
  
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  Constant Field Values
- CV_EPNP
```
public static final int CV_EPNP
```
  enum
  
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  Constant Field Values
- CV_P3P
```
public static final int CV_P3P
```
  enum
  
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  Constant Field Values
- CV_DLS
```
public static final int CV_DLS
```
  enum
  
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  Constant Field Values
- CV_CALIB_CB_ADAPTIVE_THRESH
```
public static final int CV_CALIB_CB_ADAPTIVE_THRESH
```
  See Also:
  
  Constant Field Values
- CV_CALIB_CB_NORMALIZE_IMAGE
```
public static final int CV_CALIB_CB_NORMALIZE_IMAGE
```
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  Constant Field Values
- CV_CALIB_CB_FILTER_QUADS
```
public static final int CV_CALIB_CB_FILTER_QUADS
```
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  Constant Field Values
- CV_CALIB_CB_FAST_CHECK
```
public static final int CV_CALIB_CB_FAST_CHECK
```
  See Also:
  
  Constant Field Values
- CV_CALIB_USE_INTRINSIC_GUESS
```
public static final int CV_CALIB_USE_INTRINSIC_GUESS
```
  See Also:
  
  Constant Field Values
- CV_CALIB_FIX_ASPECT_RATIO
```
public static final int CV_CALIB_FIX_ASPECT_RATIO
```
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  Constant Field Values
- CV_CALIB_FIX_PRINCIPAL_POINT
```
public static final int CV_CALIB_FIX_PRINCIPAL_POINT
```
  See Also:
  
  Constant Field Values
- CV_CALIB_ZERO_TANGENT_DIST
```
public static final int CV_CALIB_ZERO_TANGENT_DIST
```
  See Also:
  
  Constant Field Values
- CV_CALIB_FIX_FOCAL_LENGTH
```
public static final int CV_CALIB_FIX_FOCAL_LENGTH
```
  See Also:
  
  Constant Field Values
- CV_CALIB_FIX_K1
```
public static final int CV_CALIB_FIX_K1
```
  See Also:
  
  Constant Field Values
- CV_CALIB_FIX_K2
```
public static final int CV_CALIB_FIX_K2
```
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  Constant Field Values
- CV_CALIB_FIX_K3
```
public static final int CV_CALIB_FIX_K3
```
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  Constant Field Values
- CV_CALIB_FIX_K4
```
public static final int CV_CALIB_FIX_K4
```
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  Constant Field Values
- CV_CALIB_FIX_K5
```
public static final int CV_CALIB_FIX_K5
```
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  Constant Field Values
- CV_CALIB_FIX_K6
```
public static final int CV_CALIB_FIX_K6
```
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  Constant Field Values
- CV_CALIB_RATIONAL_MODEL
```
public static final int CV_CALIB_RATIONAL_MODEL
```
  See Also:
  
  Constant Field Values
- CV_CALIB_THIN_PRISM_MODEL
```
public static final int CV_CALIB_THIN_PRISM_MODEL
```
  See Also:
  
  Constant Field Values
- CV_CALIB_FIX_S1_S2_S3_S4
```
public static final int CV_CALIB_FIX_S1_S2_S3_S4
```
  See Also:
  
  Constant Field Values
- CV_CALIB_TILTED_MODEL
```
public static final int CV_CALIB_TILTED_MODEL
```
  See Also:
  
  Constant Field Values
- CV_CALIB_FIX_TAUX_TAUY
```
public static final int CV_CALIB_FIX_TAUX_TAUY
```
  See Also:
  
  Constant Field Values
- CV_CALIB_FIX_TANGENT_DIST
```
public static final int CV_CALIB_FIX_TANGENT_DIST
```
  See Also:
  
  Constant Field Values
- CV_CALIB_NINTRINSIC
```
public static final int CV_CALIB_NINTRINSIC
```
  See Also:
  
  Constant Field Values
- CV_CALIB_FIX_INTRINSIC
```
public static final int CV_CALIB_FIX_INTRINSIC
```
  See Also:
  
  Constant Field Values
- CV_CALIB_SAME_FOCAL_LENGTH
```
public static final int CV_CALIB_SAME_FOCAL_LENGTH
```
  See Also:
  
  Constant Field Values
- CV_CALIB_ZERO_DISPARITY
```
public static final int CV_CALIB_ZERO_DISPARITY
```
  See Also:
  
  Constant Field Values
- CV_STEREO_BM_NORMALIZED_RESPONSE
```
public static final int CV_STEREO_BM_NORMALIZED_RESPONSE
```
  See Also:
  
  Constant Field Values
- CV_STEREO_BM_XSOBEL
```
public static final int CV_STEREO_BM_XSOBEL
```
  See Also:
  
  Constant Field Values
- LMEDS
```
public static final int LMEDS
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- RANSAC
```
public static final int RANSAC
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- RHO
```
public static final int RHO
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- USAC_DEFAULT
```
public static final int USAC_DEFAULT
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- USAC_PARALLEL
```
public static final int USAC_PARALLEL
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- USAC_FM_8PTS
```
public static final int USAC_FM_8PTS
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- USAC_FAST
```
public static final int USAC_FAST
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- USAC_ACCURATE
```
public static final int USAC_ACCURATE
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- USAC_PROSAC
```
public static final int USAC_PROSAC
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- USAC_MAGSAC
```
public static final int USAC_MAGSAC
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- SOLVEPNP_ITERATIVE
```
public static final int SOLVEPNP_ITERATIVE
```
  enum cv::SolvePnPMethod
  
  See Also:
  
  Constant Field Values
- SOLVEPNP_EPNP
```
public static final int SOLVEPNP_EPNP
```
  enum cv::SolvePnPMethod
  
  See Also:
  
  Constant Field Values
- SOLVEPNP_P3P
```
public static final int SOLVEPNP_P3P
```
  enum cv::SolvePnPMethod
  
  See Also:
  
  Constant Field Values
- SOLVEPNP_DLS
```
public static final int SOLVEPNP_DLS
```
  enum cv::SolvePnPMethod
  
  See Also:
  
  Constant Field Values
- SOLVEPNP_UPNP
```
public static final int SOLVEPNP_UPNP
```
  enum cv::SolvePnPMethod
  
  See Also:
  
  Constant Field Values
- SOLVEPNP_AP3P
```
public static final int SOLVEPNP_AP3P
```
  enum cv::SolvePnPMethod
  
  See Also:
  
  Constant Field Values
- SOLVEPNP_IPPE
```
public static final int SOLVEPNP_IPPE
```
  enum cv::SolvePnPMethod
  
  See Also:
  
  Constant Field Values
- SOLVEPNP_IPPE_SQUARE
```
public static final int SOLVEPNP_IPPE_SQUARE
```
  enum cv::SolvePnPMethod
  
  See Also:
  
  Constant Field Values
- SOLVEPNP_SQPNP
```
public static final int SOLVEPNP_SQPNP
```
  enum cv::SolvePnPMethod
  
  See Also:
  
  Constant Field Values
- SOLVEPNP_MAX_COUNT
```
public static final int SOLVEPNP_MAX_COUNT
```
  enum cv::SolvePnPMethod
  
  See Also:
  
  Constant Field Values
- CALIB_CB_ADAPTIVE_THRESH
```
public static final int CALIB_CB_ADAPTIVE_THRESH
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_CB_NORMALIZE_IMAGE
```
public static final int CALIB_CB_NORMALIZE_IMAGE
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_CB_FILTER_QUADS
```
public static final int CALIB_CB_FILTER_QUADS
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_CB_FAST_CHECK
```
public static final int CALIB_CB_FAST_CHECK
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_CB_EXHAUSTIVE
```
public static final int CALIB_CB_EXHAUSTIVE
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_CB_ACCURACY
```
public static final int CALIB_CB_ACCURACY
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_CB_LARGER
```
public static final int CALIB_CB_LARGER
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_CB_MARKER
```
public static final int CALIB_CB_MARKER
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_CB_SYMMETRIC_GRID
```
public static final int CALIB_CB_SYMMETRIC_GRID
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_CB_ASYMMETRIC_GRID
```
public static final int CALIB_CB_ASYMMETRIC_GRID
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_CB_CLUSTERING
```
public static final int CALIB_CB_CLUSTERING
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_NINTRINSIC
```
public static final int CALIB_NINTRINSIC
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_USE_INTRINSIC_GUESS
```
public static final int CALIB_USE_INTRINSIC_GUESS
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_FIX_ASPECT_RATIO
```
public static final int CALIB_FIX_ASPECT_RATIO
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_FIX_PRINCIPAL_POINT
```
public static final int CALIB_FIX_PRINCIPAL_POINT
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_ZERO_TANGENT_DIST
```
public static final int CALIB_ZERO_TANGENT_DIST
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_FIX_FOCAL_LENGTH
```
public static final int CALIB_FIX_FOCAL_LENGTH
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_FIX_K1
```
public static final int CALIB_FIX_K1
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_FIX_K2
```
public static final int CALIB_FIX_K2
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_FIX_K3
```
public static final int CALIB_FIX_K3
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_FIX_K4
```
public static final int CALIB_FIX_K4
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_FIX_K5
```
public static final int CALIB_FIX_K5
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_FIX_K6
```
public static final int CALIB_FIX_K6
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_RATIONAL_MODEL
```
public static final int CALIB_RATIONAL_MODEL
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_THIN_PRISM_MODEL
```
public static final int CALIB_THIN_PRISM_MODEL
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_FIX_S1_S2_S3_S4
```
public static final int CALIB_FIX_S1_S2_S3_S4
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_TILTED_MODEL
```
public static final int CALIB_TILTED_MODEL
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_FIX_TAUX_TAUY
```
public static final int CALIB_FIX_TAUX_TAUY
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_USE_QR
```
public static final int CALIB_USE_QR
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_FIX_TANGENT_DIST
```
public static final int CALIB_FIX_TANGENT_DIST
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_FIX_INTRINSIC
```
public static final int CALIB_FIX_INTRINSIC
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_SAME_FOCAL_LENGTH
```
public static final int CALIB_SAME_FOCAL_LENGTH
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_ZERO_DISPARITY
```
public static final int CALIB_ZERO_DISPARITY
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_USE_LU
```
public static final int CALIB_USE_LU
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_USE_EXTRINSIC_GUESS
```
public static final int CALIB_USE_EXTRINSIC_GUESS
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- FM_7POINT
```
public static final int FM_7POINT
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- FM_8POINT
```
public static final int FM_8POINT
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- FM_LMEDS
```
public static final int FM_LMEDS
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- FM_RANSAC
```
public static final int FM_RANSAC
```
  enum cv::
  
  See Also:
  
  Constant Field Values
- CALIB_HAND_EYE_TSAI
```
public static final int CALIB_HAND_EYE_TSAI
```
  enum cv::HandEyeCalibrationMethod
  
  See Also:
  
  Constant Field Values
- CALIB_HAND_EYE_PARK
```
public static final int CALIB_HAND_EYE_PARK
```
  enum cv::HandEyeCalibrationMethod
  
  See Also:
  
  Constant Field Values
- CALIB_HAND_EYE_HORAUD
```
public static final int CALIB_HAND_EYE_HORAUD
```
  enum cv::HandEyeCalibrationMethod
  
  See Also:
  
  Constant Field Values
- CALIB_HAND_EYE_ANDREFF
```
public static final int CALIB_HAND_EYE_ANDREFF
```
  enum cv::HandEyeCalibrationMethod
  
  See Also:
  
  Constant Field Values
- CALIB_HAND_EYE_DANIILIDIS
```
public static final int CALIB_HAND_EYE_DANIILIDIS
```
  enum cv::HandEyeCalibrationMethod
  
  See Also:
  
  Constant Field Values
- CALIB_ROBOT_WORLD_HAND_EYE_SHAH
```
public static final int CALIB_ROBOT_WORLD_HAND_EYE_SHAH
```
  enum cv::RobotWorldHandEyeCalibrationMethod
  
  See Also:
  
  Constant Field Values
- CALIB_ROBOT_WORLD_HAND_EYE_LI
```
public static final int CALIB_ROBOT_WORLD_HAND_EYE_LI
```
  enum cv::RobotWorldHandEyeCalibrationMethod
  
  See Also:
  
  Constant Field Values
- SAMPLING_UNIFORM
```
public static final int SAMPLING_UNIFORM
```
  enum cv::SamplingMethod
  
  See Also:
  
  Constant Field Values
- SAMPLING_PROGRESSIVE_NAPSAC
```
public static final int SAMPLING_PROGRESSIVE_NAPSAC
```
  enum cv::SamplingMethod
  
  See Also:
  
  Constant Field Values
- SAMPLING_NAPSAC
```
public static final int SAMPLING_NAPSAC
```
  enum cv::SamplingMethod
  
  See Also:
  
  Constant Field Values
- SAMPLING_PROSAC
```
public static final int SAMPLING_PROSAC
```
  enum cv::SamplingMethod
  
  See Also:
  
  Constant Field Values
- LOCAL_OPTIM_NULL
```
public static final int LOCAL_OPTIM_NULL
```
  enum cv::LocalOptimMethod
  
  See Also:
  
  Constant Field Values
- LOCAL_OPTIM_INNER_LO
```
public static final int LOCAL_OPTIM_INNER_LO
```
  enum cv::LocalOptimMethod
  
  See Also:
  
  Constant Field Values
- LOCAL_OPTIM_INNER_AND_ITER_LO
```
public static final int LOCAL_OPTIM_INNER_AND_ITER_LO
```
  enum cv::LocalOptimMethod
  
  See Also:
  
  Constant Field Values
- LOCAL_OPTIM_GC
```
public static final int LOCAL_OPTIM_GC
```
  enum cv::LocalOptimMethod
  
  See Also:
  
  Constant Field Values
- LOCAL_OPTIM_SIGMA
```
public static final int LOCAL_OPTIM_SIGMA
```
  enum cv::LocalOptimMethod
  
  See Also:
  
  Constant Field Values
- SCORE_METHOD_RANSAC
```
public static final int SCORE_METHOD_RANSAC
```
  enum cv::ScoreMethod
  
  See Also:
  
  Constant Field Values
- SCORE_METHOD_MSAC
```
public static final int SCORE_METHOD_MSAC
```
  enum cv::ScoreMethod
  
  See Also:
  
  Constant Field Values
- SCORE_METHOD_MAGSAC
```
public static final int SCORE_METHOD_MAGSAC
```
  enum cv::ScoreMethod
  
  See Also:
  
  Constant Field Values
- SCORE_METHOD_LMEDS
```
public static final int SCORE_METHOD_LMEDS
```
  enum cv::ScoreMethod
  
  See Also:
  
  Constant Field Values
- NEIGH_FLANN_KNN
```
public static final int NEIGH_FLANN_KNN
```
  enum cv::NeighborSearchMethod
  
  See Also:
  
  Constant Field Values
- NEIGH_GRID
```
public static final int NEIGH_GRID
```
  enum cv::NeighborSearchMethod
  
  See Also:
  
  Constant Field Values
- NEIGH_FLANN_RADIUS
```
public static final int NEIGH_FLANN_RADIUS
```
  enum cv::NeighborSearchMethod
  
  See Also:
  
  Constant Field Values
- PROJ_SPHERICAL_ORTHO
```
public static final int PROJ_SPHERICAL_ORTHO
```
  enum cv::UndistortTypes
  
  See Also:
  
  Constant Field Values
- PROJ_SPHERICAL_EQRECT
```
public static final int PROJ_SPHERICAL_EQRECT
```
  enum cv::UndistortTypes
  
  See Also:
  
  Constant Field Values
- FISHEYE_CALIB_USE_INTRINSIC_GUESS
```
public static final int FISHEYE_CALIB_USE_INTRINSIC_GUESS
```
  enum cv::fisheye::
  
  See Also:
  
  Constant Field Values
- FISHEYE_CALIB_RECOMPUTE_EXTRINSIC
```
public static final int FISHEYE_CALIB_RECOMPUTE_EXTRINSIC
```
  enum cv::fisheye::
  
  See Also:
  
  Constant Field Values
- FISHEYE_CALIB_CHECK_COND
```
public static final int FISHEYE_CALIB_CHECK_COND
```
  enum cv::fisheye::
  
  See Also:
  
  Constant Field Values
- FISHEYE_CALIB_FIX_SKEW
```
public static final int FISHEYE_CALIB_FIX_SKEW
```
  enum cv::fisheye::
  
  See Also:
  
  Constant Field Values
- FISHEYE_CALIB_FIX_K1
```
public static final int FISHEYE_CALIB_FIX_K1
```
  enum cv::fisheye::
  
  See Also:
  
  Constant Field Values
- FISHEYE_CALIB_FIX_K2
```
public static final int FISHEYE_CALIB_FIX_K2
```
  enum cv::fisheye::
  
  See Also:
  
  Constant Field Values
- FISHEYE_CALIB_FIX_K3
```
public static final int FISHEYE_CALIB_FIX_K3
```
  enum cv::fisheye::
  
  See Also:
  
  Constant Field Values
- FISHEYE_CALIB_FIX_K4
```
public static final int FISHEYE_CALIB_FIX_K4
```
  enum cv::fisheye::
  
  See Also:
  
  Constant Field Values
- FISHEYE_CALIB_FIX_INTRINSIC
```
public static final int FISHEYE_CALIB_FIX_INTRINSIC
```
  enum cv::fisheye::
  
  See Also:
  
  Constant Field Values
- FISHEYE_CALIB_FIX_PRINCIPAL_POINT
```
public static final int FISHEYE_CALIB_FIX_PRINCIPAL_POINT
```
  enum cv::fisheye::
  
  See Also:
  
  Constant Field Values
- FISHEYE_CALIB_ZERO_DISPARITY
```
public static final int FISHEYE_CALIB_ZERO_DISPARITY
```
  enum cv::fisheye::
  
  See Also:
  
  Constant Field Values
- FISHEYE_CALIB_FIX_FOCAL_LENGTH
```
public static final int FISHEYE_CALIB_FIX_FOCAL_LENGTH
```
  enum cv::fisheye::
  
  See Also:
  
  Constant Field Values

Constructor Detail
- opencv_calib3d
```
public opencv_calib3d()
```

Method Detail

Rodrigues
```
@Namespace(value="cv")
public static void Rodrigues(@ByVal
                                                    Mat src,
                                                    @ByVal
                                                    Mat dst,
                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                    Mat jacobian)
```
\brief Converts a rotation matrix to a rotation vector or vice versa.
Parameters:

src - Input rotation vector (3x1 or 1x3) or rotation matrix (3x3).

dst - Output rotation matrix (3x3) or rotation vector (3x1 or 1x3), respectively.
jacobian - Optional output Jacobian matrix, 3x9 or 9x3, which is a matrix of partial derivatives of the output array components with respect to the input array components.
```
 \[\begin{array}{l} \theta \leftarrow norm(r) \\ r  \leftarrow r/ \theta \\ R =  \cos(\theta) I + (1- \cos{\theta} ) r r^T +  \sin(\theta) \vecthreethree{0}{-r_z}{r_y}{r_z}{0}{-r_x}{-r_y}{r_x}{0} \end{array}\]
```
Inverse transformation can be also done easily, since
```
 \[\sin ( \theta ) \vecthreethree{0}{-r_z}{r_y}{r_z}{0}{-r_x}{-r_y}{r_x}{0} = \frac{R - R^T}{2}\]
```
A rotation vector is a convenient and most compact representation of a rotation matrix (since any rotation matrix has just 3 degrees of freedom). The representation is used in the global 3D geometry optimization procedures like \ref calibrateCamera, \ref stereoCalibrate, or \ref solvePnP .
\note More information about the computation of the derivative of a 3D rotation matrix with respect to its exponential coordinate can be found in: - A Compact Formula for the Derivative of a 3-D Rotation in Exponential Coordinates, Guillermo Gallego, Anthony J. Yezzi \cite Gallego2014ACF
\note Useful information on SE(3) and Lie Groups can be found in: - A tutorial on SE(3) transformation parameterizations and on-manifold optimization, Jose-Luis Blanco \cite blanco2010tutorial - Lie Groups for 2D and 3D Transformation, Ethan Eade \cite Eade17 - A micro Lie theory for state estimation in robotics, Joan SolÃ , JÃ©rÃ©mie Deray, Dinesh Atchuthan \cite Sol2018AML

Rodrigues

@Namespace(value="cv")
public static void Rodrigues(@ByVal
                                                    Mat src,
                                                    @ByVal
                                                    Mat dst)

Rodrigues

@Namespace(value="cv")
public static void Rodrigues(@ByVal
                                                    UMat src,
                                                    @ByVal
                                                    UMat dst,
                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                    UMat jacobian)

Rodrigues

@Namespace(value="cv")
public static void Rodrigues(@ByVal
                                                    UMat src,
                                                    @ByVal
                                                    UMat dst)

Rodrigues

@Namespace(value="cv")
public static void Rodrigues(@ByVal
                                                    GpuMat src,
                                                    @ByVal
                                                    GpuMat dst,
                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                    GpuMat jacobian)

Rodrigues

@Namespace(value="cv")
public static void Rodrigues(@ByVal
                                                    GpuMat src,
                                                    @ByVal
                                                    GpuMat dst)

findHomography
```
@Namespace(value="cv")
 @ByVal
public static Mat findHomography(@ByVal
                                                                Mat srcPoints,
                                                                @ByVal
                                                                Mat dstPoints,
                                                                int method,
                                                                double ransacReprojThreshold,
                                                                @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                Mat mask,
                                                                int maxIters,
                                                                double confidence)
```
\brief Finds a perspective transformation between two planes.
Parameters:

srcPoints - Coordinates of the points in the original plane, a matrix of the type CV_32FC2 or vector\ .

dstPoints - Coordinates of the points in the target plane, a matrix of the type CV_32FC2 or a vector\ .

method - Method used to compute a homography matrix. The following methods are possible: - **0** - a regular method using all the points, i.e., the least squares method - \ref RANSAC - RANSAC-based robust method - \ref LMEDS - Least-Median robust method - \ref RHO - PROSAC-based robust method
ransacReprojThreshold - Maximum allowed reprojection error to treat a point pair as an inlier (used in the RANSAC and RHO methods only). That is, if
```
 \[\| \texttt{dstPoints} _i -  \texttt{convertPointsHomogeneous} ( \texttt{H} * \texttt{srcPoints} _i) \|_2  >  \texttt{ransacReprojThreshold}\]
```
then the point i is considered as an outlier. If srcPoints and dstPoints are measured in pixels, it usually makes sense to set this parameter somewhere in the range of 1 to 10.
mask - Optional output mask set by a robust method ( RANSAC or LMeDS ). Note that the input mask values are ignored.

maxIters - The maximum number of RANSAC iterations.
confidence - Confidence level, between 0 and 1.
The function finds and returns the perspective transformation H between the source and the destination planes:
```
 \[s_i  \vecthree{x'_i}{y'_i}{1} \sim H  \vecthree{x_i}{y_i}{1}\]
```
so that the back-projection error
```
 \[\sum _i \left ( x'_i- \frac{h_{11} x_i + h_{12} y_i + h_{13}}{h_{31} x_i + h_{32} y_i + h_{33}} \right )^2+ \left ( y'_i- \frac{h_{21} x_i + h_{22} y_i + h_{23}}{h_{31} x_i + h_{32} y_i + h_{33}} \right )^2\]
```
is minimized. If the parameter method is set to the default value 0, the function uses all the point pairs to compute an initial homography estimate with a simple least-squares scheme.
However, if not all of the point pairs ( srcPoints_i, dstPoints_i ) fit the rigid perspective transformation (that is, there are some outliers), this initial estimate will be poor. In this case, you can use one of the three robust methods. The methods RANSAC, LMeDS and RHO try many different random subsets of the corresponding point pairs (of four pairs each, collinear pairs are discarded), estimate the homography matrix using this subset and a simple least-squares algorithm, and then compute the quality/goodness of the computed homography (which is the number of inliers for RANSAC or the least median re-projection error for LMeDS). The best subset is then used to produce the initial estimate of the homography matrix and the mask of inliers/outliers.
Regardless of the method, robust or not, the computed homography matrix is refined further (using inliers only in case of a robust method) with the Levenberg-Marquardt method to reduce the re-projection error even more.
The methods RANSAC and RHO can handle practically any ratio of outliers but need a threshold to distinguish inliers from outliers. The method LMeDS does not need any threshold but it works correctly only when there are more than 50% of inliers. Finally, if there are no outliers and the noise is rather small, use the default method (method=0).
The function is used to find initial intrinsic and extrinsic matrices. Homography matrix is determined up to a scale. Thus, it is normalized so that h_{33}=1. Note that whenever an H matrix cannot be estimated, an empty one will be returned.
See Also:

getAffineTransform, estimateAffine2D, estimateAffinePartial2D, getPerspectiveTransform, warpPerspective, perspectiveTransform

findHomography

@Namespace(value="cv")
 @ByVal
public static Mat findHomography(@ByVal
                                                                Mat srcPoints,
                                                                @ByVal
                                                                Mat dstPoints)

findHomography

@Namespace(value="cv")
 @ByVal
public static Mat findHomography(@ByVal
                                                                UMat srcPoints,
                                                                @ByVal
                                                                UMat dstPoints,
                                                                int method,
                                                                double ransacReprojThreshold,
                                                                @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                UMat mask,
                                                                int maxIters,
                                                                double confidence)

findHomography

@Namespace(value="cv")
 @ByVal
public static Mat findHomography(@ByVal
                                                                UMat srcPoints,
                                                                @ByVal
                                                                UMat dstPoints)

findHomography

@Namespace(value="cv")
 @ByVal
public static Mat findHomography(@ByVal
                                                                GpuMat srcPoints,
                                                                @ByVal
                                                                GpuMat dstPoints,
                                                                int method,
                                                                double ransacReprojThreshold,
                                                                @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                GpuMat mask,
                                                                int maxIters,
                                                                double confidence)

findHomography

@Namespace(value="cv")
 @ByVal
public static Mat findHomography(@ByVal
                                                                GpuMat srcPoints,
                                                                @ByVal
                                                                GpuMat dstPoints)

findHomography

@Namespace(value="cv")
 @ByVal
public static Mat findHomography(@ByVal
                                                                Mat srcPoints,
                                                                @ByVal
                                                                Mat dstPoints,
                                                                @ByVal
                                                                Mat mask,
                                                                int method,
                                                                double ransacReprojThreshold)

\overload

findHomography

@Namespace(value="cv")
 @ByVal
public static Mat findHomography(@ByVal
                                                                Mat srcPoints,
                                                                @ByVal
                                                                Mat dstPoints,
                                                                @ByVal
                                                                Mat mask)

findHomography

@Namespace(value="cv")
 @ByVal
public static Mat findHomography(@ByVal
                                                                UMat srcPoints,
                                                                @ByVal
                                                                UMat dstPoints,
                                                                @ByVal
                                                                UMat mask,
                                                                int method,
                                                                double ransacReprojThreshold)

findHomography

@Namespace(value="cv")
 @ByVal
public static Mat findHomography(@ByVal
                                                                UMat srcPoints,
                                                                @ByVal
                                                                UMat dstPoints,
                                                                @ByVal
                                                                UMat mask)

findHomography

@Namespace(value="cv")
 @ByVal
public static Mat findHomography(@ByVal
                                                                GpuMat srcPoints,
                                                                @ByVal
                                                                GpuMat dstPoints,
                                                                @ByVal
                                                                GpuMat mask,
                                                                int method,
                                                                double ransacReprojThreshold)

findHomography

@Namespace(value="cv")
 @ByVal
public static Mat findHomography(@ByVal
                                                                GpuMat srcPoints,
                                                                @ByVal
                                                                GpuMat dstPoints,
                                                                @ByVal
                                                                GpuMat mask)

findHomography

@Namespace(value="cv")
 @ByVal
public static Mat findHomography(@ByVal
                                                                Mat srcPoints,
                                                                @ByVal
                                                                Mat dstPoints,
                                                                @ByVal
                                                                Mat mask,
                                                                @Const @ByRef
                                                                UsacParams params)

findHomography

@Namespace(value="cv")
 @ByVal
public static Mat findHomography(@ByVal
                                                                UMat srcPoints,
                                                                @ByVal
                                                                UMat dstPoints,
                                                                @ByVal
                                                                UMat mask,
                                                                @Const @ByRef
                                                                UsacParams params)

findHomography

@Namespace(value="cv")
 @ByVal
public static Mat findHomography(@ByVal
                                                                GpuMat srcPoints,
                                                                @ByVal
                                                                GpuMat dstPoints,
                                                                @ByVal
                                                                GpuMat mask,
                                                                @Const @ByRef
                                                                UsacParams params)

RQDecomp3x3

@Namespace(value="cv")
 @ByVal
 @Cast(value="cv::Vec3d*")
public static Point3d RQDecomp3x3(@ByVal
                                                                                            Mat src,
                                                                                            @ByVal
                                                                                            Mat mtxR,
                                                                                            @ByVal
                                                                                            Mat mtxQ,
                                                                                            @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                                            Mat Qx,
                                                                                            @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                                            Mat Qy,
                                                                                            @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                                            Mat Qz)

\brief Computes an RQ decomposition of 3x3 matrices.

Parameters:

src - 3x3 input matrix.

mtxR - Output 3x3 upper-triangular matrix.

mtxQ - Output 3x3 orthogonal matrix.

Qx - Optional output 3x3 rotation matrix around x-axis.

Qy - Optional output 3x3 rotation matrix around y-axis.

Qz - Optional output 3x3 rotation matrix around z-axis.

The function computes a RQ decomposition using the given rotations. This function is used in #decomposeProjectionMatrix to decompose the left 3x3 submatrix of a projection matrix into a camera and a rotation matrix.

It optionally returns three rotation matrices, one for each axis, and the three Euler angles in degrees (as the return value) that could be used in OpenGL. Note, there is always more than one sequence of rotations about the three principal axes that results in the same orientation of an object, e.g. see \cite Slabaugh . Returned tree rotation matrices and corresponding three Euler angles are only one of the possible solutions.

RQDecomp3x3

@Namespace(value="cv")
 @ByVal
 @Cast(value="cv::Vec3d*")
public static Point3d RQDecomp3x3(@ByVal
                                                                                            Mat src,
                                                                                            @ByVal
                                                                                            Mat mtxR,
                                                                                            @ByVal
                                                                                            Mat mtxQ)

RQDecomp3x3

@Namespace(value="cv")
 @ByVal
 @Cast(value="cv::Vec3d*")
public static Point3d RQDecomp3x3(@ByVal
                                                                                            UMat src,
                                                                                            @ByVal
                                                                                            UMat mtxR,
                                                                                            @ByVal
                                                                                            UMat mtxQ,
                                                                                            @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                                            UMat Qx,
                                                                                            @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                                            UMat Qy,
                                                                                            @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                                            UMat Qz)

RQDecomp3x3

@Namespace(value="cv")
 @ByVal
 @Cast(value="cv::Vec3d*")
public static Point3d RQDecomp3x3(@ByVal
                                                                                            UMat src,
                                                                                            @ByVal
                                                                                            UMat mtxR,
                                                                                            @ByVal
                                                                                            UMat mtxQ)

RQDecomp3x3

@Namespace(value="cv")
 @ByVal
 @Cast(value="cv::Vec3d*")
public static Point3d RQDecomp3x3(@ByVal
                                                                                            GpuMat src,
                                                                                            @ByVal
                                                                                            GpuMat mtxR,
                                                                                            @ByVal
                                                                                            GpuMat mtxQ,
                                                                                            @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                                            GpuMat Qx,
                                                                                            @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                                            GpuMat Qy,
                                                                                            @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                                            GpuMat Qz)

RQDecomp3x3

@Namespace(value="cv")
 @ByVal
 @Cast(value="cv::Vec3d*")
public static Point3d RQDecomp3x3(@ByVal
                                                                                            GpuMat src,
                                                                                            @ByVal
                                                                                            GpuMat mtxR,
                                                                                            @ByVal
                                                                                            GpuMat mtxQ)

decomposeProjectionMatrix

@Namespace(value="cv")
public static void decomposeProjectionMatrix(@ByVal
                                                                    Mat projMatrix,
                                                                    @ByVal
                                                                    Mat cameraMatrix,
                                                                    @ByVal
                                                                    Mat rotMatrix,
                                                                    @ByVal
                                                                    Mat transVect,
                                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                    Mat rotMatrixX,
                                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                    Mat rotMatrixY,
                                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                    Mat rotMatrixZ,
                                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                    Mat eulerAngles)

\brief Decomposes a projection matrix into a rotation matrix and a camera intrinsic matrix.

Parameters:

projMatrix - 3x4 input projection matrix P.

cameraMatrix - Output 3x3 camera intrinsic matrix \cameramatrix{A}.

rotMatrix - Output 3x3 external rotation matrix R.

transVect - Output 4x1 translation vector T.

rotMatrixX - Optional 3x3 rotation matrix around x-axis.

rotMatrixY - Optional 3x3 rotation matrix around y-axis.

rotMatrixZ - Optional 3x3 rotation matrix around z-axis.

eulerAngles - Optional three-element vector containing three Euler angles of rotation in degrees.

The function computes a decomposition of a projection matrix into a calibration and a rotation matrix and the position of a camera.

It optionally returns three rotation matrices, one for each axis, and three Euler angles that could be used in OpenGL. Note, there is always more than one sequence of rotations about the three principal axes that results in the same orientation of an object, e.g. see \cite Slabaugh . Returned tree rotation matrices and corresponding three Euler angles are only one of the possible solutions.

The function is based on RQDecomp3x3 .

decomposeProjectionMatrix

@Namespace(value="cv")
public static void decomposeProjectionMatrix(@ByVal
                                                                    Mat projMatrix,
                                                                    @ByVal
                                                                    Mat cameraMatrix,
                                                                    @ByVal
                                                                    Mat rotMatrix,
                                                                    @ByVal
                                                                    Mat transVect)

decomposeProjectionMatrix

@Namespace(value="cv")
public static void decomposeProjectionMatrix(@ByVal
                                                                    UMat projMatrix,
                                                                    @ByVal
                                                                    UMat cameraMatrix,
                                                                    @ByVal
                                                                    UMat rotMatrix,
                                                                    @ByVal
                                                                    UMat transVect,
                                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                    UMat rotMatrixX,
                                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                    UMat rotMatrixY,
                                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                    UMat rotMatrixZ,
                                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                    UMat eulerAngles)

decomposeProjectionMatrix

@Namespace(value="cv")
public static void decomposeProjectionMatrix(@ByVal
                                                                    UMat projMatrix,
                                                                    @ByVal
                                                                    UMat cameraMatrix,
                                                                    @ByVal
                                                                    UMat rotMatrix,
                                                                    @ByVal
                                                                    UMat transVect)

decomposeProjectionMatrix

@Namespace(value="cv")
public static void decomposeProjectionMatrix(@ByVal
                                                                    GpuMat projMatrix,
                                                                    @ByVal
                                                                    GpuMat cameraMatrix,
                                                                    @ByVal
                                                                    GpuMat rotMatrix,
                                                                    @ByVal
                                                                    GpuMat transVect,
                                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                    GpuMat rotMatrixX,
                                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                    GpuMat rotMatrixY,
                                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                    GpuMat rotMatrixZ,
                                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                    GpuMat eulerAngles)

decomposeProjectionMatrix

@Namespace(value="cv")
public static void decomposeProjectionMatrix(@ByVal
                                                                    GpuMat projMatrix,
                                                                    @ByVal
                                                                    GpuMat cameraMatrix,
                                                                    @ByVal
                                                                    GpuMat rotMatrix,
                                                                    @ByVal
                                                                    GpuMat transVect)

matMulDeriv

@Namespace(value="cv")
public static void matMulDeriv(@ByVal
                                                      Mat A,
                                                      @ByVal
                                                      Mat B,
                                                      @ByVal
                                                      Mat dABdA,
                                                      @ByVal
                                                      Mat dABdB)

\brief Computes partial derivatives of the matrix product for each multiplied matrix.

Parameters:: A - First multiplied matrix.; B - Second multiplied matrix.; dABdA - First output derivative matrix d(A\*B)/dA of size \texttt{A.rows*B.cols} \times {A.rows*A.cols} .; dABdB - Second output derivative matrix d(A\*B)/dB of size \texttt{A.rows*B.cols} \times {B.rows*B.cols} .
The function computes partial derivatives of the elements of the matrix product A*B with regard to the elements of each of the two input matrices. The function is used to compute the Jacobian matrices in #stereoCalibrate but can also be used in any other similar optimization function.

matMulDeriv

@Namespace(value="cv")
public static void matMulDeriv(@ByVal
                                                      UMat A,
                                                      @ByVal
                                                      UMat B,
                                                      @ByVal
                                                      UMat dABdA,
                                                      @ByVal
                                                      UMat dABdB)

matMulDeriv

@Namespace(value="cv")
public static void matMulDeriv(@ByVal
                                                      GpuMat A,
                                                      @ByVal
                                                      GpuMat B,
                                                      @ByVal
                                                      GpuMat dABdA,
                                                      @ByVal
                                                      GpuMat dABdB)

composeRT

@Namespace(value="cv")
public static void composeRT(@ByVal
                                                    Mat rvec1,
                                                    @ByVal
                                                    Mat tvec1,
                                                    @ByVal
                                                    Mat rvec2,
                                                    @ByVal
                                                    Mat tvec2,
                                                    @ByVal
                                                    Mat rvec3,
                                                    @ByVal
                                                    Mat tvec3,
                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                    Mat dr3dr1,
                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                    Mat dr3dt1,
                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                    Mat dr3dr2,
                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                    Mat dr3dt2,
                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                    Mat dt3dr1,
                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                    Mat dt3dt1,
                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                    Mat dt3dr2,
                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                    Mat dt3dt2)

\brief Combines two rotation-and-shift transformations.

Parameters:

rvec1 - First rotation vector.

tvec1 - First translation vector.

rvec2 - Second rotation vector.

tvec2 - Second translation vector.

rvec3 - Output rotation vector of the superposition.

tvec3 - Output translation vector of the superposition.

dr3dr1 - Optional output derivative of rvec3 with regard to rvec1

dr3dt1 - Optional output derivative of rvec3 with regard to tvec1

dr3dr2 - Optional output derivative of rvec3 with regard to rvec2

dr3dt2 - Optional output derivative of rvec3 with regard to tvec2

dt3dr1 - Optional output derivative of tvec3 with regard to rvec1

dt3dt1 - Optional output derivative of tvec3 with regard to tvec1

dt3dr2 - Optional output derivative of tvec3 with regard to rvec2

dt3dt2 - Optional output derivative of tvec3 with regard to tvec2

The functions compute:

 \[\begin{array}{l} \texttt{rvec3} =  \mathrm{rodrigues} ^{-1} \left ( \mathrm{rodrigues} ( \texttt{rvec2} )  \cdot \mathrm{rodrigues} ( \texttt{rvec1} ) \right )  \\ \texttt{tvec3} =  \mathrm{rodrigues} ( \texttt{rvec2} )  \cdot \texttt{tvec1} +  \texttt{tvec2} \end{array} ,\]

where \mathrm{rodrigues} denotes a rotation vector to a rotation matrix transformation, and \mathrm{rodrigues}^{-1} denotes the inverse transformation. See Rodrigues for details.

Also, the functions can compute the derivatives of the output vectors with regards to the input vectors (see matMulDeriv ). The functions are used inside #stereoCalibrate but can also be used in your own code where Levenberg-Marquardt or another gradient-based solver is used to optimize a function that contains a matrix multiplication.

composeRT

@Namespace(value="cv")
public static void composeRT(@ByVal
                                                    Mat rvec1,
                                                    @ByVal
                                                    Mat tvec1,
                                                    @ByVal
                                                    Mat rvec2,
                                                    @ByVal
                                                    Mat tvec2,
                                                    @ByVal
                                                    Mat rvec3,
                                                    @ByVal
                                                    Mat tvec3)

composeRT

@Namespace(value="cv")
public static void composeRT(@ByVal
                                                    UMat rvec1,
                                                    @ByVal
                                                    UMat tvec1,
                                                    @ByVal
                                                    UMat rvec2,
                                                    @ByVal
                                                    UMat tvec2,
                                                    @ByVal
                                                    UMat rvec3,
                                                    @ByVal
                                                    UMat tvec3,
                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                    UMat dr3dr1,
                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                    UMat dr3dt1,
                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                    UMat dr3dr2,
                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                    UMat dr3dt2,
                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                    UMat dt3dr1,
                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                    UMat dt3dt1,
                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                    UMat dt3dr2,
                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                    UMat dt3dt2)

composeRT

@Namespace(value="cv")
public static void composeRT(@ByVal
                                                    UMat rvec1,
                                                    @ByVal
                                                    UMat tvec1,
                                                    @ByVal
                                                    UMat rvec2,
                                                    @ByVal
                                                    UMat tvec2,
                                                    @ByVal
                                                    UMat rvec3,
                                                    @ByVal
                                                    UMat tvec3)

composeRT

@Namespace(value="cv")
public static void composeRT(@ByVal
                                                    GpuMat rvec1,
                                                    @ByVal
                                                    GpuMat tvec1,
                                                    @ByVal
                                                    GpuMat rvec2,
                                                    @ByVal
                                                    GpuMat tvec2,
                                                    @ByVal
                                                    GpuMat rvec3,
                                                    @ByVal
                                                    GpuMat tvec3,
                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                    GpuMat dr3dr1,
                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                    GpuMat dr3dt1,
                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                    GpuMat dr3dr2,
                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                    GpuMat dr3dt2,
                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                    GpuMat dt3dr1,
                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                    GpuMat dt3dt1,
                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                    GpuMat dt3dr2,
                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                    GpuMat dt3dt2)

composeRT

@Namespace(value="cv")
public static void composeRT(@ByVal
                                                    GpuMat rvec1,
                                                    @ByVal
                                                    GpuMat tvec1,
                                                    @ByVal
                                                    GpuMat rvec2,
                                                    @ByVal
                                                    GpuMat tvec2,
                                                    @ByVal
                                                    GpuMat rvec3,
                                                    @ByVal
                                                    GpuMat tvec3)

projectPoints
```
@Namespace(value="cv")
public static void projectPoints(@ByVal
                                                        Mat objectPoints,
                                                        @ByVal
                                                        Mat rvec,
                                                        @ByVal
                                                        Mat tvec,
                                                        @ByVal
                                                        Mat cameraMatrix,
                                                        @ByVal
                                                        Mat distCoeffs,
                                                        @ByVal
                                                        Mat imagePoints,
                                                        @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                        Mat jacobian,
                                                        double aspectRatio)
```
\brief Projects 3D points to an image plane.

Parameters:

objectPoints - Array of object points expressed wrt. the world coordinate frame. A 3xN/Nx3 1-channel or 1xN/Nx1 3-channel (or vector\ ), where N is the number of points in the view.

rvec - The rotation vector (\ref Rodrigues) that, together with tvec, performs a change of basis from world to camera coordinate system, see \ref calibrateCamera for details.

tvec - The translation vector, see parameter description above.

cameraMatrix - Camera intrinsic matrix \cameramatrix{A} .

distCoeffs - Input vector of distortion coefficients \distcoeffs . If the vector is empty, the zero distortion coefficients are assumed.

imagePoints - Output array of image points, 1xN/Nx1 2-channel, or vector\ .

jacobian - Optional output 2Nx(10+\) jacobian matrix of derivatives of image points with respect to components of the rotation vector, translation vector, focal lengths, coordinates of the principal point and the distortion coefficients. In the old interface different components of the jacobian are returned via different output parameters.

aspectRatio - Optional "fixed aspect ratio" parameter. If the parameter is not 0, the function assumes that the aspect ratio (f_x / f_y) is fixed and correspondingly adjusts the jacobian matrix.
The function computes the 2D projections of 3D points to the image plane, given intrinsic and extrinsic camera parameters. Optionally, the function computes Jacobians -matrices of partial derivatives of image points coordinates (as functions of all the input parameters) with respect to the particular parameters, intrinsic and/or extrinsic. The Jacobians are used during the global optimization in \ref calibrateCamera, \ref solvePnP, and \ref stereoCalibrate. The function itself can also be used to compute a re-projection error, given the current intrinsic and extrinsic parameters.
\note By setting rvec = tvec = [0, 0, 0], or by setting cameraMatrix to a 3x3 identity matrix, or by passing zero distortion coefficients, one can get various useful partial cases of the function. This means, one can compute the distorted coordinates for a sparse set of points or apply a perspective transformation (and also compute the derivatives) in the ideal zero-distortion setup.

projectPoints

@Namespace(value="cv")
public static void projectPoints(@ByVal
                                                        Mat objectPoints,
                                                        @ByVal
                                                        Mat rvec,
                                                        @ByVal
                                                        Mat tvec,
                                                        @ByVal
                                                        Mat cameraMatrix,
                                                        @ByVal
                                                        Mat distCoeffs,
                                                        @ByVal
                                                        Mat imagePoints)

projectPoints

@Namespace(value="cv")
public static void projectPoints(@ByVal
                                                        UMat objectPoints,
                                                        @ByVal
                                                        UMat rvec,
                                                        @ByVal
                                                        UMat tvec,
                                                        @ByVal
                                                        UMat cameraMatrix,
                                                        @ByVal
                                                        UMat distCoeffs,
                                                        @ByVal
                                                        UMat imagePoints,
                                                        @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                        UMat jacobian,
                                                        double aspectRatio)

projectPoints

@Namespace(value="cv")
public static void projectPoints(@ByVal
                                                        UMat objectPoints,
                                                        @ByVal
                                                        UMat rvec,
                                                        @ByVal
                                                        UMat tvec,
                                                        @ByVal
                                                        UMat cameraMatrix,
                                                        @ByVal
                                                        UMat distCoeffs,
                                                        @ByVal
                                                        UMat imagePoints)

projectPoints

@Namespace(value="cv")
public static void projectPoints(@ByVal
                                                        GpuMat objectPoints,
                                                        @ByVal
                                                        GpuMat rvec,
                                                        @ByVal
                                                        GpuMat tvec,
                                                        @ByVal
                                                        GpuMat cameraMatrix,
                                                        @ByVal
                                                        GpuMat distCoeffs,
                                                        @ByVal
                                                        GpuMat imagePoints,
                                                        @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                        GpuMat jacobian,
                                                        double aspectRatio)

projectPoints

@Namespace(value="cv")
public static void projectPoints(@ByVal
                                                        GpuMat objectPoints,
                                                        @ByVal
                                                        GpuMat rvec,
                                                        @ByVal
                                                        GpuMat tvec,
                                                        @ByVal
                                                        GpuMat cameraMatrix,
                                                        @ByVal
                                                        GpuMat distCoeffs,
                                                        @ByVal
                                                        GpuMat imagePoints)

solvePnP
```
@Namespace(value="cv")
 @Cast(value="bool")
public static boolean solvePnP(@ByVal
                                                                           Mat objectPoints,
                                                                           @ByVal
                                                                           Mat imagePoints,
                                                                           @ByVal
                                                                           Mat cameraMatrix,
                                                                           @ByVal
                                                                           Mat distCoeffs,
                                                                           @ByVal
                                                                           Mat rvec,
                                                                           @ByVal
                                                                           Mat tvec,
                                                                           @Cast(value="bool")
                                                                           boolean useExtrinsicGuess,
                                                                           int flags)
```
\brief Finds an object pose from 3D-2D point correspondences. This function returns the rotation and the translation vectors that transform a 3D point expressed in the object coordinate frame to the camera coordinate frame, using different methods: - P3P methods (\ref SOLVEPNP_P3P, \ref SOLVEPNP_AP3P): need 4 input points to return a unique solution. - \ref SOLVEPNP_IPPE Input points must be >= 4 and object points must be coplanar. - \ref SOLVEPNP_IPPE_SQUARE Special case suitable for marker pose estimation. Number of input points must be 4. Object points must be defined in the following order: - point 0: [-squareLength / 2, squareLength / 2, 0] - point 1: [ squareLength / 2, squareLength / 2, 0] - point 2: [ squareLength / 2, -squareLength / 2, 0] - point 3: [-squareLength / 2, -squareLength / 2, 0] - for all the other flags, number of input points must be >= 4 and object points can be in any configuration.
Parameters:

objectPoints - Array of object points in the object coordinate space, Nx3 1-channel or 1xN/Nx1 3-channel, where N is the number of points. vector\ can be also passed here.

imagePoints - Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel, where N is the number of points. vector\ can be also passed here.

cameraMatrix - Input camera intrinsic matrix \cameramatrix{A} .

distCoeffs - Input vector of distortion coefficients \distcoeffs. If the vector is NULL/empty, the zero distortion coefficients are assumed.

rvec - Output rotation vector (see \ref Rodrigues ) that, together with tvec, brings points from the model coordinate system to the camera coordinate system.

tvec - Output translation vector.

useExtrinsicGuess - Parameter used for #SOLVEPNP_ITERATIVE. If true (1), the function uses the provided rvec and tvec values as initial approximations of the rotation and translation vectors, respectively, and further optimizes them.
flags - Method for solving a PnP problem: - \ref SOLVEPNP_ITERATIVE Iterative method is based on a Levenberg-Marquardt optimization. In this case the function finds such a pose that minimizes reprojection error, that is the sum of squared distances between the observed projections imagePoints and the projected (using \ref projectPoints ) objectPoints . - \ref SOLVEPNP_P3P Method is based on the paper of X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang "Complete Solution Classification for the Perspective-Three-Point Problem" (\cite gao2003complete). In this case the function requires exactly four object and image points. - \ref SOLVEPNP_AP3P Method is based on the paper of T. Ke, S. Roumeliotis "An Efficient Algebraic Solution to the Perspective-Three-Point Problem" (\cite Ke17). In this case the function requires exactly four object and image points. - \ref SOLVEPNP_EPNP Method has been introduced by F. Moreno-Noguer, V. Lepetit and P. Fua in the paper "EPnP: Efficient Perspective-n-Point Camera Pose Estimation" (\cite lepetit2009epnp). - \ref SOLVEPNP_DLS **Broken implementation. Using this flag will fallback to EPnP.** \n Method is based on the paper of J. Hesch and S. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP" (\cite hesch2011direct). - \ref SOLVEPNP_UPNP **Broken implementation. Using this flag will fallback to EPnP.** \n Method is based on the paper of A. Penate-Sanchez, J. Andrade-Cetto, F. Moreno-Noguer. "Exhaustive Linearization for Robust Camera Pose and Focal Length Estimation" (\cite penate2013exhaustive). In this case the function also estimates the parameters f_x and f_y assuming that both have the same value. Then the cameraMatrix is updated with the estimated focal length. - \ref SOLVEPNP_IPPE Method is based on the paper of T. Collins and A. Bartoli. "Infinitesimal Plane-Based Pose Estimation" (\cite Collins14). This method requires coplanar object points. - \ref SOLVEPNP_IPPE_SQUARE Method is based on the paper of Toby Collins and Adrien Bartoli. "Infinitesimal Plane-Based Pose Estimation" (\cite Collins14). This method is suitable for marker pose estimation. It requires 4 coplanar object points defined in the following order: - point 0: [-squareLength / 2, squareLength / 2, 0] - point 1: [ squareLength / 2, squareLength / 2, 0] - point 2: [ squareLength / 2, -squareLength / 2, 0] - point 3: [-squareLength / 2, -squareLength / 2, 0] - \ref SOLVEPNP_SQPNP Method is based on the paper "A Consistently Fast and Globally Optimal Solution to the Perspective-n-Point Problem" by G. Terzakis and M.Lourakis (\cite Terzakis20). It requires 3 or more points.

The function estimates the object pose given a set of object points, their corresponding image projections, as well as the camera intrinsic matrix and the distortion coefficients, see the figure below (more precisely, the X-axis of the camera frame is pointing to the right, the Y-axis downward and the Z-axis forward).
![](pnp.jpg)
Points expressed in the world frame \bf{X}_w are projected into the image plane \left[ u, v \right] using the perspective projection model \Pi and the camera intrinsic parameters matrix \bf{A} :
```
 \[
  \begin{align*}
  \begin{bmatrix}
  u \\
  v \\
  1
  \end{bmatrix} &=
  \bf{A} \hspace{0.1em} \Pi \hspace{0.2em} ^{c}\bf{T}_w
  \begin{bmatrix}
  X_{w} \\
  Y_{w} \\
  Z_{w} \\
  1
  \end{bmatrix} \\
  \begin{bmatrix}
  u \\
  v \\
  1
  \end{bmatrix} &=
  \begin{bmatrix}
  f_x & 0 & c_x \\
  0 & f_y & c_y \\
  0 & 0 & 1
  \end{bmatrix}
  \begin{bmatrix}
  1 & 0 & 0 & 0 \\
  0 & 1 & 0 & 0 \\
  0 & 0 & 1 & 0
  \end{bmatrix}
  \begin{bmatrix}
  r_{11} & r_{12} & r_{13} & t_x \\
  r_{21} & r_{22} & r_{23} & t_y \\
  r_{31} & r_{32} & r_{33} & t_z \\
  0 & 0 & 0 & 1
  \end{bmatrix}
  \begin{bmatrix}
  X_{w} \\
  Y_{w} \\
  Z_{w} \\
  1
  \end{bmatrix}
  \end{align*}
\]
```
The estimated pose is thus the rotation (rvec) and the translation (tvec) vectors that allow transforming a 3D point expressed in the world frame into the camera frame:
```
 \[
  \begin{align*}
  \begin{bmatrix}
  X_c \\
  Y_c \\
  Z_c \\
  1
  \end{bmatrix} &=
  \hspace{0.2em} ^{c}\bf{T}_w
  \begin{bmatrix}
  X_{w} \\
  Y_{w} \\
  Z_{w} \\
  1
  \end{bmatrix} \\
  \begin{bmatrix}
  X_c \\
  Y_c \\
  Z_c \\
  1
  \end{bmatrix} &=
  \begin{bmatrix}
  r_{11} & r_{12} & r_{13} & t_x \\
  r_{21} & r_{22} & r_{23} & t_y \\
  r_{31} & r_{32} & r_{33} & t_z \\
  0 & 0 & 0 & 1
  \end{bmatrix}
  \begin{bmatrix}
  X_{w} \\
  Y_{w} \\
  Z_{w} \\
  1
  \end{bmatrix}
  \end{align*}
\]
```
\note - An example of how to use solvePnP for planar augmented reality can be found at opencv_source_code/samples/python/plane_ar.py - If you are using Python: - Numpy array slices won't work as input because solvePnP requires contiguous arrays (enforced by the assertion using cv::Mat::checkVector() around line 55 of modules/calib3d/src/solvepnp.cpp version 2.4.9) - The P3P algorithm requires image points to be in an array of shape (N,1,2) due to its calling of #undistortPoints (around line 75 of modules/calib3d/src/solvepnp.cpp version 2.4.9) which requires 2-channel information. - Thus, given some data D = np.array(...) where D.shape = (N,M), in order to use a subset of it as, e.g., imagePoints, one must effectively copy it into a new array: imagePoints = np.ascontiguousarray(D[:,:2]).reshape((N,1,2)) - The methods \ref SOLVEPNP_DLS and \ref SOLVEPNP_UPNP cannot be used as the current implementations are unstable and sometimes give completely wrong results. If you pass one of these two flags, \ref SOLVEPNP_EPNP method will be used instead. - The minimum number of points is 4 in the general case. In the case of \ref SOLVEPNP_P3P and \ref SOLVEPNP_AP3P methods, it is required to use exactly 4 points (the first 3 points are used to estimate all the solutions of the P3P problem, the last one is used to retain the best solution that minimizes the reprojection error). - With \ref SOLVEPNP_ITERATIVE method and useExtrinsicGuess=true, the minimum number of points is 3 (3 points are sufficient to compute a pose but there are up to 4 solutions). The initial solution should be close to the global solution to converge. - With \ref SOLVEPNP_IPPE input points must be >= 4 and object points must be coplanar. - With \ref SOLVEPNP_IPPE_SQUARE this is a special case suitable for marker pose estimation. Number of input points must be 4. Object points must be defined in the following order: - point 0: [-squareLength / 2, squareLength / 2, 0] - point 1: [ squareLength / 2, squareLength / 2, 0] - point 2: [ squareLength / 2, -squareLength / 2, 0] - point 3: [-squareLength / 2, -squareLength / 2, 0] - With \ref SOLVEPNP_SQPNP input points must be >= 3

solvePnP

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean solvePnP(@ByVal
                                                                           Mat objectPoints,
                                                                           @ByVal
                                                                           Mat imagePoints,
                                                                           @ByVal
                                                                           Mat cameraMatrix,
                                                                           @ByVal
                                                                           Mat distCoeffs,
                                                                           @ByVal
                                                                           Mat rvec,
                                                                           @ByVal
                                                                           Mat tvec)

solvePnP

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean solvePnP(@ByVal
                                                                           UMat objectPoints,
                                                                           @ByVal
                                                                           UMat imagePoints,
                                                                           @ByVal
                                                                           UMat cameraMatrix,
                                                                           @ByVal
                                                                           UMat distCoeffs,
                                                                           @ByVal
                                                                           UMat rvec,
                                                                           @ByVal
                                                                           UMat tvec,
                                                                           @Cast(value="bool")
                                                                           boolean useExtrinsicGuess,
                                                                           int flags)

solvePnP

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean solvePnP(@ByVal
                                                                           UMat objectPoints,
                                                                           @ByVal
                                                                           UMat imagePoints,
                                                                           @ByVal
                                                                           UMat cameraMatrix,
                                                                           @ByVal
                                                                           UMat distCoeffs,
                                                                           @ByVal
                                                                           UMat rvec,
                                                                           @ByVal
                                                                           UMat tvec)

solvePnP

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean solvePnP(@ByVal
                                                                           GpuMat objectPoints,
                                                                           @ByVal
                                                                           GpuMat imagePoints,
                                                                           @ByVal
                                                                           GpuMat cameraMatrix,
                                                                           @ByVal
                                                                           GpuMat distCoeffs,
                                                                           @ByVal
                                                                           GpuMat rvec,
                                                                           @ByVal
                                                                           GpuMat tvec,
                                                                           @Cast(value="bool")
                                                                           boolean useExtrinsicGuess,
                                                                           int flags)

solvePnP

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean solvePnP(@ByVal
                                                                           GpuMat objectPoints,
                                                                           @ByVal
                                                                           GpuMat imagePoints,
                                                                           @ByVal
                                                                           GpuMat cameraMatrix,
                                                                           @ByVal
                                                                           GpuMat distCoeffs,
                                                                           @ByVal
                                                                           GpuMat rvec,
                                                                           @ByVal
                                                                           GpuMat tvec)

solvePnPRansac

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean solvePnPRansac(@ByVal
                                                                                 Mat objectPoints,
                                                                                 @ByVal
                                                                                 Mat imagePoints,
                                                                                 @ByVal
                                                                                 Mat cameraMatrix,
                                                                                 @ByVal
                                                                                 Mat distCoeffs,
                                                                                 @ByVal
                                                                                 Mat rvec,
                                                                                 @ByVal
                                                                                 Mat tvec,
                                                                                 @Cast(value="bool")
                                                                                 boolean useExtrinsicGuess,
                                                                                 int iterationsCount,
                                                                                 float reprojectionError,
                                                                                 double confidence,
                                                                                 @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                                 Mat inliers,
                                                                                 int flags)

\brief Finds an object pose from 3D-2D point correspondences using the RANSAC scheme.

Parameters:

objectPoints - Array of object points in the object coordinate space, Nx3 1-channel or 1xN/Nx1 3-channel, where N is the number of points. vector\ can be also passed here.

imagePoints - Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel, where N is the number of points. vector\ can be also passed here.

cameraMatrix - Input camera intrinsic matrix \cameramatrix{A} .

distCoeffs - Input vector of distortion coefficients \distcoeffs. If the vector is NULL/empty, the zero distortion coefficients are assumed.

rvec - Output rotation vector (see \ref Rodrigues ) that, together with tvec, brings points from the model coordinate system to the camera coordinate system.

tvec - Output translation vector.

useExtrinsicGuess - Parameter used for \ref SOLVEPNP_ITERATIVE. If true (1), the function uses the provided rvec and tvec values as initial approximations of the rotation and translation vectors, respectively, and further optimizes them.

iterationsCount - Number of iterations.

reprojectionError - Inlier threshold value used by the RANSAC procedure. The parameter value is the maximum allowed distance between the observed and computed point projections to consider it an inlier.

confidence - The probability that the algorithm produces a useful result.

inliers - Output vector that contains indices of inliers in objectPoints and imagePoints .

flags - Method for solving a PnP problem (see \ref solvePnP ).

The function estimates an object pose given a set of object points, their corresponding image projections, as well as the camera intrinsic matrix and the distortion coefficients. This function finds such a pose that minimizes reprojection error, that is, the sum of squared distances between the observed projections imagePoints and the projected (using \ref projectPoints ) objectPoints. The use of RANSAC makes the function resistant to outliers.

\note - An example of how to use solvePNPRansac for object detection can be found at opencv_source_code/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/ - The default method used to estimate the camera pose for the Minimal Sample Sets step is #SOLVEPNP_EPNP. Exceptions are: - if you choose #SOLVEPNP_P3P or #SOLVEPNP_AP3P, these methods will be used. - if the number of input points is equal to 4, #SOLVEPNP_P3P is used. - The method used to estimate the camera pose using all the inliers is defined by the flags parameters unless it is equal to #SOLVEPNP_P3P or #SOLVEPNP_AP3P. In this case, the method #SOLVEPNP_EPNP will be used instead.

solvePnPRansac

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean solvePnPRansac(@ByVal
                                                                                 Mat objectPoints,
                                                                                 @ByVal
                                                                                 Mat imagePoints,
                                                                                 @ByVal
                                                                                 Mat cameraMatrix,
                                                                                 @ByVal
                                                                                 Mat distCoeffs,
                                                                                 @ByVal
                                                                                 Mat rvec,
                                                                                 @ByVal
                                                                                 Mat tvec)

solvePnPRansac

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean solvePnPRansac(@ByVal
                                                                                 UMat objectPoints,
                                                                                 @ByVal
                                                                                 UMat imagePoints,
                                                                                 @ByVal
                                                                                 UMat cameraMatrix,
                                                                                 @ByVal
                                                                                 UMat distCoeffs,
                                                                                 @ByVal
                                                                                 UMat rvec,
                                                                                 @ByVal
                                                                                 UMat tvec,
                                                                                 @Cast(value="bool")
                                                                                 boolean useExtrinsicGuess,
                                                                                 int iterationsCount,
                                                                                 float reprojectionError,
                                                                                 double confidence,
                                                                                 @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                                 UMat inliers,
                                                                                 int flags)

solvePnPRansac

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean solvePnPRansac(@ByVal
                                                                                 UMat objectPoints,
                                                                                 @ByVal
                                                                                 UMat imagePoints,
                                                                                 @ByVal
                                                                                 UMat cameraMatrix,
                                                                                 @ByVal
                                                                                 UMat distCoeffs,
                                                                                 @ByVal
                                                                                 UMat rvec,
                                                                                 @ByVal
                                                                                 UMat tvec)

solvePnPRansac

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean solvePnPRansac(@ByVal
                                                                                 GpuMat objectPoints,
                                                                                 @ByVal
                                                                                 GpuMat imagePoints,
                                                                                 @ByVal
                                                                                 GpuMat cameraMatrix,
                                                                                 @ByVal
                                                                                 GpuMat distCoeffs,
                                                                                 @ByVal
                                                                                 GpuMat rvec,
                                                                                 @ByVal
                                                                                 GpuMat tvec,
                                                                                 @Cast(value="bool")
                                                                                 boolean useExtrinsicGuess,
                                                                                 int iterationsCount,
                                                                                 float reprojectionError,
                                                                                 double confidence,
                                                                                 @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                                 GpuMat inliers,
                                                                                 int flags)

solvePnPRansac

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean solvePnPRansac(@ByVal
                                                                                 GpuMat objectPoints,
                                                                                 @ByVal
                                                                                 GpuMat imagePoints,
                                                                                 @ByVal
                                                                                 GpuMat cameraMatrix,
                                                                                 @ByVal
                                                                                 GpuMat distCoeffs,
                                                                                 @ByVal
                                                                                 GpuMat rvec,
                                                                                 @ByVal
                                                                                 GpuMat tvec)

solvePnPRansac

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean solvePnPRansac(@ByVal
                                                                                 Mat objectPoints,
                                                                                 @ByVal
                                                                                 Mat imagePoints,
                                                                                 @ByVal
                                                                                 Mat cameraMatrix,
                                                                                 @ByVal
                                                                                 Mat distCoeffs,
                                                                                 @ByVal
                                                                                 Mat rvec,
                                                                                 @ByVal
                                                                                 Mat tvec,
                                                                                 @ByVal
                                                                                 Mat inliers,
                                                                                 @Const @ByRef(nullValue="cv::UsacParams()")
                                                                                 UsacParams params)

solvePnPRansac

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean solvePnPRansac(@ByVal
                                                                                 Mat objectPoints,
                                                                                 @ByVal
                                                                                 Mat imagePoints,
                                                                                 @ByVal
                                                                                 Mat cameraMatrix,
                                                                                 @ByVal
                                                                                 Mat distCoeffs,
                                                                                 @ByVal
                                                                                 Mat rvec,
                                                                                 @ByVal
                                                                                 Mat tvec,
                                                                                 @ByVal
                                                                                 Mat inliers)

solvePnPRansac

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean solvePnPRansac(@ByVal
                                                                                 UMat objectPoints,
                                                                                 @ByVal
                                                                                 UMat imagePoints,
                                                                                 @ByVal
                                                                                 UMat cameraMatrix,
                                                                                 @ByVal
                                                                                 UMat distCoeffs,
                                                                                 @ByVal
                                                                                 UMat rvec,
                                                                                 @ByVal
                                                                                 UMat tvec,
                                                                                 @ByVal
                                                                                 UMat inliers,
                                                                                 @Const @ByRef(nullValue="cv::UsacParams()")
                                                                                 UsacParams params)

solvePnPRansac

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean solvePnPRansac(@ByVal
                                                                                 UMat objectPoints,
                                                                                 @ByVal
                                                                                 UMat imagePoints,
                                                                                 @ByVal
                                                                                 UMat cameraMatrix,
                                                                                 @ByVal
                                                                                 UMat distCoeffs,
                                                                                 @ByVal
                                                                                 UMat rvec,
                                                                                 @ByVal
                                                                                 UMat tvec,
                                                                                 @ByVal
                                                                                 UMat inliers)

solvePnPRansac

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean solvePnPRansac(@ByVal
                                                                                 GpuMat objectPoints,
                                                                                 @ByVal
                                                                                 GpuMat imagePoints,
                                                                                 @ByVal
                                                                                 GpuMat cameraMatrix,
                                                                                 @ByVal
                                                                                 GpuMat distCoeffs,
                                                                                 @ByVal
                                                                                 GpuMat rvec,
                                                                                 @ByVal
                                                                                 GpuMat tvec,
                                                                                 @ByVal
                                                                                 GpuMat inliers,
                                                                                 @Const @ByRef(nullValue="cv::UsacParams()")
                                                                                 UsacParams params)

solvePnPRansac

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean solvePnPRansac(@ByVal
                                                                                 GpuMat objectPoints,
                                                                                 @ByVal
                                                                                 GpuMat imagePoints,
                                                                                 @ByVal
                                                                                 GpuMat cameraMatrix,
                                                                                 @ByVal
                                                                                 GpuMat distCoeffs,
                                                                                 @ByVal
                                                                                 GpuMat rvec,
                                                                                 @ByVal
                                                                                 GpuMat tvec,
                                                                                 @ByVal
                                                                                 GpuMat inliers)

solveP3P
```
@Namespace(value="cv")
public static int solveP3P(@ByVal
                                                  Mat objectPoints,
                                                  @ByVal
                                                  Mat imagePoints,
                                                  @ByVal
                                                  Mat cameraMatrix,
                                                  @ByVal
                                                  Mat distCoeffs,
                                                  @ByVal
                                                  MatVector rvecs,
                                                  @ByVal
                                                  MatVector tvecs,
                                                  int flags)
```
\brief Finds an object pose from 3 3D-2D point correspondences.

Parameters:

objectPoints - Array of object points in the object coordinate space, 3x3 1-channel or 1x3/3x1 3-channel. vector\ can be also passed here.

imagePoints - Array of corresponding image points, 3x2 1-channel or 1x3/3x1 2-channel. vector\ can be also passed here.

cameraMatrix - Input camera intrinsic matrix \cameramatrix{A} .

distCoeffs - Input vector of distortion coefficients \distcoeffs. If the vector is NULL/empty, the zero distortion coefficients are assumed.

rvecs - Output rotation vectors (see \ref Rodrigues ) that, together with tvecs, brings points from the model coordinate system to the camera coordinate system. A P3P problem has up to 4 solutions.

tvecs - Output translation vectors.

flags - Method for solving a P3P problem: - \ref SOLVEPNP_P3P Method is based on the paper of X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang "Complete Solution Classification for the Perspective-Three-Point Problem" (\cite gao2003complete). - \ref SOLVEPNP_AP3P Method is based on the paper of T. Ke and S. Roumeliotis. "An Efficient Algebraic Solution to the Perspective-Three-Point Problem" (\cite Ke17).
The function estimates the object pose given 3 object points, their corresponding image projections, as well as the camera intrinsic matrix and the distortion coefficients.
\note The solutions are sorted by reprojection errors (lowest to highest).

solveP3P

@Namespace(value="cv")
public static int solveP3P(@ByVal
                                                  Mat objectPoints,
                                                  @ByVal
                                                  Mat imagePoints,
                                                  @ByVal
                                                  Mat cameraMatrix,
                                                  @ByVal
                                                  Mat distCoeffs,
                                                  @ByVal
                                                  UMatVector rvecs,
                                                  @ByVal
                                                  UMatVector tvecs,
                                                  int flags)

solveP3P

@Namespace(value="cv")
public static int solveP3P(@ByVal
                                                  Mat objectPoints,
                                                  @ByVal
                                                  Mat imagePoints,
                                                  @ByVal
                                                  Mat cameraMatrix,
                                                  @ByVal
                                                  Mat distCoeffs,
                                                  @ByVal
                                                  GpuMatVector rvecs,
                                                  @ByVal
                                                  GpuMatVector tvecs,
                                                  int flags)

solveP3P

@Namespace(value="cv")
public static int solveP3P(@ByVal
                                                  UMat objectPoints,
                                                  @ByVal
                                                  UMat imagePoints,
                                                  @ByVal
                                                  UMat cameraMatrix,
                                                  @ByVal
                                                  UMat distCoeffs,
                                                  @ByVal
                                                  MatVector rvecs,
                                                  @ByVal
                                                  MatVector tvecs,
                                                  int flags)

solveP3P

@Namespace(value="cv")
public static int solveP3P(@ByVal
                                                  UMat objectPoints,
                                                  @ByVal
                                                  UMat imagePoints,
                                                  @ByVal
                                                  UMat cameraMatrix,
                                                  @ByVal
                                                  UMat distCoeffs,
                                                  @ByVal
                                                  UMatVector rvecs,
                                                  @ByVal
                                                  UMatVector tvecs,
                                                  int flags)

solveP3P

@Namespace(value="cv")
public static int solveP3P(@ByVal
                                                  UMat objectPoints,
                                                  @ByVal
                                                  UMat imagePoints,
                                                  @ByVal
                                                  UMat cameraMatrix,
                                                  @ByVal
                                                  UMat distCoeffs,
                                                  @ByVal
                                                  GpuMatVector rvecs,
                                                  @ByVal
                                                  GpuMatVector tvecs,
                                                  int flags)

solveP3P

@Namespace(value="cv")
public static int solveP3P(@ByVal
                                                  GpuMat objectPoints,
                                                  @ByVal
                                                  GpuMat imagePoints,
                                                  @ByVal
                                                  GpuMat cameraMatrix,
                                                  @ByVal
                                                  GpuMat distCoeffs,
                                                  @ByVal
                                                  MatVector rvecs,
                                                  @ByVal
                                                  MatVector tvecs,
                                                  int flags)

solveP3P

@Namespace(value="cv")
public static int solveP3P(@ByVal
                                                  GpuMat objectPoints,
                                                  @ByVal
                                                  GpuMat imagePoints,
                                                  @ByVal
                                                  GpuMat cameraMatrix,
                                                  @ByVal
                                                  GpuMat distCoeffs,
                                                  @ByVal
                                                  UMatVector rvecs,
                                                  @ByVal
                                                  UMatVector tvecs,
                                                  int flags)

solveP3P

@Namespace(value="cv")
public static int solveP3P(@ByVal
                                                  GpuMat objectPoints,
                                                  @ByVal
                                                  GpuMat imagePoints,
                                                  @ByVal
                                                  GpuMat cameraMatrix,
                                                  @ByVal
                                                  GpuMat distCoeffs,
                                                  @ByVal
                                                  GpuMatVector rvecs,
                                                  @ByVal
                                                  GpuMatVector tvecs,
                                                  int flags)

solvePnPRefineLM

@Namespace(value="cv")
public static void solvePnPRefineLM(@ByVal
                                                           Mat objectPoints,
                                                           @ByVal
                                                           Mat imagePoints,
                                                           @ByVal
                                                           Mat cameraMatrix,
                                                           @ByVal
                                                           Mat distCoeffs,
                                                           @ByVal
                                                           Mat rvec,
                                                           @ByVal
                                                           Mat tvec,
                                                           @ByVal(nullValue="cv::TermCriteria(cv::TermCriteria::EPS + cv::TermCriteria::COUNT, 20, FLT_EPSILON)")
                                                           TermCriteria criteria)

\brief Refine a pose (the translation and the rotation that transform a 3D point expressed in the object coordinate frame to the camera coordinate frame) from a 3D-2D point correspondences and starting from an initial solution.

Parameters:: objectPoints - Array of object points in the object coordinate space, Nx3 1-channel or 1xN/Nx1 3-channel, where N is the number of points. vector\ can also be passed here.; imagePoints - Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel, where N is the number of points. vector\ can also be passed here.; cameraMatrix - Input camera intrinsic matrix \cameramatrix{A} .; distCoeffs - Input vector of distortion coefficients \distcoeffs. If the vector is NULL/empty, the zero distortion coefficients are assumed.; rvec - Input/Output rotation vector (see \ref Rodrigues ) that, together with tvec, brings points from the model coordinate system to the camera coordinate system. Input values are used as an initial solution.; tvec - Input/Output translation vector. Input values are used as an initial solution.; criteria - Criteria when to stop the Levenberg-Marquard iterative algorithm.
The function refines the object pose given at least 3 object points, their corresponding image projections, an initial solution for the rotation and translation vector, as well as the camera intrinsic matrix and the distortion coefficients. The function minimizes the projection error with respect to the rotation and the translation vectors, according to a Levenberg-Marquardt iterative minimization \cite Madsen04 \cite Eade13 process.

solvePnPRefineLM

@Namespace(value="cv")
public static void solvePnPRefineLM(@ByVal
                                                           Mat objectPoints,
                                                           @ByVal
                                                           Mat imagePoints,
                                                           @ByVal
                                                           Mat cameraMatrix,
                                                           @ByVal
                                                           Mat distCoeffs,
                                                           @ByVal
                                                           Mat rvec,
                                                           @ByVal
                                                           Mat tvec)

solvePnPRefineLM

@Namespace(value="cv")
public static void solvePnPRefineLM(@ByVal
                                                           UMat objectPoints,
                                                           @ByVal
                                                           UMat imagePoints,
                                                           @ByVal
                                                           UMat cameraMatrix,
                                                           @ByVal
                                                           UMat distCoeffs,
                                                           @ByVal
                                                           UMat rvec,
                                                           @ByVal
                                                           UMat tvec,
                                                           @ByVal(nullValue="cv::TermCriteria(cv::TermCriteria::EPS + cv::TermCriteria::COUNT, 20, FLT_EPSILON)")
                                                           TermCriteria criteria)

solvePnPRefineLM

@Namespace(value="cv")
public static void solvePnPRefineLM(@ByVal
                                                           UMat objectPoints,
                                                           @ByVal
                                                           UMat imagePoints,
                                                           @ByVal
                                                           UMat cameraMatrix,
                                                           @ByVal
                                                           UMat distCoeffs,
                                                           @ByVal
                                                           UMat rvec,
                                                           @ByVal
                                                           UMat tvec)

solvePnPRefineLM

@Namespace(value="cv")
public static void solvePnPRefineLM(@ByVal
                                                           GpuMat objectPoints,
                                                           @ByVal
                                                           GpuMat imagePoints,
                                                           @ByVal
                                                           GpuMat cameraMatrix,
                                                           @ByVal
                                                           GpuMat distCoeffs,
                                                           @ByVal
                                                           GpuMat rvec,
                                                           @ByVal
                                                           GpuMat tvec,
                                                           @ByVal(nullValue="cv::TermCriteria(cv::TermCriteria::EPS + cv::TermCriteria::COUNT, 20, FLT_EPSILON)")
                                                           TermCriteria criteria)

solvePnPRefineLM

@Namespace(value="cv")
public static void solvePnPRefineLM(@ByVal
                                                           GpuMat objectPoints,
                                                           @ByVal
                                                           GpuMat imagePoints,
                                                           @ByVal
                                                           GpuMat cameraMatrix,
                                                           @ByVal
                                                           GpuMat distCoeffs,
                                                           @ByVal
                                                           GpuMat rvec,
                                                           @ByVal
                                                           GpuMat tvec)

solvePnPRefineVVS

@Namespace(value="cv")
public static void solvePnPRefineVVS(@ByVal
                                                            Mat objectPoints,
                                                            @ByVal
                                                            Mat imagePoints,
                                                            @ByVal
                                                            Mat cameraMatrix,
                                                            @ByVal
                                                            Mat distCoeffs,
                                                            @ByVal
                                                            Mat rvec,
                                                            @ByVal
                                                            Mat tvec,
                                                            @ByVal(nullValue="cv::TermCriteria(cv::TermCriteria::EPS + cv::TermCriteria::COUNT, 20, FLT_EPSILON)")
                                                            TermCriteria criteria,
                                                            double VVSlambda)

Parameters:: objectPoints - Array of object points in the object coordinate space, Nx3 1-channel or 1xN/Nx1 3-channel, where N is the number of points. vector\ can also be passed here.; imagePoints - Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel, where N is the number of points. vector\ can also be passed here.; cameraMatrix - Input camera intrinsic matrix \cameramatrix{A} .; distCoeffs - Input vector of distortion coefficients \distcoeffs. If the vector is NULL/empty, the zero distortion coefficients are assumed.; rvec - Input/Output rotation vector (see \ref Rodrigues ) that, together with tvec, brings points from the model coordinate system to the camera coordinate system. Input values are used as an initial solution.; tvec - Input/Output translation vector. Input values are used as an initial solution.; criteria - Criteria when to stop the Levenberg-Marquard iterative algorithm.; VVSlambda - Gain for the virtual visual servoing control law, equivalent to the \alpha gain in the Damped Gauss-Newton formulation.
The function refines the object pose given at least 3 object points, their corresponding image projections, an initial solution for the rotation and translation vector, as well as the camera intrinsic matrix and the distortion coefficients. The function minimizes the projection error with respect to the rotation and the translation vectors, using a virtual visual servoing (VVS) \cite Chaumette06 \cite Marchand16 scheme.

solvePnPRefineVVS

@Namespace(value="cv")
public static void solvePnPRefineVVS(@ByVal
                                                            Mat objectPoints,
                                                            @ByVal
                                                            Mat imagePoints,
                                                            @ByVal
                                                            Mat cameraMatrix,
                                                            @ByVal
                                                            Mat distCoeffs,
                                                            @ByVal
                                                            Mat rvec,
                                                            @ByVal
                                                            Mat tvec)

solvePnPRefineVVS

@Namespace(value="cv")
public static void solvePnPRefineVVS(@ByVal
                                                            UMat objectPoints,
                                                            @ByVal
                                                            UMat imagePoints,
                                                            @ByVal
                                                            UMat cameraMatrix,
                                                            @ByVal
                                                            UMat distCoeffs,
                                                            @ByVal
                                                            UMat rvec,
                                                            @ByVal
                                                            UMat tvec,
                                                            @ByVal(nullValue="cv::TermCriteria(cv::TermCriteria::EPS + cv::TermCriteria::COUNT, 20, FLT_EPSILON)")
                                                            TermCriteria criteria,
                                                            double VVSlambda)

solvePnPRefineVVS

@Namespace(value="cv")
public static void solvePnPRefineVVS(@ByVal
                                                            UMat objectPoints,
                                                            @ByVal
                                                            UMat imagePoints,
                                                            @ByVal
                                                            UMat cameraMatrix,
                                                            @ByVal
                                                            UMat distCoeffs,
                                                            @ByVal
                                                            UMat rvec,
                                                            @ByVal
                                                            UMat tvec)

solvePnPRefineVVS

@Namespace(value="cv")
public static void solvePnPRefineVVS(@ByVal
                                                            GpuMat objectPoints,
                                                            @ByVal
                                                            GpuMat imagePoints,
                                                            @ByVal
                                                            GpuMat cameraMatrix,
                                                            @ByVal
                                                            GpuMat distCoeffs,
                                                            @ByVal
                                                            GpuMat rvec,
                                                            @ByVal
                                                            GpuMat tvec,
                                                            @ByVal(nullValue="cv::TermCriteria(cv::TermCriteria::EPS + cv::TermCriteria::COUNT, 20, FLT_EPSILON)")
                                                            TermCriteria criteria,
                                                            double VVSlambda)

solvePnPRefineVVS

@Namespace(value="cv")
public static void solvePnPRefineVVS(@ByVal
                                                            GpuMat objectPoints,
                                                            @ByVal
                                                            GpuMat imagePoints,
                                                            @ByVal
                                                            GpuMat cameraMatrix,
                                                            @ByVal
                                                            GpuMat distCoeffs,
                                                            @ByVal
                                                            GpuMat rvec,
                                                            @ByVal
                                                            GpuMat tvec)

solvePnPGeneric
```
@Namespace(value="cv")
public static int solvePnPGeneric(@ByVal
                                                         Mat objectPoints,
                                                         @ByVal
                                                         Mat imagePoints,
                                                         @ByVal
                                                         Mat cameraMatrix,
                                                         @ByVal
                                                         Mat distCoeffs,
                                                         @ByVal
                                                         MatVector rvecs,
                                                         @ByVal
                                                         MatVector tvecs,
                                                         @Cast(value="bool")
                                                         boolean useExtrinsicGuess,
                                                         @Cast(value="cv::SolvePnPMethod")
                                                         int flags,
                                                         @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                         Mat rvec,
                                                         @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                         Mat tvec,
                                                         @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                         Mat reprojectionError)
```
\brief Finds an object pose from 3D-2D point correspondences. This function returns a list of all the possible solutions (a solution is a couple), depending on the number of input points and the chosen method: - P3P methods (\ref SOLVEPNP_P3P, \ref SOLVEPNP_AP3P): 3 or 4 input points. Number of returned solutions can be between 0 and 4 with 3 input points. - \ref SOLVEPNP_IPPE Input points must be >= 4 and object points must be coplanar. Returns 2 solutions. - \ref SOLVEPNP_IPPE_SQUARE Special case suitable for marker pose estimation. Number of input points must be 4 and 2 solutions are returned. Object points must be defined in the following order: - point 0: [-squareLength / 2, squareLength / 2, 0] - point 1: [ squareLength / 2, squareLength / 2, 0] - point 2: [ squareLength / 2, -squareLength / 2, 0] - point 3: [-squareLength / 2, -squareLength / 2, 0] - for all the other flags, number of input points must be >= 4 and object points can be in any configuration. Only 1 solution is returned.
Parameters:

objectPoints - Array of object points in the object coordinate space, Nx3 1-channel or 1xN/Nx1 3-channel, where N is the number of points. vector\ can be also passed here.

imagePoints - Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel, where N is the number of points. vector\ can be also passed here.

cameraMatrix - Input camera intrinsic matrix \cameramatrix{A} .

distCoeffs - Input vector of distortion coefficients \distcoeffs. If the vector is NULL/empty, the zero distortion coefficients are assumed.

rvecs - Vector of output rotation vectors (see \ref Rodrigues ) that, together with tvecs, brings points from the model coordinate system to the camera coordinate system.

tvecs - Vector of output translation vectors.

useExtrinsicGuess - Parameter used for #SOLVEPNP_ITERATIVE. If true (1), the function uses the provided rvec and tvec values as initial approximations of the rotation and translation vectors, respectively, and further optimizes them.

flags - Method for solving a PnP problem: - \ref SOLVEPNP_ITERATIVE Iterative method is based on a Levenberg-Marquardt optimization. In this case the function finds such a pose that minimizes reprojection error, that is the sum of squared distances between the observed projections imagePoints and the projected (using #projectPoints ) objectPoints . - \ref SOLVEPNP_P3P Method is based on the paper of X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang "Complete Solution Classification for the Perspective-Three-Point Problem" (\cite gao2003complete). In this case the function requires exactly four object and image points. - \ref SOLVEPNP_AP3P Method is based on the paper of T. Ke, S. Roumeliotis "An Efficient Algebraic Solution to the Perspective-Three-Point Problem" (\cite Ke17). In this case the function requires exactly four object and image points. - \ref SOLVEPNP_EPNP Method has been introduced by F.Moreno-Noguer, V.Lepetit and P.Fua in the paper "EPnP: Efficient Perspective-n-Point Camera Pose Estimation" (\cite lepetit2009epnp). - \ref SOLVEPNP_DLS **Broken implementation. Using this flag will fallback to EPnP.** \n Method is based on the paper of Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP" (\cite hesch2011direct). - \ref SOLVEPNP_UPNP **Broken implementation. Using this flag will fallback to EPnP.** \n Method is based on the paper of A.Penate-Sanchez, J.Andrade-Cetto, F.Moreno-Noguer. "Exhaustive Linearization for Robust Camera Pose and Focal Length Estimation" (\cite penate2013exhaustive). In this case the function also estimates the parameters f_x and f_y assuming that both have the same value. Then the cameraMatrix is updated with the estimated focal length. - \ref SOLVEPNP_IPPE Method is based on the paper of T. Collins and A. Bartoli. "Infinitesimal Plane-Based Pose Estimation" (\cite Collins14). This method requires coplanar object points. - \ref SOLVEPNP_IPPE_SQUARE Method is based on the paper of Toby Collins and Adrien Bartoli. "Infinitesimal Plane-Based Pose Estimation" (\cite Collins14). This method is suitable for marker pose estimation. It requires 4 coplanar object points defined in the following order: - point 0: [-squareLength / 2, squareLength / 2, 0] - point 1: [ squareLength / 2, squareLength / 2, 0] - point 2: [ squareLength / 2, -squareLength / 2, 0] - point 3: [-squareLength / 2, -squareLength / 2, 0]

rvec - Rotation vector used to initialize an iterative PnP refinement algorithm, when flag is \ref SOLVEPNP_ITERATIVE and useExtrinsicGuess is set to true.

tvec - Translation vector used to initialize an iterative PnP refinement algorithm, when flag is \ref SOLVEPNP_ITERATIVE and useExtrinsicGuess is set to true.
reprojectionError - Optional vector of reprojection error, that is the RMS error (\text{RMSE} = \sqrt{\frac{\sum_{i}^{N} \left ( \hat{y_i} - y_i \right )^2}{N}} ) between the input image points and the 3D object points projected with the estimated pose.
The function estimates the object pose given a set of object points, their corresponding image projections, as well as the camera intrinsic matrix and the distortion coefficients, see the figure below (more precisely, the X-axis of the camera frame is pointing to the right, the Y-axis downward and the Z-axis forward).
![](pnp.jpg)
Points expressed in the world frame \bf{X}_w are projected into the image plane \left[ u, v \right] using the perspective projection model \Pi and the camera intrinsic parameters matrix \bf{A} :
```
 \[
  \begin{align*}
  \begin{bmatrix}
  u \\
  v \\
  1
  \end{bmatrix} &=
  \bf{A} \hspace{0.1em} \Pi \hspace{0.2em} ^{c}\bf{T}_w
  \begin{bmatrix}
  X_{w} \\
  Y_{w} \\
  Z_{w} \\
  1
  \end{bmatrix} \\
  \begin{bmatrix}
  u \\
  v \\
  1
  \end{bmatrix} &=
  \begin{bmatrix}
  f_x & 0 & c_x \\
  0 & f_y & c_y \\
  0 & 0 & 1
  \end{bmatrix}
  \begin{bmatrix}
  1 & 0 & 0 & 0 \\
  0 & 1 & 0 & 0 \\
  0 & 0 & 1 & 0
  \end{bmatrix}
  \begin{bmatrix}
  r_{11} & r_{12} & r_{13} & t_x \\
  r_{21} & r_{22} & r_{23} & t_y \\
  r_{31} & r_{32} & r_{33} & t_z \\
  0 & 0 & 0 & 1
  \end{bmatrix}
  \begin{bmatrix}
  X_{w} \\
  Y_{w} \\
  Z_{w} \\
  1
  \end{bmatrix}
  \end{align*}
\]
```
The estimated pose is thus the rotation (rvec) and the translation (tvec) vectors that allow transforming a 3D point expressed in the world frame into the camera frame:
```
 \[
  \begin{align*}
  \begin{bmatrix}
  X_c \\
  Y_c \\
  Z_c \\
  1
  \end{bmatrix} &=
  \hspace{0.2em} ^{c}\bf{T}_w
  \begin{bmatrix}
  X_{w} \\
  Y_{w} \\
  Z_{w} \\
  1
  \end{bmatrix} \\
  \begin{bmatrix}
  X_c \\
  Y_c \\
  Z_c \\
  1
  \end{bmatrix} &=
  \begin{bmatrix}
  r_{11} & r_{12} & r_{13} & t_x \\
  r_{21} & r_{22} & r_{23} & t_y \\
  r_{31} & r_{32} & r_{33} & t_z \\
  0 & 0 & 0 & 1
  \end{bmatrix}
  \begin{bmatrix}
  X_{w} \\
  Y_{w} \\
  Z_{w} \\
  1
  \end{bmatrix}
  \end{align*}
\]
```
\note - An example of how to use solvePnP for planar augmented reality can be found at opencv_source_code/samples/python/plane_ar.py - If you are using Python: - Numpy array slices won't work as input because solvePnP requires contiguous arrays (enforced by the assertion using cv::Mat::checkVector() around line 55 of modules/calib3d/src/solvepnp.cpp version 2.4.9) - The P3P algorithm requires image points to be in an array of shape (N,1,2) due to its calling of #undistortPoints (around line 75 of modules/calib3d/src/solvepnp.cpp version 2.4.9) which requires 2-channel information. - Thus, given some data D = np.array(...) where D.shape = (N,M), in order to use a subset of it as, e.g., imagePoints, one must effectively copy it into a new array: imagePoints = np.ascontiguousarray(D[:,:2]).reshape((N,1,2)) - The methods \ref SOLVEPNP_DLS and \ref SOLVEPNP_UPNP cannot be used as the current implementations are unstable and sometimes give completely wrong results. If you pass one of these two flags, \ref SOLVEPNP_EPNP method will be used instead. - The minimum number of points is 4 in the general case. In the case of \ref SOLVEPNP_P3P and \ref SOLVEPNP_AP3P methods, it is required to use exactly 4 points (the first 3 points are used to estimate all the solutions of the P3P problem, the last one is used to retain the best solution that minimizes the reprojection error). - With \ref SOLVEPNP_ITERATIVE method and useExtrinsicGuess=true, the minimum number of points is 3 (3 points are sufficient to compute a pose but there are up to 4 solutions). The initial solution should be close to the global solution to converge. - With \ref SOLVEPNP_IPPE input points must be >= 4 and object points must be coplanar. - With \ref SOLVEPNP_IPPE_SQUARE this is a special case suitable for marker pose estimation. Number of input points must be 4. Object points must be defined in the following order: - point 0: [-squareLength / 2, squareLength / 2, 0] - point 1: [ squareLength / 2, squareLength / 2, 0] - point 2: [ squareLength / 2, -squareLength / 2, 0] - point 3: [-squareLength / 2, -squareLength / 2, 0]

solvePnPGeneric

@Namespace(value="cv")
public static int solvePnPGeneric(@ByVal
                                                         Mat objectPoints,
                                                         @ByVal
                                                         Mat imagePoints,
                                                         @ByVal
                                                         Mat cameraMatrix,
                                                         @ByVal
                                                         Mat distCoeffs,
                                                         @ByVal
                                                         MatVector rvecs,
                                                         @ByVal
                                                         MatVector tvecs)

solvePnPGeneric

@Namespace(value="cv")
public static int solvePnPGeneric(@ByVal
                                                         Mat objectPoints,
                                                         @ByVal
                                                         Mat imagePoints,
                                                         @ByVal
                                                         Mat cameraMatrix,
                                                         @ByVal
                                                         Mat distCoeffs,
                                                         @ByVal
                                                         UMatVector rvecs,
                                                         @ByVal
                                                         UMatVector tvecs,
                                                         @Cast(value="bool")
                                                         boolean useExtrinsicGuess,
                                                         @Cast(value="cv::SolvePnPMethod")
                                                         int flags,
                                                         @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                         Mat rvec,
                                                         @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                         Mat tvec,
                                                         @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                         Mat reprojectionError)

solvePnPGeneric

@Namespace(value="cv")
public static int solvePnPGeneric(@ByVal
                                                         Mat objectPoints,
                                                         @ByVal
                                                         Mat imagePoints,
                                                         @ByVal
                                                         Mat cameraMatrix,
                                                         @ByVal
                                                         Mat distCoeffs,
                                                         @ByVal
                                                         UMatVector rvecs,
                                                         @ByVal
                                                         UMatVector tvecs)

solvePnPGeneric

@Namespace(value="cv")
public static int solvePnPGeneric(@ByVal
                                                         Mat objectPoints,
                                                         @ByVal
                                                         Mat imagePoints,
                                                         @ByVal
                                                         Mat cameraMatrix,
                                                         @ByVal
                                                         Mat distCoeffs,
                                                         @ByVal
                                                         GpuMatVector rvecs,
                                                         @ByVal
                                                         GpuMatVector tvecs,
                                                         @Cast(value="bool")
                                                         boolean useExtrinsicGuess,
                                                         @Cast(value="cv::SolvePnPMethod")
                                                         int flags,
                                                         @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                         Mat rvec,
                                                         @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                         Mat tvec,
                                                         @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                         Mat reprojectionError)

solvePnPGeneric

@Namespace(value="cv")
public static int solvePnPGeneric(@ByVal
                                                         Mat objectPoints,
                                                         @ByVal
                                                         Mat imagePoints,
                                                         @ByVal
                                                         Mat cameraMatrix,
                                                         @ByVal
                                                         Mat distCoeffs,
                                                         @ByVal
                                                         GpuMatVector rvecs,
                                                         @ByVal
                                                         GpuMatVector tvecs)

solvePnPGeneric

@Namespace(value="cv")
public static int solvePnPGeneric(@ByVal
                                                         UMat objectPoints,
                                                         @ByVal
                                                         UMat imagePoints,
                                                         @ByVal
                                                         UMat cameraMatrix,
                                                         @ByVal
                                                         UMat distCoeffs,
                                                         @ByVal
                                                         MatVector rvecs,
                                                         @ByVal
                                                         MatVector tvecs,
                                                         @Cast(value="bool")
                                                         boolean useExtrinsicGuess,
                                                         @Cast(value="cv::SolvePnPMethod")
                                                         int flags,
                                                         @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                         UMat rvec,
                                                         @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                         UMat tvec,
                                                         @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                         UMat reprojectionError)

solvePnPGeneric

@Namespace(value="cv")
public static int solvePnPGeneric(@ByVal
                                                         UMat objectPoints,
                                                         @ByVal
                                                         UMat imagePoints,
                                                         @ByVal
                                                         UMat cameraMatrix,
                                                         @ByVal
                                                         UMat distCoeffs,
                                                         @ByVal
                                                         MatVector rvecs,
                                                         @ByVal
                                                         MatVector tvecs)

solvePnPGeneric

@Namespace(value="cv")
public static int solvePnPGeneric(@ByVal
                                                         UMat objectPoints,
                                                         @ByVal
                                                         UMat imagePoints,
                                                         @ByVal
                                                         UMat cameraMatrix,
                                                         @ByVal
                                                         UMat distCoeffs,
                                                         @ByVal
                                                         UMatVector rvecs,
                                                         @ByVal
                                                         UMatVector tvecs,
                                                         @Cast(value="bool")
                                                         boolean useExtrinsicGuess,
                                                         @Cast(value="cv::SolvePnPMethod")
                                                         int flags,
                                                         @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                         UMat rvec,
                                                         @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                         UMat tvec,
                                                         @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                         UMat reprojectionError)

solvePnPGeneric

@Namespace(value="cv")
public static int solvePnPGeneric(@ByVal
                                                         UMat objectPoints,
                                                         @ByVal
                                                         UMat imagePoints,
                                                         @ByVal
                                                         UMat cameraMatrix,
                                                         @ByVal
                                                         UMat distCoeffs,
                                                         @ByVal
                                                         UMatVector rvecs,
                                                         @ByVal
                                                         UMatVector tvecs)

solvePnPGeneric

@Namespace(value="cv")
public static int solvePnPGeneric(@ByVal
                                                         UMat objectPoints,
                                                         @ByVal
                                                         UMat imagePoints,
                                                         @ByVal
                                                         UMat cameraMatrix,
                                                         @ByVal
                                                         UMat distCoeffs,
                                                         @ByVal
                                                         GpuMatVector rvecs,
                                                         @ByVal
                                                         GpuMatVector tvecs,
                                                         @Cast(value="bool")
                                                         boolean useExtrinsicGuess,
                                                         @Cast(value="cv::SolvePnPMethod")
                                                         int flags,
                                                         @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                         UMat rvec,
                                                         @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                         UMat tvec,
                                                         @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                         UMat reprojectionError)

solvePnPGeneric

@Namespace(value="cv")
public static int solvePnPGeneric(@ByVal
                                                         UMat objectPoints,
                                                         @ByVal
                                                         UMat imagePoints,
                                                         @ByVal
                                                         UMat cameraMatrix,
                                                         @ByVal
                                                         UMat distCoeffs,
                                                         @ByVal
                                                         GpuMatVector rvecs,
                                                         @ByVal
                                                         GpuMatVector tvecs)

solvePnPGeneric

@Namespace(value="cv")
public static int solvePnPGeneric(@ByVal
                                                         GpuMat objectPoints,
                                                         @ByVal
                                                         GpuMat imagePoints,
                                                         @ByVal
                                                         GpuMat cameraMatrix,
                                                         @ByVal
                                                         GpuMat distCoeffs,
                                                         @ByVal
                                                         MatVector rvecs,
                                                         @ByVal
                                                         MatVector tvecs,
                                                         @Cast(value="bool")
                                                         boolean useExtrinsicGuess,
                                                         @Cast(value="cv::SolvePnPMethod")
                                                         int flags,
                                                         @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                         GpuMat rvec,
                                                         @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                         GpuMat tvec,
                                                         @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                         GpuMat reprojectionError)

solvePnPGeneric

@Namespace(value="cv")
public static int solvePnPGeneric(@ByVal
                                                         GpuMat objectPoints,
                                                         @ByVal
                                                         GpuMat imagePoints,
                                                         @ByVal
                                                         GpuMat cameraMatrix,
                                                         @ByVal
                                                         GpuMat distCoeffs,
                                                         @ByVal
                                                         MatVector rvecs,
                                                         @ByVal
                                                         MatVector tvecs)

solvePnPGeneric

@Namespace(value="cv")
public static int solvePnPGeneric(@ByVal
                                                         GpuMat objectPoints,
                                                         @ByVal
                                                         GpuMat imagePoints,
                                                         @ByVal
                                                         GpuMat cameraMatrix,
                                                         @ByVal
                                                         GpuMat distCoeffs,
                                                         @ByVal
                                                         UMatVector rvecs,
                                                         @ByVal
                                                         UMatVector tvecs,
                                                         @Cast(value="bool")
                                                         boolean useExtrinsicGuess,
                                                         @Cast(value="cv::SolvePnPMethod")
                                                         int flags,
                                                         @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                         GpuMat rvec,
                                                         @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                         GpuMat tvec,
                                                         @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                         GpuMat reprojectionError)

solvePnPGeneric

@Namespace(value="cv")
public static int solvePnPGeneric(@ByVal
                                                         GpuMat objectPoints,
                                                         @ByVal
                                                         GpuMat imagePoints,
                                                         @ByVal
                                                         GpuMat cameraMatrix,
                                                         @ByVal
                                                         GpuMat distCoeffs,
                                                         @ByVal
                                                         UMatVector rvecs,
                                                         @ByVal
                                                         UMatVector tvecs)

solvePnPGeneric

@Namespace(value="cv")
public static int solvePnPGeneric(@ByVal
                                                         GpuMat objectPoints,
                                                         @ByVal
                                                         GpuMat imagePoints,
                                                         @ByVal
                                                         GpuMat cameraMatrix,
                                                         @ByVal
                                                         GpuMat distCoeffs,
                                                         @ByVal
                                                         GpuMatVector rvecs,
                                                         @ByVal
                                                         GpuMatVector tvecs,
                                                         @Cast(value="bool")
                                                         boolean useExtrinsicGuess,
                                                         @Cast(value="cv::SolvePnPMethod")
                                                         int flags,
                                                         @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                         GpuMat rvec,
                                                         @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                         GpuMat tvec,
                                                         @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                         GpuMat reprojectionError)

solvePnPGeneric

@Namespace(value="cv")
public static int solvePnPGeneric(@ByVal
                                                         GpuMat objectPoints,
                                                         @ByVal
                                                         GpuMat imagePoints,
                                                         @ByVal
                                                         GpuMat cameraMatrix,
                                                         @ByVal
                                                         GpuMat distCoeffs,
                                                         @ByVal
                                                         GpuMatVector rvecs,
                                                         @ByVal
                                                         GpuMatVector tvecs)

initCameraMatrix2D

@Namespace(value="cv")
 @ByVal
public static Mat initCameraMatrix2D(@ByVal
                                                                    Point3fVectorVector objectPoints,
                                                                    @ByVal
                                                                    Point2fVectorVector imagePoints,
                                                                    @ByVal
                                                                    Size imageSize,
                                                                    double aspectRatio)

\brief Finds an initial camera intrinsic matrix from 3D-2D point correspondences.

Parameters:: objectPoints - Vector of vectors of the calibration pattern points in the calibration pattern coordinate space. In the old interface all the per-view vectors are concatenated. See #calibrateCamera for details.; imagePoints - Vector of vectors of the projections of the calibration pattern points. In the old interface all the per-view vectors are concatenated.; imageSize - Image size in pixels used to initialize the principal point.; aspectRatio - If it is zero or negative, both f_x and f_y are estimated independently. Otherwise, f_x = f_y * \texttt{aspectRatio} .
The function estimates and returns an initial camera intrinsic matrix for the camera calibration process. Currently, the function only supports planar calibration patterns, which are patterns where each object point has z-coordinate =0.

initCameraMatrix2D

@Namespace(value="cv")
 @ByVal
public static Mat initCameraMatrix2D(@ByVal
                                                                    Point3fVectorVector objectPoints,
                                                                    @ByVal
                                                                    Point2fVectorVector imagePoints,
                                                                    @ByVal
                                                                    Size imageSize)

findChessboardCorners
```
@Namespace(value="cv")
 @Cast(value="bool")
public static boolean findChessboardCorners(@ByVal
                                                                                        Mat image,
                                                                                        @ByVal
                                                                                        Size patternSize,
                                                                                        @ByVal
                                                                                        Mat corners,
                                                                                        int flags)
```
\brief Finds the positions of internal corners of the chessboard.
Parameters:

image - Source chessboard view. It must be an 8-bit grayscale or color image.

patternSize - Number of inner corners per a chessboard row and column ( patternSize = cv::Size(points_per_row,points_per_colum) = cv::Size(columns,rows) ).

corners - Output array of detected corners.
flags - Various operation flags that can be zero or a combination of the following values: - \ref CALIB_CB_ADAPTIVE_THRESH Use adaptive thresholding to convert the image to black and white, rather than a fixed threshold level (computed from the average image brightness). - \ref CALIB_CB_NORMALIZE_IMAGE Normalize the image gamma with equalizeHist before applying fixed or adaptive thresholding. - \ref CALIB_CB_FILTER_QUADS Use additional criteria (like contour area, perimeter, square-like shape) to filter out false quads extracted at the contour retrieval stage. - \ref CALIB_CB_FAST_CHECK Run a fast check on the image that looks for chessboard corners, and shortcut the call if none is found. This can drastically speed up the call in the degenerate condition when no chessboard is observed.
The function attempts to determine whether the input image is a view of the chessboard pattern and locate the internal chessboard corners. The function returns a non-zero value if all of the corners are found and they are placed in a certain order (row by row, left to right in every row). Otherwise, if the function fails to find all the corners or reorder them, it returns 0. For example, a regular chessboard has 8 x 8 squares and 7 x 7 internal corners, that is, points where the black squares touch each other. The detected coordinates are approximate, and to determine their positions more accurately, the function calls cornerSubPix. You also may use the function cornerSubPix with different parameters if returned coordinates are not accurate enough.
Sample usage of detecting and drawing chessboard corners: :
```
    Size patternsize(8,6); //interior number of corners
    Mat gray = ....; //source image
    vector<Point2f> corners; //this will be filled by the detected corners

    //CALIB_CB_FAST_CHECK saves a lot of time on images
    //that do not contain any chessboard corners
    bool patternfound = findChessboardCorners(gray, patternsize, corners,
            CALIB_CB_ADAPTIVE_THRESH + CALIB_CB_NORMALIZE_IMAGE
            + CALIB_CB_FAST_CHECK);

    if(patternfound)
      cornerSubPix(gray, corners, Size(11, 11), Size(-1, -1),
        TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));

    drawChessboardCorners(img, patternsize, Mat(corners), patternfound);
```
\note The function requires white space (like a square-thick border, the wider the better) around the board to make the detection more robust in various environments. Otherwise, if there is no border and the background is dark, the outer black squares cannot be segmented properly and so the square grouping and ordering algorithm fails.

findChessboardCorners

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean findChessboardCorners(@ByVal
                                                                                        Mat image,
                                                                                        @ByVal
                                                                                        Size patternSize,
                                                                                        @ByVal
                                                                                        Mat corners)

findChessboardCorners

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean findChessboardCorners(@ByVal
                                                                                        UMat image,
                                                                                        @ByVal
                                                                                        Size patternSize,
                                                                                        @ByVal
                                                                                        UMat corners,
                                                                                        int flags)

findChessboardCorners

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean findChessboardCorners(@ByVal
                                                                                        UMat image,
                                                                                        @ByVal
                                                                                        Size patternSize,
                                                                                        @ByVal
                                                                                        UMat corners)

findChessboardCorners

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean findChessboardCorners(@ByVal
                                                                                        GpuMat image,
                                                                                        @ByVal
                                                                                        Size patternSize,
                                                                                        @ByVal
                                                                                        GpuMat corners,
                                                                                        int flags)

findChessboardCorners

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean findChessboardCorners(@ByVal
                                                                                        GpuMat image,
                                                                                        @ByVal
                                                                                        Size patternSize,
                                                                                        @ByVal
                                                                                        GpuMat corners)

checkChessboard

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean checkChessboard(@ByVal
                                                                                  Mat img,
                                                                                  @ByVal
                                                                                  Size size)

checkChessboard

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean checkChessboard(@ByVal
                                                                                  UMat img,
                                                                                  @ByVal
                                                                                  Size size)

checkChessboard

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean checkChessboard(@ByVal
                                                                                  GpuMat img,
                                                                                  @ByVal
                                                                                  Size size)

findChessboardCornersSBWithMeta
```
@Namespace(value="cv")
 @Cast(value="bool")
 @Name(value="findChessboardCornersSB")
public static boolean findChessboardCornersSBWithMeta(@ByVal
                                                                                                                                          Mat image,
                                                                                                                                          @ByVal
                                                                                                                                          Size patternSize,
                                                                                                                                          @ByVal
                                                                                                                                          Mat corners,
                                                                                                                                          int flags,
                                                                                                                                          @ByVal
                                                                                                                                          Mat meta)
```
\brief Finds the positions of internal corners of the chessboard using a sector based approach.

Parameters:

image - Source chessboard view. It must be an 8-bit grayscale or color image.

patternSize - Number of inner corners per a chessboard row and column ( patternSize = cv::Size(points_per_row,points_per_colum) = cv::Size(columns,rows) ).

corners - Output array of detected corners.

flags - Various operation flags that can be zero or a combination of the following values: - \ref CALIB_CB_NORMALIZE_IMAGE Normalize the image gamma with equalizeHist before detection. - \ref CALIB_CB_EXHAUSTIVE Run an exhaustive search to improve detection rate. - \ref CALIB_CB_ACCURACY Up sample input image to improve sub-pixel accuracy due to aliasing effects. - \ref CALIB_CB_LARGER The detected pattern is allowed to be larger than patternSize (see description). - \ref CALIB_CB_MARKER The detected pattern must have a marker (see description). This should be used if an accurate camera calibration is required.

meta - Optional output arrray of detected corners (CV_8UC1 and size = cv::Size(columns,rows)). Each entry stands for one corner of the pattern and can have one of the following values: - 0 = no meta data attached - 1 = left-top corner of a black cell - 2 = left-top corner of a white cell - 3 = left-top corner of a black cell with a white marker dot - 4 = left-top corner of a white cell with a black marker dot (pattern origin in case of markers otherwise first corner)
The function is analog to #findChessboardCorners but uses a localized radon transformation approximated by box filters being more robust to all sort of noise, faster on larger images and is able to directly return the sub-pixel position of the internal chessboard corners. The Method is based on the paper \cite duda2018 "Accurate Detection and Localization of Checkerboard Corners for Calibration" demonstrating that the returned sub-pixel positions are more accurate than the one returned by cornerSubPix allowing a precise camera calibration for demanding applications.
In the case, the flags \ref CALIB_CB_LARGER or \ref CALIB_CB_MARKER are given, the result can be recovered from the optional meta array. Both flags are helpful to use calibration patterns exceeding the field of view of the camera. These oversized patterns allow more accurate calibrations as corners can be utilized, which are as close as possible to the image borders. For a consistent coordinate system across all images, the optional marker (see image below) can be used to move the origin of the board to the location where the black circle is located.
\note The function requires a white boarder with roughly the same width as one of the checkerboard fields around the whole board to improve the detection in various environments. In addition, because of the localized radon transformation it is beneficial to use round corners for the field corners which are located on the outside of the board. The following figure illustrates a sample checkerboard optimized for the detection. However, any other checkerboard can be used as well. ![Checkerboard](pics/checkerboard_radon.png)

findChessboardCornersSBWithMeta

@Namespace(value="cv")
 @Cast(value="bool")
 @Name(value="findChessboardCornersSB")
public static boolean findChessboardCornersSBWithMeta(@ByVal
                                                                                                                                          UMat image,
                                                                                                                                          @ByVal
                                                                                                                                          Size patternSize,
                                                                                                                                          @ByVal
                                                                                                                                          UMat corners,
                                                                                                                                          int flags,
                                                                                                                                          @ByVal
                                                                                                                                          UMat meta)

findChessboardCornersSBWithMeta

@Namespace(value="cv")
 @Cast(value="bool")
 @Name(value="findChessboardCornersSB")
public static boolean findChessboardCornersSBWithMeta(@ByVal
                                                                                                                                          GpuMat image,
                                                                                                                                          @ByVal
                                                                                                                                          Size patternSize,
                                                                                                                                          @ByVal
                                                                                                                                          GpuMat corners,
                                                                                                                                          int flags,
                                                                                                                                          @ByVal
                                                                                                                                          GpuMat meta)

findChessboardCornersSB

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean findChessboardCornersSB(@ByVal
                                                                                          Mat image,
                                                                                          @ByVal
                                                                                          Size patternSize,
                                                                                          @ByVal
                                                                                          Mat corners,
                                                                                          int flags)

\overload

findChessboardCornersSB

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean findChessboardCornersSB(@ByVal
                                                                                          Mat image,
                                                                                          @ByVal
                                                                                          Size patternSize,
                                                                                          @ByVal
                                                                                          Mat corners)

findChessboardCornersSB

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean findChessboardCornersSB(@ByVal
                                                                                          UMat image,
                                                                                          @ByVal
                                                                                          Size patternSize,
                                                                                          @ByVal
                                                                                          UMat corners,
                                                                                          int flags)

findChessboardCornersSB

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean findChessboardCornersSB(@ByVal
                                                                                          UMat image,
                                                                                          @ByVal
                                                                                          Size patternSize,
                                                                                          @ByVal
                                                                                          UMat corners)

findChessboardCornersSB

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean findChessboardCornersSB(@ByVal
                                                                                          GpuMat image,
                                                                                          @ByVal
                                                                                          Size patternSize,
                                                                                          @ByVal
                                                                                          GpuMat corners,
                                                                                          int flags)

findChessboardCornersSB

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean findChessboardCornersSB(@ByVal
                                                                                          GpuMat image,
                                                                                          @ByVal
                                                                                          Size patternSize,
                                                                                          @ByVal
                                                                                          GpuMat corners)

estimateChessboardSharpness

@Namespace(value="cv")
 @ByVal
public static Scalar estimateChessboardSharpness(@ByVal
                                                                                Mat image,
                                                                                @ByVal
                                                                                Size patternSize,
                                                                                @ByVal
                                                                                Mat corners,
                                                                                float rise_distance,
                                                                                @Cast(value="bool")
                                                                                boolean vertical,
                                                                                @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                                Mat sharpness)

\brief Estimates the sharpness of a detected chessboard.

Image sharpness, as well as brightness, are a critical parameter for accuracte camera calibration. For accessing these parameters for filtering out problematic calibraiton images, this method calculates edge profiles by traveling from black to white chessboard cell centers. Based on this, the number of pixels is calculated required to transit from black to white. This width of the transition area is a good indication of how sharp the chessboard is imaged and should be below ~3.0 pixels.

Parameters:

image - Gray image used to find chessboard corners

patternSize - Size of a found chessboard pattern

corners - Corners found by #findChessboardCornersSB

rise_distance - Rise distance 0.8 means 10% ... 90% of the final signal strength

vertical - By default edge responses for horizontal lines are calculated

sharpness - Optional output array with a sharpness value for calculated edge responses (see description)

The optional sharpness array is of type CV_32FC1 and has for each calculated profile one row with the following five entries: 0 = x coordinate of the underlying edge in the image 1 = y coordinate of the underlying edge in the image 2 = width of the transition area (sharpness) 3 = signal strength in the black cell (min brightness) 4 = signal strength in the white cell (max brightness)

Returns:

Scalar(average sharpness, average min brightness, average max brightness,0)

estimateChessboardSharpness

@Namespace(value="cv")
 @ByVal
public static Scalar estimateChessboardSharpness(@ByVal
                                                                                Mat image,
                                                                                @ByVal
                                                                                Size patternSize,
                                                                                @ByVal
                                                                                Mat corners)

estimateChessboardSharpness

@Namespace(value="cv")
 @ByVal
public static Scalar estimateChessboardSharpness(@ByVal
                                                                                UMat image,
                                                                                @ByVal
                                                                                Size patternSize,
                                                                                @ByVal
                                                                                UMat corners,
                                                                                float rise_distance,
                                                                                @Cast(value="bool")
                                                                                boolean vertical,
                                                                                @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                                UMat sharpness)

estimateChessboardSharpness

@Namespace(value="cv")
 @ByVal
public static Scalar estimateChessboardSharpness(@ByVal
                                                                                UMat image,
                                                                                @ByVal
                                                                                Size patternSize,
                                                                                @ByVal
                                                                                UMat corners)

estimateChessboardSharpness

@Namespace(value="cv")
 @ByVal
public static Scalar estimateChessboardSharpness(@ByVal
                                                                                GpuMat image,
                                                                                @ByVal
                                                                                Size patternSize,
                                                                                @ByVal
                                                                                GpuMat corners,
                                                                                float rise_distance,
                                                                                @Cast(value="bool")
                                                                                boolean vertical,
                                                                                @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                                GpuMat sharpness)

estimateChessboardSharpness

@Namespace(value="cv")
 @ByVal
public static Scalar estimateChessboardSharpness(@ByVal
                                                                                GpuMat image,
                                                                                @ByVal
                                                                                Size patternSize,
                                                                                @ByVal
                                                                                GpuMat corners)

find4QuadCornerSubpix

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean find4QuadCornerSubpix(@ByVal
                                                                                        Mat img,
                                                                                        @ByVal
                                                                                        Mat corners,
                                                                                        @ByVal
                                                                                        Size region_size)

finds subpixel-accurate positions of the chessboard corners

find4QuadCornerSubpix

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean find4QuadCornerSubpix(@ByVal
                                                                                        UMat img,
                                                                                        @ByVal
                                                                                        UMat corners,
                                                                                        @ByVal
                                                                                        Size region_size)

find4QuadCornerSubpix

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean find4QuadCornerSubpix(@ByVal
                                                                                        GpuMat img,
                                                                                        @ByVal
                                                                                        GpuMat corners,
                                                                                        @ByVal
                                                                                        Size region_size)

drawChessboardCorners

@Namespace(value="cv")
public static void drawChessboardCorners(@ByVal
                                                                Mat image,
                                                                @ByVal
                                                                Size patternSize,
                                                                @ByVal
                                                                Mat corners,
                                                                @Cast(value="bool")
                                                                boolean patternWasFound)

\brief Renders the detected chessboard corners.

Parameters:: image - Destination image. It must be an 8-bit color image.; patternSize - Number of inner corners per a chessboard row and column (patternSize = cv::Size(points_per_row,points_per_column)).; corners - Array of detected corners, the output of #findChessboardCorners.; patternWasFound - Parameter indicating whether the complete board was found or not. The return value of #findChessboardCorners should be passed here.
The function draws individual chessboard corners detected either as red circles if the board was not found, or as colored corners connected with lines if the board was found.

drawChessboardCorners

@Namespace(value="cv")
public static void drawChessboardCorners(@ByVal
                                                                UMat image,
                                                                @ByVal
                                                                Size patternSize,
                                                                @ByVal
                                                                UMat corners,
                                                                @Cast(value="bool")
                                                                boolean patternWasFound)

drawChessboardCorners

@Namespace(value="cv")
public static void drawChessboardCorners(@ByVal
                                                                GpuMat image,
                                                                @ByVal
                                                                Size patternSize,
                                                                @ByVal
                                                                GpuMat corners,
                                                                @Cast(value="bool")
                                                                boolean patternWasFound)

drawFrameAxes

@Namespace(value="cv")
public static void drawFrameAxes(@ByVal
                                                        Mat image,
                                                        @ByVal
                                                        Mat cameraMatrix,
                                                        @ByVal
                                                        Mat distCoeffs,
                                                        @ByVal
                                                        Mat rvec,
                                                        @ByVal
                                                        Mat tvec,
                                                        float length,
                                                        int thickness)

\brief Draw axes of the world/object coordinate system from pose estimation. @see solvePnP

Parameters:: image - Input/output image. It must have 1 or 3 channels. The number of channels is not altered.; cameraMatrix - Input 3x3 floating-point matrix of camera intrinsic parameters. \cameramatrix{A}; distCoeffs - Input vector of distortion coefficients \distcoeffs. If the vector is empty, the zero distortion coefficients are assumed.; rvec - Rotation vector (see \ref Rodrigues ) that, together with tvec, brings points from the model coordinate system to the camera coordinate system.; tvec - Translation vector.; length - Length of the painted axes in the same unit than tvec (usually in meters).; thickness - Line thickness of the painted axes.
This function draws the axes of the world/object coordinate system w.r.t. to the camera frame. OX is drawn in red, OY in green and OZ in blue.

drawFrameAxes

@Namespace(value="cv")
public static void drawFrameAxes(@ByVal
                                                        Mat image,
                                                        @ByVal
                                                        Mat cameraMatrix,
                                                        @ByVal
                                                        Mat distCoeffs,
                                                        @ByVal
                                                        Mat rvec,
                                                        @ByVal
                                                        Mat tvec,
                                                        float length)

drawFrameAxes

@Namespace(value="cv")
public static void drawFrameAxes(@ByVal
                                                        UMat image,
                                                        @ByVal
                                                        UMat cameraMatrix,
                                                        @ByVal
                                                        UMat distCoeffs,
                                                        @ByVal
                                                        UMat rvec,
                                                        @ByVal
                                                        UMat tvec,
                                                        float length,
                                                        int thickness)

drawFrameAxes

@Namespace(value="cv")
public static void drawFrameAxes(@ByVal
                                                        UMat image,
                                                        @ByVal
                                                        UMat cameraMatrix,
                                                        @ByVal
                                                        UMat distCoeffs,
                                                        @ByVal
                                                        UMat rvec,
                                                        @ByVal
                                                        UMat tvec,
                                                        float length)

drawFrameAxes

@Namespace(value="cv")
public static void drawFrameAxes(@ByVal
                                                        GpuMat image,
                                                        @ByVal
                                                        GpuMat cameraMatrix,
                                                        @ByVal
                                                        GpuMat distCoeffs,
                                                        @ByVal
                                                        GpuMat rvec,
                                                        @ByVal
                                                        GpuMat tvec,
                                                        float length,
                                                        int thickness)

drawFrameAxes

@Namespace(value="cv")
public static void drawFrameAxes(@ByVal
                                                        GpuMat image,
                                                        @ByVal
                                                        GpuMat cameraMatrix,
                                                        @ByVal
                                                        GpuMat distCoeffs,
                                                        @ByVal
                                                        GpuMat rvec,
                                                        @ByVal
                                                        GpuMat tvec,
                                                        float length)

findCirclesGrid

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean findCirclesGrid(@ByVal
                                                                                  Mat image,
                                                                                  @ByVal
                                                                                  Size patternSize,
                                                                                  @ByVal
                                                                                  Mat centers,
                                                                                  int flags,
                                                                                  @Cast(value="cv::FeatureDetector*") @opencv_core.Ptr
                                                                                  Feature2D blobDetector,
                                                                                  @Const @ByRef
                                                                                  CirclesGridFinderParameters parameters)

\brief Finds centers in the grid of circles.

Parameters:

image - grid view of input circles; it must be an 8-bit grayscale or color image.

patternSize - number of circles per row and column ( patternSize = Size(points_per_row, points_per_colum) ).

centers - output array of detected centers.

flags - various operation flags that can be one of the following values: - \ref CALIB_CB_SYMMETRIC_GRID uses symmetric pattern of circles. - \ref CALIB_CB_ASYMMETRIC_GRID uses asymmetric pattern of circles. - \ref CALIB_CB_CLUSTERING uses a special algorithm for grid detection. It is more robust to perspective distortions but much more sensitive to background clutter.

blobDetector - feature detector that finds blobs like dark circles on light background. If blobDetector is NULL then image represents Point2f array of candidates.

parameters - struct for finding circles in a grid pattern.

The function attempts to determine whether the input image contains a grid of circles. If it is, the function locates centers of the circles. The function returns a non-zero value if all of the centers have been found and they have been placed in a certain order (row by row, left to right in every row). Otherwise, if the function fails to find all the corners or reorder them, it returns 0.

Sample usage of detecting and drawing the centers of circles: :


    Size patternsize(7,7); //number of centers
    Mat gray = ...; //source image
    vector<Point2f> centers; //this will be filled by the detected centers

    bool patternfound = findCirclesGrid(gray, patternsize, centers);

    drawChessboardCorners(img, patternsize, Mat(centers), patternfound);

\note The function requires white space (like a square-thick border, the wider the better) around the board to make the detection more robust in various environments.

findCirclesGrid

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean findCirclesGrid(@ByVal
                                                                                  UMat image,
                                                                                  @ByVal
                                                                                  Size patternSize,
                                                                                  @ByVal
                                                                                  UMat centers,
                                                                                  int flags,
                                                                                  @Cast(value="cv::FeatureDetector*") @opencv_core.Ptr
                                                                                  Feature2D blobDetector,
                                                                                  @Const @ByRef
                                                                                  CirclesGridFinderParameters parameters)

findCirclesGrid

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean findCirclesGrid(@ByVal
                                                                                  GpuMat image,
                                                                                  @ByVal
                                                                                  Size patternSize,
                                                                                  @ByVal
                                                                                  GpuMat centers,
                                                                                  int flags,
                                                                                  @Cast(value="cv::FeatureDetector*") @opencv_core.Ptr
                                                                                  Feature2D blobDetector,
                                                                                  @Const @ByRef
                                                                                  CirclesGridFinderParameters parameters)

findCirclesGrid

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean findCirclesGrid(@ByVal
                                                                                  Mat image,
                                                                                  @ByVal
                                                                                  Size patternSize,
                                                                                  @ByVal
                                                                                  Mat centers,
                                                                                  int flags,
                                                                                  @Cast(value="cv::FeatureDetector*") @opencv_core.Ptr
                                                                                  Feature2D blobDetector)

\overload

findCirclesGrid

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean findCirclesGrid(@ByVal
                                                                                  Mat image,
                                                                                  @ByVal
                                                                                  Size patternSize,
                                                                                  @ByVal
                                                                                  Mat centers)

findCirclesGrid

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean findCirclesGrid(@ByVal
                                                                                  UMat image,
                                                                                  @ByVal
                                                                                  Size patternSize,
                                                                                  @ByVal
                                                                                  UMat centers,
                                                                                  int flags,
                                                                                  @Cast(value="cv::FeatureDetector*") @opencv_core.Ptr
                                                                                  Feature2D blobDetector)

findCirclesGrid

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean findCirclesGrid(@ByVal
                                                                                  UMat image,
                                                                                  @ByVal
                                                                                  Size patternSize,
                                                                                  @ByVal
                                                                                  UMat centers)

findCirclesGrid

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean findCirclesGrid(@ByVal
                                                                                  GpuMat image,
                                                                                  @ByVal
                                                                                  Size patternSize,
                                                                                  @ByVal
                                                                                  GpuMat centers,
                                                                                  int flags,
                                                                                  @Cast(value="cv::FeatureDetector*") @opencv_core.Ptr
                                                                                  Feature2D blobDetector)

findCirclesGrid

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean findCirclesGrid(@ByVal
                                                                                  GpuMat image,
                                                                                  @ByVal
                                                                                  Size patternSize,
                                                                                  @ByVal
                                                                                  GpuMat centers)

calibrateCameraExtended
```
@Namespace(value="cv")
 @Name(value="calibrateCamera")
public static double calibrateCameraExtended(@ByVal
                                                                                                    Point3fVectorVector objectPoints,
                                                                                                    @ByVal
                                                                                                    Point2fVectorVector imagePoints,
                                                                                                    @ByVal
                                                                                                    Size imageSize,
                                                                                                    @ByVal
                                                                                                    Mat cameraMatrix,
                                                                                                    @ByVal
                                                                                                    Mat distCoeffs,
                                                                                                    @ByVal
                                                                                                    MatVector rvecs,
                                                                                                    @ByVal
                                                                                                    MatVector tvecs,
                                                                                                    @ByVal
                                                                                                    Mat stdDeviationsIntrinsics,
                                                                                                    @ByVal
                                                                                                    Mat stdDeviationsExtrinsics,
                                                                                                    @ByVal
                                                                                                    Mat perViewErrors,
                                                                                                    int flags,
                                                                                                    @ByVal(nullValue="cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 30, DBL_EPSILON)")
                                                                                                    TermCriteria criteria)
```
\brief Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern.

Parameters:

objectPoints - In the new interface it is a vector of vectors of calibration pattern points in the calibration pattern coordinate space (e.g. std::vector>). The outer vector contains as many elements as the number of pattern views. If the same calibration pattern is shown in each view and it is fully visible, all the vectors will be the same. Although, it is possible to use partially occluded patterns or even different patterns in different views. Then, the vectors will be different. Although the points are 3D, they all lie in the calibration pattern's XY coordinate plane (thus 0 in the Z-coordinate), if the used calibration pattern is a planar rig. In the old interface all the vectors of object points from different views are concatenated together.

imagePoints - In the new interface it is a vector of vectors of the projections of calibration pattern points (e.g. std::vector>). imagePoints.size() and objectPoints.size(), and imagePoints[i].size() and objectPoints[i].size() for each i, must be equal, respectively. In the old interface all the vectors of object points from different views are concatenated together.

imageSize - Size of the image used only to initialize the camera intrinsic matrix.

cameraMatrix - Input/output 3x3 floating-point camera intrinsic matrix \cameramatrix{A} . If \ref CALIB_USE_INTRINSIC_GUESS and/or \ref CALIB_FIX_ASPECT_RATIO, \ref CALIB_FIX_PRINCIPAL_POINT or \ref CALIB_FIX_FOCAL_LENGTH are specified, some or all of fx, fy, cx, cy must be initialized before calling the function.

distCoeffs - Input/output vector of distortion coefficients \distcoeffs.

rvecs - Output vector of rotation vectors (\ref Rodrigues ) estimated for each pattern view (e.g. std::vector>). That is, each i-th rotation vector together with the corresponding i-th translation vector (see the next output parameter description) brings the calibration pattern from the object coordinate space (in which object points are specified) to the camera coordinate space. In more technical terms, the tuple of the i-th rotation and translation vector performs a change of basis from object coordinate space to camera coordinate space. Due to its duality, this tuple is equivalent to the position of the calibration pattern with respect to the camera coordinate space.

tvecs - Output vector of translation vectors estimated for each pattern view, see parameter describtion above.

stdDeviationsIntrinsics - Output vector of standard deviations estimated for intrinsic parameters. Order of deviations values: (f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3, s_4, \tau_x, \tau_y) If one of parameters is not estimated, it's deviation is equals to zero.

stdDeviationsExtrinsics - Output vector of standard deviations estimated for extrinsic parameters. Order of deviations values: (R_0, T_0, \dotsc , R_{M - 1}, T_{M - 1}) where M is the number of pattern views. R_i, T_i are concatenated 1x3 vectors.

perViewErrors - Output vector of the RMS re-projection error estimated for each pattern view.

flags - Different flags that may be zero or a combination of the following values: - \ref CALIB_USE_INTRINSIC_GUESS cameraMatrix contains valid initial values of fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially set to the image center ( imageSize is used), and focal distances are computed in a least-squares fashion. Note, that if intrinsic parameters are known, there is no need to use this function just to estimate extrinsic parameters. Use \ref solvePnP instead. - \ref CALIB_FIX_PRINCIPAL_POINT The principal point is not changed during the global optimization. It stays at the center or at a different location specified when \ref CALIB_USE_INTRINSIC_GUESS is set too. - \ref CALIB_FIX_ASPECT_RATIO The functions consider only fy as a free parameter. The ratio fx/fy stays the same as in the input cameraMatrix . When \ref CALIB_USE_INTRINSIC_GUESS is not set, the actual input values of fx and fy are ignored, only their ratio is computed and used further. - \ref CALIB_ZERO_TANGENT_DIST Tangential distortion coefficients (p_1, p_2) are set to zeros and stay zero. - \ref CALIB_FIX_FOCAL_LENGTH The focal length is not changed during the global optimization if \ref CALIB_USE_INTRINSIC_GUESS is set. - \ref CALIB_FIX_K1,..., \ref CALIB_FIX_K6 The corresponding radial distortion coefficient is not changed during the optimization. If \ref CALIB_USE_INTRINSIC_GUESS is set, the coefficient from the supplied distCoeffs matrix is used. Otherwise, it is set to 0. - \ref CALIB_RATIONAL_MODEL Coefficients k4, k5, and k6 are enabled. To provide the backward compatibility, this extra flag should be explicitly specified to make the calibration function use the rational model and return 8 coefficients or more. - \ref CALIB_THIN_PRISM_MODEL Coefficients s1, s2, s3 and s4 are enabled. To provide the backward compatibility, this extra flag should be explicitly specified to make the calibration function use the thin prism model and return 12 coefficients or more. - \ref CALIB_FIX_S1_S2_S3_S4 The thin prism distortion coefficients are not changed during the optimization. If \ref CALIB_USE_INTRINSIC_GUESS is set, the coefficient from the supplied distCoeffs matrix is used. Otherwise, it is set to 0. - \ref CALIB_TILTED_MODEL Coefficients tauX and tauY are enabled. To provide the backward compatibility, this extra flag should be explicitly specified to make the calibration function use the tilted sensor model and return 14 coefficients. - \ref CALIB_FIX_TAUX_TAUY The coefficients of the tilted sensor model are not changed during the optimization. If \ref CALIB_USE_INTRINSIC_GUESS is set, the coefficient from the supplied distCoeffs matrix is used. Otherwise, it is set to 0.

criteria - Termination criteria for the iterative optimization algorithm.

Returns:

the overall RMS re-projection error.
The function estimates the intrinsic camera parameters and extrinsic parameters for each of the views. The algorithm is based on \cite Zhang2000 and \cite BouguetMCT . The coordinates of 3D object points and their corresponding 2D projections in each view must be specified. That may be achieved by using an object with known geometry and easily detectable feature points. Such an object is called a calibration rig or calibration pattern, and OpenCV has built-in support for a chessboard as a calibration rig (see \ref findChessboardCorners). Currently, initialization of intrinsic parameters (when \ref CALIB_USE_INTRINSIC_GUESS is not set) is only implemented for planar calibration patterns (where Z-coordinates of the object points must be all zeros). 3D calibration rigs can also be used as long as initial cameraMatrix is provided.
The algorithm performs the following steps:
- Compute the initial intrinsic parameters (the option only available for planar calibration patterns) or read them from the input parameters. The distortion coefficients are all set to zeros initially unless some of CALIB_FIX_K? are specified.
- Estimate the initial camera pose as if the intrinsic parameters have been already known. This is done using \ref solvePnP .
- Run the global Levenberg-Marquardt optimization algorithm to minimize the reprojection error, that is, the total sum of squared distances between the observed feature points imagePoints and the projected (using the current estimates for camera parameters and the poses) object points objectPoints. See \ref projectPoints for details.
\note If you use a non-square (i.e. non-N-by-N) grid and \ref findChessboardCorners for calibration, and \ref calibrateCamera returns bad values (zero distortion coefficients, c_x and c_y very far from the image center, and/or large differences between f_x and f_y (ratios of 10:1 or more)), then you are probably using patternSize=cvSize(rows,cols) instead of using patternSize=cvSize(cols,rows) in \ref findChessboardCorners.

See Also:

calibrateCameraRO, findChessboardCorners, solvePnP, initCameraMatrix2D, stereoCalibrate, undistort

calibrateCameraExtended

@Namespace(value="cv")
 @Name(value="calibrateCamera")
public static double calibrateCameraExtended(@ByVal
                                                                                                    Point3fVectorVector objectPoints,
                                                                                                    @ByVal
                                                                                                    Point2fVectorVector imagePoints,
                                                                                                    @ByVal
                                                                                                    Size imageSize,
                                                                                                    @ByVal
                                                                                                    Mat cameraMatrix,
                                                                                                    @ByVal
                                                                                                    Mat distCoeffs,
                                                                                                    @ByVal
                                                                                                    MatVector rvecs,
                                                                                                    @ByVal
                                                                                                    MatVector tvecs,
                                                                                                    @ByVal
                                                                                                    Mat stdDeviationsIntrinsics,
                                                                                                    @ByVal
                                                                                                    Mat stdDeviationsExtrinsics,
                                                                                                    @ByVal
                                                                                                    Mat perViewErrors)

calibrateCamera

@Namespace(value="cv")
public static double calibrateCamera(@ByVal
                                                            Point3fVectorVector objectPoints,
                                                            @ByVal
                                                            Point2fVectorVector imagePoints,
                                                            @ByVal
                                                            Size imageSize,
                                                            @ByVal
                                                            Mat cameraMatrix,
                                                            @ByVal
                                                            Mat distCoeffs,
                                                            @ByVal
                                                            MatVector rvecs,
                                                            @ByVal
                                                            MatVector tvecs,
                                                            int flags,
                                                            @ByVal(nullValue="cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 30, DBL_EPSILON)")
                                                            TermCriteria criteria)

calibrateCamera

@Namespace(value="cv")
public static double calibrateCamera(@ByVal
                                                            Point3fVectorVector objectPoints,
                                                            @ByVal
                                                            Point2fVectorVector imagePoints,
                                                            @ByVal
                                                            Size imageSize,
                                                            @ByVal
                                                            Mat cameraMatrix,
                                                            @ByVal
                                                            Mat distCoeffs,
                                                            @ByVal
                                                            MatVector rvecs,
                                                            @ByVal
                                                            MatVector tvecs)

calibrateCameraROExtended

@Namespace(value="cv")
 @Name(value="calibrateCameraRO")
public static double calibrateCameraROExtended(@ByVal
                                                                                                        Point3fVectorVector objectPoints,
                                                                                                        @ByVal
                                                                                                        Point2fVectorVector imagePoints,
                                                                                                        @ByVal
                                                                                                        Size imageSize,
                                                                                                        int iFixedPoint,
                                                                                                        @ByVal
                                                                                                        Mat cameraMatrix,
                                                                                                        @ByVal
                                                                                                        Mat distCoeffs,
                                                                                                        @ByVal
                                                                                                        MatVector rvecs,
                                                                                                        @ByVal
                                                                                                        MatVector tvecs,
                                                                                                        @ByVal
                                                                                                        Mat newObjPoints,
                                                                                                        @ByVal
                                                                                                        Mat stdDeviationsIntrinsics,
                                                                                                        @ByVal
                                                                                                        Mat stdDeviationsExtrinsics,
                                                                                                        @ByVal
                                                                                                        Mat stdDeviationsObjPoints,
                                                                                                        @ByVal
                                                                                                        Mat perViewErrors,
                                                                                                        int flags,
                                                                                                        @ByVal(nullValue="cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 30, DBL_EPSILON)")
                                                                                                        TermCriteria criteria)

\brief Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern.

This function is an extension of #calibrateCamera with the method of releasing object which was proposed in \cite strobl2011iccv. In many common cases with inaccurate, unmeasured, roughly planar targets (calibration plates), this method can dramatically improve the precision of the estimated camera parameters. Both the object-releasing method and standard method are supported by this function. Use the parameter **iFixedPoint** for method selection. In the internal implementation, #calibrateCamera is a wrapper for this function.

Parameters:: objectPoints - Vector of vectors of calibration pattern points in the calibration pattern coordinate space. See #calibrateCamera for details. If the method of releasing object to be used, the identical calibration board must be used in each view and it must be fully visible, and all objectPoints[i] must be the same and all points should be roughly close to a plane. **The calibration target has to be rigid, or at least static if the camera (rather than the calibration target) is shifted for grabbing images.**; imagePoints - Vector of vectors of the projections of calibration pattern points. See #calibrateCamera for details.; imageSize - Size of the image used only to initialize the intrinsic camera matrix.; iFixedPoint - The index of the 3D object point in objectPoints[0] to be fixed. It also acts as a switch for calibration method selection. If object-releasing method to be used, pass in the parameter in the range of [1, objectPoints[0].size()-2], otherwise a value out of this range will make standard calibration method selected. Usually the top-right corner point of the calibration board grid is recommended to be fixed when object-releasing method being utilized. According to \cite strobl2011iccv, two other points are also fixed. In this implementation, objectPoints[0].front and objectPoints[0].back.z are used. With object-releasing method, accurate rvecs, tvecs and newObjPoints are only possible if coordinates of these three fixed points are accurate enough.; cameraMatrix - Output 3x3 floating-point camera matrix. See #calibrateCamera for details.; distCoeffs - Output vector of distortion coefficients. See #calibrateCamera for details.; rvecs - Output vector of rotation vectors estimated for each pattern view. See #calibrateCamera for details.; tvecs - Output vector of translation vectors estimated for each pattern view.; newObjPoints - The updated output vector of calibration pattern points. The coordinates might be scaled based on three fixed points. The returned coordinates are accurate only if the above mentioned three fixed points are accurate. If not needed, noArray() can be passed in. This parameter is ignored with standard calibration method.; stdDeviationsIntrinsics - Output vector of standard deviations estimated for intrinsic parameters. See #calibrateCamera for details.; stdDeviationsExtrinsics - Output vector of standard deviations estimated for extrinsic parameters. See #calibrateCamera for details.; stdDeviationsObjPoints - Output vector of standard deviations estimated for refined coordinates of calibration pattern points. It has the same size and order as objectPoints[0] vector. This parameter is ignored with standard calibration method.; perViewErrors - Output vector of the RMS re-projection error estimated for each pattern view.; flags - Different flags that may be zero or a combination of some predefined values. See #calibrateCamera for details. If the method of releasing object is used, the calibration time may be much longer. CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially less precise and less stable in some rare cases.; criteria - Termination criteria for the iterative optimization algorithm.
Returns:: the overall RMS re-projection error.
The function estimates the intrinsic camera parameters and extrinsic parameters for each of the views. The algorithm is based on \cite Zhang2000, \cite BouguetMCT and \cite strobl2011iccv. See #calibrateCamera for other detailed explanations.
See Also:: calibrateCamera, findChessboardCorners, solvePnP, initCameraMatrix2D, stereoCalibrate, undistort

calibrateCameraROExtended

@Namespace(value="cv")
 @Name(value="calibrateCameraRO")
public static double calibrateCameraROExtended(@ByVal
                                                                                                        Point3fVectorVector objectPoints,
                                                                                                        @ByVal
                                                                                                        Point2fVectorVector imagePoints,
                                                                                                        @ByVal
                                                                                                        Size imageSize,
                                                                                                        int iFixedPoint,
                                                                                                        @ByVal
                                                                                                        Mat cameraMatrix,
                                                                                                        @ByVal
                                                                                                        Mat distCoeffs,
                                                                                                        @ByVal
                                                                                                        MatVector rvecs,
                                                                                                        @ByVal
                                                                                                        MatVector tvecs,
                                                                                                        @ByVal
                                                                                                        Mat newObjPoints,
                                                                                                        @ByVal
                                                                                                        Mat stdDeviationsIntrinsics,
                                                                                                        @ByVal
                                                                                                        Mat stdDeviationsExtrinsics,
                                                                                                        @ByVal
                                                                                                        Mat stdDeviationsObjPoints,
                                                                                                        @ByVal
                                                                                                        Mat perViewErrors)

calibrateCameraRO

@Namespace(value="cv")
public static double calibrateCameraRO(@ByVal
                                                              Point3fVectorVector objectPoints,
                                                              @ByVal
                                                              Point2fVectorVector imagePoints,
                                                              @ByVal
                                                              Size imageSize,
                                                              int iFixedPoint,
                                                              @ByVal
                                                              Mat cameraMatrix,
                                                              @ByVal
                                                              Mat distCoeffs,
                                                              @ByVal
                                                              MatVector rvecs,
                                                              @ByVal
                                                              MatVector tvecs,
                                                              @ByVal
                                                              Mat newObjPoints,
                                                              int flags,
                                                              @ByVal(nullValue="cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 30, DBL_EPSILON)")
                                                              TermCriteria criteria)

calibrateCameraRO

@Namespace(value="cv")
public static double calibrateCameraRO(@ByVal
                                                              Point3fVectorVector objectPoints,
                                                              @ByVal
                                                              Point2fVectorVector imagePoints,
                                                              @ByVal
                                                              Size imageSize,
                                                              int iFixedPoint,
                                                              @ByVal
                                                              Mat cameraMatrix,
                                                              @ByVal
                                                              Mat distCoeffs,
                                                              @ByVal
                                                              MatVector rvecs,
                                                              @ByVal
                                                              MatVector tvecs,
                                                              @ByVal
                                                              Mat newObjPoints)

calibrationMatrixValues

@Namespace(value="cv")
public static void calibrationMatrixValues(@ByVal
                                                                  Mat cameraMatrix,
                                                                  @ByVal
                                                                  Size imageSize,
                                                                  double apertureWidth,
                                                                  double apertureHeight,
                                                                  @ByRef
                                                                  DoublePointer fovx,
                                                                  @ByRef
                                                                  DoublePointer fovy,
                                                                  @ByRef
                                                                  DoublePointer focalLength,
                                                                  @ByRef
                                                                  Point2d principalPoint,
                                                                  @ByRef
                                                                  DoublePointer aspectRatio)

\brief Computes useful camera characteristics from the camera intrinsic matrix.

Parameters:

cameraMatrix - Input camera intrinsic matrix that can be estimated by #calibrateCamera or #stereoCalibrate .

imageSize - Input image size in pixels.

apertureWidth - Physical width in mm of the sensor.

apertureHeight - Physical height in mm of the sensor.

fovx - Output field of view in degrees along the horizontal sensor axis.

fovy - Output field of view in degrees along the vertical sensor axis.

focalLength - Focal length of the lens in mm.

principalPoint - Principal point in mm.

aspectRatio - f_y/f_x

The function computes various useful camera characteristics from the previously estimated camera matrix.

\note Do keep in mind that the unity measure 'mm' stands for whatever unit of measure one chooses for the chessboard pitch (it can thus be any value).

calibrationMatrixValues

@Namespace(value="cv")
public static void calibrationMatrixValues(@ByVal
                                                                  Mat cameraMatrix,
                                                                  @ByVal
                                                                  Size imageSize,
                                                                  double apertureWidth,
                                                                  double apertureHeight,
                                                                  @ByRef
                                                                  DoubleBuffer fovx,
                                                                  @ByRef
                                                                  DoubleBuffer fovy,
                                                                  @ByRef
                                                                  DoubleBuffer focalLength,
                                                                  @ByRef
                                                                  Point2d principalPoint,
                                                                  @ByRef
                                                                  DoubleBuffer aspectRatio)

calibrationMatrixValues

@Namespace(value="cv")
public static void calibrationMatrixValues(@ByVal
                                                                  Mat cameraMatrix,
                                                                  @ByVal
                                                                  Size imageSize,
                                                                  double apertureWidth,
                                                                  double apertureHeight,
                                                                  @ByRef
                                                                  double[] fovx,
                                                                  @ByRef
                                                                  double[] fovy,
                                                                  @ByRef
                                                                  double[] focalLength,
                                                                  @ByRef
                                                                  Point2d principalPoint,
                                                                  @ByRef
                                                                  double[] aspectRatio)

calibrationMatrixValues

@Namespace(value="cv")
public static void calibrationMatrixValues(@ByVal
                                                                  UMat cameraMatrix,
                                                                  @ByVal
                                                                  Size imageSize,
                                                                  double apertureWidth,
                                                                  double apertureHeight,
                                                                  @ByRef
                                                                  DoublePointer fovx,
                                                                  @ByRef
                                                                  DoublePointer fovy,
                                                                  @ByRef
                                                                  DoublePointer focalLength,
                                                                  @ByRef
                                                                  Point2d principalPoint,
                                                                  @ByRef
                                                                  DoublePointer aspectRatio)

calibrationMatrixValues

@Namespace(value="cv")
public static void calibrationMatrixValues(@ByVal
                                                                  UMat cameraMatrix,
                                                                  @ByVal
                                                                  Size imageSize,
                                                                  double apertureWidth,
                                                                  double apertureHeight,
                                                                  @ByRef
                                                                  DoubleBuffer fovx,
                                                                  @ByRef
                                                                  DoubleBuffer fovy,
                                                                  @ByRef
                                                                  DoubleBuffer focalLength,
                                                                  @ByRef
                                                                  Point2d principalPoint,
                                                                  @ByRef
                                                                  DoubleBuffer aspectRatio)

calibrationMatrixValues

@Namespace(value="cv")
public static void calibrationMatrixValues(@ByVal
                                                                  UMat cameraMatrix,
                                                                  @ByVal
                                                                  Size imageSize,
                                                                  double apertureWidth,
                                                                  double apertureHeight,
                                                                  @ByRef
                                                                  double[] fovx,
                                                                  @ByRef
                                                                  double[] fovy,
                                                                  @ByRef
                                                                  double[] focalLength,
                                                                  @ByRef
                                                                  Point2d principalPoint,
                                                                  @ByRef
                                                                  double[] aspectRatio)

calibrationMatrixValues

@Namespace(value="cv")
public static void calibrationMatrixValues(@ByVal
                                                                  GpuMat cameraMatrix,
                                                                  @ByVal
                                                                  Size imageSize,
                                                                  double apertureWidth,
                                                                  double apertureHeight,
                                                                  @ByRef
                                                                  DoublePointer fovx,
                                                                  @ByRef
                                                                  DoublePointer fovy,
                                                                  @ByRef
                                                                  DoublePointer focalLength,
                                                                  @ByRef
                                                                  Point2d principalPoint,
                                                                  @ByRef
                                                                  DoublePointer aspectRatio)

calibrationMatrixValues

@Namespace(value="cv")
public static void calibrationMatrixValues(@ByVal
                                                                  GpuMat cameraMatrix,
                                                                  @ByVal
                                                                  Size imageSize,
                                                                  double apertureWidth,
                                                                  double apertureHeight,
                                                                  @ByRef
                                                                  DoubleBuffer fovx,
                                                                  @ByRef
                                                                  DoubleBuffer fovy,
                                                                  @ByRef
                                                                  DoubleBuffer focalLength,
                                                                  @ByRef
                                                                  Point2d principalPoint,
                                                                  @ByRef
                                                                  DoubleBuffer aspectRatio)

calibrationMatrixValues

@Namespace(value="cv")
public static void calibrationMatrixValues(@ByVal
                                                                  GpuMat cameraMatrix,
                                                                  @ByVal
                                                                  Size imageSize,
                                                                  double apertureWidth,
                                                                  double apertureHeight,
                                                                  @ByRef
                                                                  double[] fovx,
                                                                  @ByRef
                                                                  double[] fovy,
                                                                  @ByRef
                                                                  double[] focalLength,
                                                                  @ByRef
                                                                  Point2d principalPoint,
                                                                  @ByRef
                                                                  double[] aspectRatio)

stereoCalibrateExtended
```
@Namespace(value="cv")
 @Name(value="stereoCalibrate")
public static double stereoCalibrateExtended(@ByVal
                                                                                                    Point3fVectorVector objectPoints,
                                                                                                    @ByVal
                                                                                                    Point2fVectorVector imagePoints1,
                                                                                                    @ByVal
                                                                                                    Point2fVectorVector imagePoints2,
                                                                                                    @ByVal
                                                                                                    Mat cameraMatrix1,
                                                                                                    @ByVal
                                                                                                    Mat distCoeffs1,
                                                                                                    @ByVal
                                                                                                    Mat cameraMatrix2,
                                                                                                    @ByVal
                                                                                                    Mat distCoeffs2,
                                                                                                    @ByVal
                                                                                                    Size imageSize,
                                                                                                    @ByVal
                                                                                                    Mat R,
                                                                                                    @ByVal
                                                                                                    Mat T,
                                                                                                    @ByVal
                                                                                                    Mat E,
                                                                                                    @ByVal
                                                                                                    Mat F,
                                                                                                    @ByVal
                                                                                                    Mat perViewErrors,
                                                                                                    int flags,
                                                                                                    @ByVal(nullValue="cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 30, 1e-6)")
                                                                                                    TermCriteria criteria)
```
\brief Calibrates a stereo camera set up. This function finds the intrinsic parameters for each of the two cameras and the extrinsic parameters between the two cameras.
Parameters:

objectPoints - Vector of vectors of the calibration pattern points. The same structure as in \ref calibrateCamera. For each pattern view, both cameras need to see the same object points. Therefore, objectPoints.size(), imagePoints1.size(), and imagePoints2.size() need to be equal as well as objectPoints[i].size(), imagePoints1[i].size(), and imagePoints2[i].size() need to be equal for each i.

imagePoints1 - Vector of vectors of the projections of the calibration pattern points, observed by the first camera. The same structure as in \ref calibrateCamera.

imagePoints2 - Vector of vectors of the projections of the calibration pattern points, observed by the second camera. The same structure as in \ref calibrateCamera.

cameraMatrix1 - Input/output camera intrinsic matrix for the first camera, the same as in \ref calibrateCamera. Furthermore, for the stereo case, additional flags may be used, see below.

distCoeffs1 - Input/output vector of distortion coefficients, the same as in \ref calibrateCamera.

cameraMatrix2 - Input/output second camera intrinsic matrix for the second camera. See description for cameraMatrix1.

distCoeffs2 - Input/output lens distortion coefficients for the second camera. See description for distCoeffs1.

imageSize - Size of the image used only to initialize the camera intrinsic matrices.

R - Output rotation matrix. Together with the translation vector T, this matrix brings points given in the first camera's coordinate system to points in the second camera's coordinate system. In more technical terms, the tuple of R and T performs a change of basis from the first camera's coordinate system to the second camera's coordinate system. Due to its duality, this tuple is equivalent to the position of the first camera with respect to the second camera coordinate system.

T - Output translation vector, see description above.

E - Output essential matrix.

F - Output fundamental matrix.

perViewErrors - Output vector of the RMS re-projection error estimated for each pattern view.

flags - Different flags that may be zero or a combination of the following values: - \ref CALIB_FIX_INTRINSIC Fix cameraMatrix? and distCoeffs? so that only R, T, E, and F matrices are estimated. - \ref CALIB_USE_INTRINSIC_GUESS Optimize some or all of the intrinsic parameters according to the specified flags. Initial values are provided by the user. - \ref CALIB_USE_EXTRINSIC_GUESS R and T contain valid initial values that are optimized further. Otherwise R and T are initialized to the median value of the pattern views (each dimension separately). - \ref CALIB_FIX_PRINCIPAL_POINT Fix the principal points during the optimization. - \ref CALIB_FIX_FOCAL_LENGTH Fix f^{(j)}_x and f^{(j)}_y . - \ref CALIB_FIX_ASPECT_RATIO Optimize f^{(j)}_y . Fix the ratio f^{(j)}_x/f^{(j)}_y . - \ref CALIB_SAME_FOCAL_LENGTH Enforce f^{(0)}_x=f^{(1)}_x and f^{(0)}_y=f^{(1)}_y . - \ref CALIB_ZERO_TANGENT_DIST Set tangential distortion coefficients for each camera to zeros and fix there. - \ref CALIB_FIX_K1,..., \ref CALIB_FIX_K6 Do not change the corresponding radial distortion coefficient during the optimization. If \ref CALIB_USE_INTRINSIC_GUESS is set, the coefficient from the supplied distCoeffs matrix is used. Otherwise, it is set to 0. - \ref CALIB_RATIONAL_MODEL Enable coefficients k4, k5, and k6. To provide the backward compatibility, this extra flag should be explicitly specified to make the calibration function use the rational model and return 8 coefficients. If the flag is not set, the function computes and returns only 5 distortion coefficients. - \ref CALIB_THIN_PRISM_MODEL Coefficients s1, s2, s3 and s4 are enabled. To provide the backward compatibility, this extra flag should be explicitly specified to make the calibration function use the thin prism model and return 12 coefficients. If the flag is not set, the function computes and returns only 5 distortion coefficients. - \ref CALIB_FIX_S1_S2_S3_S4 The thin prism distortion coefficients are not changed during the optimization. If \ref CALIB_USE_INTRINSIC_GUESS is set, the coefficient from the supplied distCoeffs matrix is used. Otherwise, it is set to 0. - \ref CALIB_TILTED_MODEL Coefficients tauX and tauY are enabled. To provide the backward compatibility, this extra flag should be explicitly specified to make the calibration function use the tilted sensor model and return 14 coefficients. If the flag is not set, the function computes and returns only 5 distortion coefficients. - \ref CALIB_FIX_TAUX_TAUY The coefficients of the tilted sensor model are not changed during the optimization. If \ref CALIB_USE_INTRINSIC_GUESS is set, the coefficient from the supplied distCoeffs matrix is used. Otherwise, it is set to 0.
criteria - Termination criteria for the iterative optimization algorithm.
The function estimates the transformation between two cameras making a stereo pair. If one computes the poses of an object relative to the first camera and to the second camera, ( R_1,T_1 ) and (R_2,T_2), respectively, for a stereo camera where the relative position and orientation between the two cameras are fixed, then those poses definitely relate to each other. This means, if the relative position and orientation (R,T) of the two cameras is known, it is possible to compute (R_2,T_2) when (R_1,T_1) is given. This is what the described function does. It computes (R,T) such that:
```
 \[R_2=R R_1\]
```
```
 \[T_2=R T_1 + T.\]
```
Therefore, one can compute the coordinate representation of a 3D point for the second camera's coordinate system when given the point's coordinate representation in the first camera's coordinate system:
```
 \[\begin{bmatrix}
X_2 \\
Y_2 \\
Z_2 \\
1
\end{bmatrix} = \begin{bmatrix}
R & T \\
0 & 1
\end{bmatrix} \begin{bmatrix}
X_1 \\
Y_1 \\
Z_1 \\
1
\end{bmatrix}.\]
```
Optionally, it computes the essential matrix E:
```
 \[E= \vecthreethree{0}{-T_2}{T_1}{T_2}{0}{-T_0}{-T_1}{T_0}{0} R\]
```
where T_i are components of the translation vector T : T=[T_0, T_1, T_2]^T . And the function can also compute the fundamental matrix F:
```
 \[F = cameraMatrix2^{-T}\cdot E \cdot cameraMatrix1^{-1}\]
```
Besides the stereo-related information, the function can also perform a full calibration of each of the two cameras. However, due to the high dimensionality of the parameter space and noise in the input data, the function can diverge from the correct solution. If the intrinsic parameters can be estimated with high accuracy for each of the cameras individually (for example, using #calibrateCamera ), you are recommended to do so and then pass \ref CALIB_FIX_INTRINSIC flag to the function along with the computed intrinsic parameters. Otherwise, if all the parameters are estimated at once, it makes sense to restrict some parameters, for example, pass \ref CALIB_SAME_FOCAL_LENGTH and \ref CALIB_ZERO_TANGENT_DIST flags, which is usually a reasonable assumption.
Similarly to #calibrateCamera, the function minimizes the total re-projection error for all the points in all the available views from both cameras. The function returns the final value of the re-projection error.

stereoCalibrateExtended

@Namespace(value="cv")
 @Name(value="stereoCalibrate")
public static double stereoCalibrateExtended(@ByVal
                                                                                                    Point3fVectorVector objectPoints,
                                                                                                    @ByVal
                                                                                                    Point2fVectorVector imagePoints1,
                                                                                                    @ByVal
                                                                                                    Point2fVectorVector imagePoints2,
                                                                                                    @ByVal
                                                                                                    Mat cameraMatrix1,
                                                                                                    @ByVal
                                                                                                    Mat distCoeffs1,
                                                                                                    @ByVal
                                                                                                    Mat cameraMatrix2,
                                                                                                    @ByVal
                                                                                                    Mat distCoeffs2,
                                                                                                    @ByVal
                                                                                                    Size imageSize,
                                                                                                    @ByVal
                                                                                                    Mat R,
                                                                                                    @ByVal
                                                                                                    Mat T,
                                                                                                    @ByVal
                                                                                                    Mat E,
                                                                                                    @ByVal
                                                                                                    Mat F,
                                                                                                    @ByVal
                                                                                                    Mat perViewErrors)

stereoCalibrate

@Namespace(value="cv")
public static double stereoCalibrate(@ByVal
                                                            Point3fVectorVector objectPoints,
                                                            @ByVal
                                                            Point2fVectorVector imagePoints1,
                                                            @ByVal
                                                            Point2fVectorVector imagePoints2,
                                                            @ByVal
                                                            Mat cameraMatrix1,
                                                            @ByVal
                                                            Mat distCoeffs1,
                                                            @ByVal
                                                            Mat cameraMatrix2,
                                                            @ByVal
                                                            Mat distCoeffs2,
                                                            @ByVal
                                                            Size imageSize,
                                                            @ByVal
                                                            Mat R,
                                                            @ByVal
                                                            Mat T,
                                                            @ByVal
                                                            Mat E,
                                                            @ByVal
                                                            Mat F,
                                                            int flags,
                                                            @ByVal(nullValue="cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 30, 1e-6)")
                                                            TermCriteria criteria)

stereoCalibrate

@Namespace(value="cv")
public static double stereoCalibrate(@ByVal
                                                            Point3fVectorVector objectPoints,
                                                            @ByVal
                                                            Point2fVectorVector imagePoints1,
                                                            @ByVal
                                                            Point2fVectorVector imagePoints2,
                                                            @ByVal
                                                            Mat cameraMatrix1,
                                                            @ByVal
                                                            Mat distCoeffs1,
                                                            @ByVal
                                                            Mat cameraMatrix2,
                                                            @ByVal
                                                            Mat distCoeffs2,
                                                            @ByVal
                                                            Size imageSize,
                                                            @ByVal
                                                            Mat R,
                                                            @ByVal
                                                            Mat T,
                                                            @ByVal
                                                            Mat E,
                                                            @ByVal
                                                            Mat F)

stereoRectify
```
@Namespace(value="cv")
public static void stereoRectify(@ByVal
                                                        Mat cameraMatrix1,
                                                        @ByVal
                                                        Mat distCoeffs1,
                                                        @ByVal
                                                        Mat cameraMatrix2,
                                                        @ByVal
                                                        Mat distCoeffs2,
                                                        @ByVal
                                                        Size imageSize,
                                                        @ByVal
                                                        Mat R,
                                                        @ByVal
                                                        Mat T,
                                                        @ByVal
                                                        Mat R1,
                                                        @ByVal
                                                        Mat R2,
                                                        @ByVal
                                                        Mat P1,
                                                        @ByVal
                                                        Mat P2,
                                                        @ByVal
                                                        Mat Q,
                                                        int flags,
                                                        double alpha,
                                                        @ByVal(nullValue="cv::Size()")
                                                        Size newImageSize,
                                                        Rect validPixROI1,
                                                        Rect validPixROI2)
```
\brief Computes rectification transforms for each head of a calibrated stereo camera.
Parameters:

cameraMatrix1 - First camera intrinsic matrix.

distCoeffs1 - First camera distortion parameters.

cameraMatrix2 - Second camera intrinsic matrix.

distCoeffs2 - Second camera distortion parameters.

imageSize - Size of the image used for stereo calibration.

R - Rotation matrix from the coordinate system of the first camera to the second camera, see \ref stereoCalibrate.

T - Translation vector from the coordinate system of the first camera to the second camera, see \ref stereoCalibrate.

R1 - Output 3x3 rectification transform (rotation matrix) for the first camera. This matrix brings points given in the unrectified first camera's coordinate system to points in the rectified first camera's coordinate system. In more technical terms, it performs a change of basis from the unrectified first camera's coordinate system to the rectified first camera's coordinate system.

R2 - Output 3x3 rectification transform (rotation matrix) for the second camera. This matrix brings points given in the unrectified second camera's coordinate system to points in the rectified second camera's coordinate system. In more technical terms, it performs a change of basis from the unrectified second camera's coordinate system to the rectified second camera's coordinate system.

P1 - Output 3x4 projection matrix in the new (rectified) coordinate systems for the first camera, i.e. it projects points given in the rectified first camera coordinate system into the rectified first camera's image.

P2 - Output 3x4 projection matrix in the new (rectified) coordinate systems for the second camera, i.e. it projects points given in the rectified first camera coordinate system into the rectified second camera's image.

Q - Output 4 \times 4 disparity-to-depth mapping matrix (see \ref reprojectImageTo3D).

flags - Operation flags that may be zero or \ref CALIB_ZERO_DISPARITY . If the flag is set, the function makes the principal points of each camera have the same pixel coordinates in the rectified views. And if the flag is not set, the function may still shift the images in the horizontal or vertical direction (depending on the orientation of epipolar lines) to maximize the useful image area.

alpha - Free scaling parameter. If it is -1 or absent, the function performs the default scaling. Otherwise, the parameter should be between 0 and 1. alpha=0 means that the rectified images are zoomed and shifted so that only valid pixels are visible (no black areas after rectification). alpha=1 means that the rectified image is decimated and shifted so that all the pixels from the original images from the cameras are retained in the rectified images (no source image pixels are lost). Any intermediate value yields an intermediate result between those two extreme cases.

newImageSize - New image resolution after rectification. The same size should be passed to #initUndistortRectifyMap (see the stereo_calib.cpp sample in OpenCV samples directory). When (0,0) is passed (default), it is set to the original imageSize . Setting it to a larger value can help you preserve details in the original image, especially when there is a big radial distortion.

validPixROI1 - Optional output rectangles inside the rectified images where all the pixels are valid. If alpha=0 , the ROIs cover the whole images. Otherwise, they are likely to be smaller (see the picture below).
validPixROI2 - Optional output rectangles inside the rectified images where all the pixels are valid. If alpha=0 , the ROIs cover the whole images. Otherwise, they are likely to be smaller (see the picture below).
The function computes the rotation matrices for each camera that (virtually) make both camera image planes the same plane. Consequently, this makes all the epipolar lines parallel and thus simplifies the dense stereo correspondence problem. The function takes the matrices computed by #stereoCalibrate as input. As output, it provides two rotation matrices and also two projection matrices in the new coordinates. The function distinguishes the following two cases:
- **Horizontal stereo**: the first and the second camera views are shifted relative to each other mainly along the x-axis (with possible small vertical shift). In the rectified images, the corresponding epipolar lines in the left and right cameras are horizontal and have the same y-coordinate. P1 and P2 look like:
```
 \[\texttt{P1} = \begin{bmatrix}
                        f & 0 & cx_1 & 0 \\
                        0 & f & cy & 0 \\
                        0 & 0 & 1 & 0
                     \end{bmatrix}\]
```
```
 \[\texttt{P2} = \begin{bmatrix}
                        f & 0 & cx_2 & T_x*f \\
                        0 & f & cy & 0 \\
                        0 & 0 & 1 & 0
                     \end{bmatrix} ,\]
```
where T_x is a horizontal shift between the cameras and cx_1=cx_2 if \ref CALIB_ZERO_DISPARITY is set.
- **Vertical stereo**: the first and the second camera views are shifted relative to each other mainly in the vertical direction (and probably a bit in the horizontal direction too). The epipolar lines in the rectified images are vertical and have the same x-coordinate. P1 and P2 look like:
```
 \[\texttt{P1} = \begin{bmatrix}
                        f & 0 & cx & 0 \\
                        0 & f & cy_1 & 0 \\
                        0 & 0 & 1 & 0
                     \end{bmatrix}\]
```
```
 \[\texttt{P2} = \begin{bmatrix}
                        f & 0 & cx & 0 \\
                        0 & f & cy_2 & T_y*f \\
                        0 & 0 & 1 & 0
                     \end{bmatrix},\]
```
where T_y is a vertical shift between the cameras and cy_1=cy_2 if \ref CALIB_ZERO_DISPARITY is set.
As you can see, the first three columns of P1 and P2 will effectively be the new "rectified" camera matrices. The matrices, together with R1 and R2 , can then be passed to #initUndistortRectifyMap to initialize the rectification map for each camera.
See below the screenshot from the stereo_calib.cpp sample. Some red horizontal lines pass through the corresponding image regions. This means that the images are well rectified, which is what most stereo correspondence algorithms rely on. The green rectangles are roi1 and roi2 . You see that their interiors are all valid pixels.
![image](pics/stereo_undistort.jpg)

stereoRectify

@Namespace(value="cv")
public static void stereoRectify(@ByVal
                                                        Mat cameraMatrix1,
                                                        @ByVal
                                                        Mat distCoeffs1,
                                                        @ByVal
                                                        Mat cameraMatrix2,
                                                        @ByVal
                                                        Mat distCoeffs2,
                                                        @ByVal
                                                        Size imageSize,
                                                        @ByVal
                                                        Mat R,
                                                        @ByVal
                                                        Mat T,
                                                        @ByVal
                                                        Mat R1,
                                                        @ByVal
                                                        Mat R2,
                                                        @ByVal
                                                        Mat P1,
                                                        @ByVal
                                                        Mat P2,
                                                        @ByVal
                                                        Mat Q)

stereoRectify

@Namespace(value="cv")
public static void stereoRectify(@ByVal
                                                        UMat cameraMatrix1,
                                                        @ByVal
                                                        UMat distCoeffs1,
                                                        @ByVal
                                                        UMat cameraMatrix2,
                                                        @ByVal
                                                        UMat distCoeffs2,
                                                        @ByVal
                                                        Size imageSize,
                                                        @ByVal
                                                        UMat R,
                                                        @ByVal
                                                        UMat T,
                                                        @ByVal
                                                        UMat R1,
                                                        @ByVal
                                                        UMat R2,
                                                        @ByVal
                                                        UMat P1,
                                                        @ByVal
                                                        UMat P2,
                                                        @ByVal
                                                        UMat Q,
                                                        int flags,
                                                        double alpha,
                                                        @ByVal(nullValue="cv::Size()")
                                                        Size newImageSize,
                                                        Rect validPixROI1,
                                                        Rect validPixROI2)

stereoRectify

@Namespace(value="cv")
public static void stereoRectify(@ByVal
                                                        UMat cameraMatrix1,
                                                        @ByVal
                                                        UMat distCoeffs1,
                                                        @ByVal
                                                        UMat cameraMatrix2,
                                                        @ByVal
                                                        UMat distCoeffs2,
                                                        @ByVal
                                                        Size imageSize,
                                                        @ByVal
                                                        UMat R,
                                                        @ByVal
                                                        UMat T,
                                                        @ByVal
                                                        UMat R1,
                                                        @ByVal
                                                        UMat R2,
                                                        @ByVal
                                                        UMat P1,
                                                        @ByVal
                                                        UMat P2,
                                                        @ByVal
                                                        UMat Q)

stereoRectify

@Namespace(value="cv")
public static void stereoRectify(@ByVal
                                                        GpuMat cameraMatrix1,
                                                        @ByVal
                                                        GpuMat distCoeffs1,
                                                        @ByVal
                                                        GpuMat cameraMatrix2,
                                                        @ByVal
                                                        GpuMat distCoeffs2,
                                                        @ByVal
                                                        Size imageSize,
                                                        @ByVal
                                                        GpuMat R,
                                                        @ByVal
                                                        GpuMat T,
                                                        @ByVal
                                                        GpuMat R1,
                                                        @ByVal
                                                        GpuMat R2,
                                                        @ByVal
                                                        GpuMat P1,
                                                        @ByVal
                                                        GpuMat P2,
                                                        @ByVal
                                                        GpuMat Q,
                                                        int flags,
                                                        double alpha,
                                                        @ByVal(nullValue="cv::Size()")
                                                        Size newImageSize,
                                                        Rect validPixROI1,
                                                        Rect validPixROI2)

stereoRectify

@Namespace(value="cv")
public static void stereoRectify(@ByVal
                                                        GpuMat cameraMatrix1,
                                                        @ByVal
                                                        GpuMat distCoeffs1,
                                                        @ByVal
                                                        GpuMat cameraMatrix2,
                                                        @ByVal
                                                        GpuMat distCoeffs2,
                                                        @ByVal
                                                        Size imageSize,
                                                        @ByVal
                                                        GpuMat R,
                                                        @ByVal
                                                        GpuMat T,
                                                        @ByVal
                                                        GpuMat R1,
                                                        @ByVal
                                                        GpuMat R2,
                                                        @ByVal
                                                        GpuMat P1,
                                                        @ByVal
                                                        GpuMat P2,
                                                        @ByVal
                                                        GpuMat Q)

stereoRectifyUncalibrated

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean stereoRectifyUncalibrated(@ByVal
                                                                                            Mat points1,
                                                                                            @ByVal
                                                                                            Mat points2,
                                                                                            @ByVal
                                                                                            Mat F,
                                                                                            @ByVal
                                                                                            Size imgSize,
                                                                                            @ByVal
                                                                                            Mat H1,
                                                                                            @ByVal
                                                                                            Mat H2,
                                                                                            double threshold)

\brief Computes a rectification transform for an uncalibrated stereo camera.

Parameters:

points1 - Array of feature points in the first image.

points2 - The corresponding points in the second image. The same formats as in #findFundamentalMat are supported.

F - Input fundamental matrix. It can be computed from the same set of point pairs using #findFundamentalMat .

imgSize - Size of the image.

H1 - Output rectification homography matrix for the first image.

H2 - Output rectification homography matrix for the second image.

threshold - Optional threshold used to filter out the outliers. If the parameter is greater than zero, all the point pairs that do not comply with the epipolar geometry (that is, the points for which |\texttt{points2[i]}^T*\texttt{F}*\texttt{points1[i]}|>\texttt{threshold} ) are rejected prior to computing the homographies. Otherwise, all the points are considered inliers.

The function computes the rectification transformations without knowing intrinsic parameters of the cameras and their relative position in the space, which explains the suffix "uncalibrated". Another related difference from #stereoRectify is that the function outputs not the rectification transformations in the object (3D) space, but the planar perspective transformations encoded by the homography matrices H1 and H2 . The function implements the algorithm \cite Hartley99 .

\note While the algorithm does not need to know the intrinsic parameters of the cameras, it heavily depends on the epipolar geometry. Therefore, if the camera lenses have a significant distortion, it would be better to correct it before computing the fundamental matrix and calling this function. For example, distortion coefficients can be estimated for each head of stereo camera separately by using #calibrateCamera . Then, the images can be corrected using #undistort , or just the point coordinates can be corrected with #undistortPoints .

stereoRectifyUncalibrated

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean stereoRectifyUncalibrated(@ByVal
                                                                                            Mat points1,
                                                                                            @ByVal
                                                                                            Mat points2,
                                                                                            @ByVal
                                                                                            Mat F,
                                                                                            @ByVal
                                                                                            Size imgSize,
                                                                                            @ByVal
                                                                                            Mat H1,
                                                                                            @ByVal
                                                                                            Mat H2)

stereoRectifyUncalibrated

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean stereoRectifyUncalibrated(@ByVal
                                                                                            UMat points1,
                                                                                            @ByVal
                                                                                            UMat points2,
                                                                                            @ByVal
                                                                                            UMat F,
                                                                                            @ByVal
                                                                                            Size imgSize,
                                                                                            @ByVal
                                                                                            UMat H1,
                                                                                            @ByVal
                                                                                            UMat H2,
                                                                                            double threshold)

stereoRectifyUncalibrated

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean stereoRectifyUncalibrated(@ByVal
                                                                                            UMat points1,
                                                                                            @ByVal
                                                                                            UMat points2,
                                                                                            @ByVal
                                                                                            UMat F,
                                                                                            @ByVal
                                                                                            Size imgSize,
                                                                                            @ByVal
                                                                                            UMat H1,
                                                                                            @ByVal
                                                                                            UMat H2)

stereoRectifyUncalibrated

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean stereoRectifyUncalibrated(@ByVal
                                                                                            GpuMat points1,
                                                                                            @ByVal
                                                                                            GpuMat points2,
                                                                                            @ByVal
                                                                                            GpuMat F,
                                                                                            @ByVal
                                                                                            Size imgSize,
                                                                                            @ByVal
                                                                                            GpuMat H1,
                                                                                            @ByVal
                                                                                            GpuMat H2,
                                                                                            double threshold)

stereoRectifyUncalibrated

@Namespace(value="cv")
 @Cast(value="bool")
public static boolean stereoRectifyUncalibrated(@ByVal
                                                                                            GpuMat points1,
                                                                                            @ByVal
                                                                                            GpuMat points2,
                                                                                            @ByVal
                                                                                            GpuMat F,
                                                                                            @ByVal
                                                                                            Size imgSize,
                                                                                            @ByVal
                                                                                            GpuMat H1,
                                                                                            @ByVal
                                                                                            GpuMat H2)

rectify3Collinear

@Namespace(value="cv")
public static float rectify3Collinear(@ByVal
                                                             Mat cameraMatrix1,
                                                             @ByVal
                                                             Mat distCoeffs1,
                                                             @ByVal
                                                             Mat cameraMatrix2,
                                                             @ByVal
                                                             Mat distCoeffs2,
                                                             @ByVal
                                                             Mat cameraMatrix3,
                                                             @ByVal
                                                             Mat distCoeffs3,
                                                             @ByVal
                                                             MatVector imgpt1,
                                                             @ByVal
                                                             MatVector imgpt3,
                                                             @ByVal
                                                             Size imageSize,
                                                             @ByVal
                                                             Mat R12,
                                                             @ByVal
                                                             Mat T12,
                                                             @ByVal
                                                             Mat R13,
                                                             @ByVal
                                                             Mat T13,
                                                             @ByVal
                                                             Mat R1,
                                                             @ByVal
                                                             Mat R2,
                                                             @ByVal
                                                             Mat R3,
                                                             @ByVal
                                                             Mat P1,
                                                             @ByVal
                                                             Mat P2,
                                                             @ByVal
                                                             Mat P3,
                                                             @ByVal
                                                             Mat Q,
                                                             double alpha,
                                                             @ByVal
                                                             Size newImgSize,
                                                             Rect roi1,
                                                             Rect roi2,
                                                             int flags)

computes the rectification transformations for 3-head camera, where all the heads are on the same line.

rectify3Collinear

@Namespace(value="cv")
public static float rectify3Collinear(@ByVal
                                                             Mat cameraMatrix1,
                                                             @ByVal
                                                             Mat distCoeffs1,
                                                             @ByVal
                                                             Mat cameraMatrix2,
                                                             @ByVal
                                                             Mat distCoeffs2,
                                                             @ByVal
                                                             Mat cameraMatrix3,
                                                             @ByVal
                                                             Mat distCoeffs3,
                                                             @ByVal
                                                             UMatVector imgpt1,
                                                             @ByVal
                                                             UMatVector imgpt3,
                                                             @ByVal
                                                             Size imageSize,
                                                             @ByVal
                                                             Mat R12,
                                                             @ByVal
                                                             Mat T12,
                                                             @ByVal
                                                             Mat R13,
                                                             @ByVal
                                                             Mat T13,
                                                             @ByVal
                                                             Mat R1,
                                                             @ByVal
                                                             Mat R2,
                                                             @ByVal
                                                             Mat R3,
                                                             @ByVal
                                                             Mat P1,
                                                             @ByVal
                                                             Mat P2,
                                                             @ByVal
                                                             Mat P3,
                                                             @ByVal
                                                             Mat Q,
                                                             double alpha,
                                                             @ByVal
                                                             Size newImgSize,
                                                             Rect roi1,
                                                             Rect roi2,
                                                             int flags)

rectify3Collinear

@Namespace(value="cv")
public static float rectify3Collinear(@ByVal
                                                             Mat cameraMatrix1,
                                                             @ByVal
                                                             Mat distCoeffs1,
                                                             @ByVal
                                                             Mat cameraMatrix2,
                                                             @ByVal
                                                             Mat distCoeffs2,
                                                             @ByVal
                                                             Mat cameraMatrix3,
                                                             @ByVal
                                                             Mat distCoeffs3,
                                                             @ByVal
                                                             GpuMatVector imgpt1,
                                                             @ByVal
                                                             GpuMatVector imgpt3,
                                                             @ByVal
                                                             Size imageSize,
                                                             @ByVal
                                                             Mat R12,
                                                             @ByVal
                                                             Mat T12,
                                                             @ByVal
                                                             Mat R13,
                                                             @ByVal
                                                             Mat T13,
                                                             @ByVal
                                                             Mat R1,
                                                             @ByVal
                                                             Mat R2,
                                                             @ByVal
                                                             Mat R3,
                                                             @ByVal
                                                             Mat P1,
                                                             @ByVal
                                                             Mat P2,
                                                             @ByVal
                                                             Mat P3,
                                                             @ByVal
                                                             Mat Q,
                                                             double alpha,
                                                             @ByVal
                                                             Size newImgSize,
                                                             Rect roi1,
                                                             Rect roi2,
                                                             int flags)

rectify3Collinear

@Namespace(value="cv")
public static float rectify3Collinear(@ByVal
                                                             UMat cameraMatrix1,
                                                             @ByVal
                                                             UMat distCoeffs1,
                                                             @ByVal
                                                             UMat cameraMatrix2,
                                                             @ByVal
                                                             UMat distCoeffs2,
                                                             @ByVal
                                                             UMat cameraMatrix3,
                                                             @ByVal
                                                             UMat distCoeffs3,
                                                             @ByVal
                                                             MatVector imgpt1,
                                                             @ByVal
                                                             MatVector imgpt3,
                                                             @ByVal
                                                             Size imageSize,
                                                             @ByVal
                                                             UMat R12,
                                                             @ByVal
                                                             UMat T12,
                                                             @ByVal
                                                             UMat R13,
                                                             @ByVal
                                                             UMat T13,
                                                             @ByVal
                                                             UMat R1,
                                                             @ByVal
                                                             UMat R2,
                                                             @ByVal
                                                             UMat R3,
                                                             @ByVal
                                                             UMat P1,
                                                             @ByVal
                                                             UMat P2,
                                                             @ByVal
                                                             UMat P3,
                                                             @ByVal
                                                             UMat Q,
                                                             double alpha,
                                                             @ByVal
                                                             Size newImgSize,
                                                             Rect roi1,
                                                             Rect roi2,
                                                             int flags)

rectify3Collinear

@Namespace(value="cv")
public static float rectify3Collinear(@ByVal
                                                             UMat cameraMatrix1,
                                                             @ByVal
                                                             UMat distCoeffs1,
                                                             @ByVal
                                                             UMat cameraMatrix2,
                                                             @ByVal
                                                             UMat distCoeffs2,
                                                             @ByVal
                                                             UMat cameraMatrix3,
                                                             @ByVal
                                                             UMat distCoeffs3,
                                                             @ByVal
                                                             UMatVector imgpt1,
                                                             @ByVal
                                                             UMatVector imgpt3,
                                                             @ByVal
                                                             Size imageSize,
                                                             @ByVal
                                                             UMat R12,
                                                             @ByVal
                                                             UMat T12,
                                                             @ByVal
                                                             UMat R13,
                                                             @ByVal
                                                             UMat T13,
                                                             @ByVal
                                                             UMat R1,
                                                             @ByVal
                                                             UMat R2,
                                                             @ByVal
                                                             UMat R3,
                                                             @ByVal
                                                             UMat P1,
                                                             @ByVal
                                                             UMat P2,
                                                             @ByVal
                                                             UMat P3,
                                                             @ByVal
                                                             UMat Q,
                                                             double alpha,
                                                             @ByVal
                                                             Size newImgSize,
                                                             Rect roi1,
                                                             Rect roi2,
                                                             int flags)

rectify3Collinear

@Namespace(value="cv")
public static float rectify3Collinear(@ByVal
                                                             UMat cameraMatrix1,
                                                             @ByVal
                                                             UMat distCoeffs1,
                                                             @ByVal
                                                             UMat cameraMatrix2,
                                                             @ByVal
                                                             UMat distCoeffs2,
                                                             @ByVal
                                                             UMat cameraMatrix3,
                                                             @ByVal
                                                             UMat distCoeffs3,
                                                             @ByVal
                                                             GpuMatVector imgpt1,
                                                             @ByVal
                                                             GpuMatVector imgpt3,
                                                             @ByVal
                                                             Size imageSize,
                                                             @ByVal
                                                             UMat R12,
                                                             @ByVal
                                                             UMat T12,
                                                             @ByVal
                                                             UMat R13,
                                                             @ByVal
                                                             UMat T13,
                                                             @ByVal
                                                             UMat R1,
                                                             @ByVal
                                                             UMat R2,
                                                             @ByVal
                                                             UMat R3,
                                                             @ByVal
                                                             UMat P1,
                                                             @ByVal
                                                             UMat P2,
                                                             @ByVal
                                                             UMat P3,
                                                             @ByVal
                                                             UMat Q,
                                                             double alpha,
                                                             @ByVal
                                                             Size newImgSize,
                                                             Rect roi1,
                                                             Rect roi2,
                                                             int flags)

rectify3Collinear

@Namespace(value="cv")
public static float rectify3Collinear(@ByVal
                                                             GpuMat cameraMatrix1,
                                                             @ByVal
                                                             GpuMat distCoeffs1,
                                                             @ByVal
                                                             GpuMat cameraMatrix2,
                                                             @ByVal
                                                             GpuMat distCoeffs2,
                                                             @ByVal
                                                             GpuMat cameraMatrix3,
                                                             @ByVal
                                                             GpuMat distCoeffs3,
                                                             @ByVal
                                                             MatVector imgpt1,
                                                             @ByVal
                                                             MatVector imgpt3,
                                                             @ByVal
                                                             Size imageSize,
                                                             @ByVal
                                                             GpuMat R12,
                                                             @ByVal
                                                             GpuMat T12,
                                                             @ByVal
                                                             GpuMat R13,
                                                             @ByVal
                                                             GpuMat T13,
                                                             @ByVal
                                                             GpuMat R1,
                                                             @ByVal
                                                             GpuMat R2,
                                                             @ByVal
                                                             GpuMat R3,
                                                             @ByVal
                                                             GpuMat P1,
                                                             @ByVal
                                                             GpuMat P2,
                                                             @ByVal
                                                             GpuMat P3,
                                                             @ByVal
                                                             GpuMat Q,
                                                             double alpha,
                                                             @ByVal
                                                             Size newImgSize,
                                                             Rect roi1,
                                                             Rect roi2,
                                                             int flags)

rectify3Collinear

@Namespace(value="cv")
public static float rectify3Collinear(@ByVal
                                                             GpuMat cameraMatrix1,
                                                             @ByVal
                                                             GpuMat distCoeffs1,
                                                             @ByVal
                                                             GpuMat cameraMatrix2,
                                                             @ByVal
                                                             GpuMat distCoeffs2,
                                                             @ByVal
                                                             GpuMat cameraMatrix3,
                                                             @ByVal
                                                             GpuMat distCoeffs3,
                                                             @ByVal
                                                             UMatVector imgpt1,
                                                             @ByVal
                                                             UMatVector imgpt3,
                                                             @ByVal
                                                             Size imageSize,
                                                             @ByVal
                                                             GpuMat R12,
                                                             @ByVal
                                                             GpuMat T12,
                                                             @ByVal
                                                             GpuMat R13,
                                                             @ByVal
                                                             GpuMat T13,
                                                             @ByVal
                                                             GpuMat R1,
                                                             @ByVal
                                                             GpuMat R2,
                                                             @ByVal
                                                             GpuMat R3,
                                                             @ByVal
                                                             GpuMat P1,
                                                             @ByVal
                                                             GpuMat P2,
                                                             @ByVal
                                                             GpuMat P3,
                                                             @ByVal
                                                             GpuMat Q,
                                                             double alpha,
                                                             @ByVal
                                                             Size newImgSize,
                                                             Rect roi1,
                                                             Rect roi2,
                                                             int flags)

rectify3Collinear

@Namespace(value="cv")
public static float rectify3Collinear(@ByVal
                                                             GpuMat cameraMatrix1,
                                                             @ByVal
                                                             GpuMat distCoeffs1,
                                                             @ByVal
                                                             GpuMat cameraMatrix2,
                                                             @ByVal
                                                             GpuMat distCoeffs2,
                                                             @ByVal
                                                             GpuMat cameraMatrix3,
                                                             @ByVal
                                                             GpuMat distCoeffs3,
                                                             @ByVal
                                                             GpuMatVector imgpt1,
                                                             @ByVal
                                                             GpuMatVector imgpt3,
                                                             @ByVal
                                                             Size imageSize,
                                                             @ByVal
                                                             GpuMat R12,
                                                             @ByVal
                                                             GpuMat T12,
                                                             @ByVal
                                                             GpuMat R13,
                                                             @ByVal
                                                             GpuMat T13,
                                                             @ByVal
                                                             GpuMat R1,
                                                             @ByVal
                                                             GpuMat R2,
                                                             @ByVal
                                                             GpuMat R3,
                                                             @ByVal
                                                             GpuMat P1,
                                                             @ByVal
                                                             GpuMat P2,
                                                             @ByVal
                                                             GpuMat P3,
                                                             @ByVal
                                                             GpuMat Q,
                                                             double alpha,
                                                             @ByVal
                                                             Size newImgSize,
                                                             Rect roi1,
                                                             Rect roi2,
                                                             int flags)

getOptimalNewCameraMatrix

@Namespace(value="cv")
 @ByVal
public static Mat getOptimalNewCameraMatrix(@ByVal
                                                                           Mat cameraMatrix,
                                                                           @ByVal
                                                                           Mat distCoeffs,
                                                                           @ByVal
                                                                           Size imageSize,
                                                                           double alpha,
                                                                           @ByVal(nullValue="cv::Size()")
                                                                           Size newImgSize,
                                                                           Rect validPixROI,
                                                                           @Cast(value="bool")
                                                                           boolean centerPrincipalPoint)

\brief Returns the new camera intrinsic matrix based on the free scaling parameter.

Parameters:: cameraMatrix - Input camera intrinsic matrix.; distCoeffs - Input vector of distortion coefficients \distcoeffs. If the vector is NULL/empty, the zero distortion coefficients are assumed.; imageSize - Original image size.; alpha - Free scaling parameter between 0 (when all the pixels in the undistorted image are valid) and 1 (when all the source image pixels are retained in the undistorted image). See #stereoRectify for details.; newImgSize - Image size after rectification. By default, it is set to imageSize .; validPixROI - Optional output rectangle that outlines all-good-pixels region in the undistorted image. See roi1, roi2 description in #stereoRectify .; centerPrincipalPoint - Optional flag that indicates whether in the new camera intrinsic matrix the principal point should be at the image center or not. By default, the principal point is chosen to best fit a subset of the source image (determined by alpha) to the corrected image.
Returns:: new_camera_matrix Output new camera intrinsic matrix.
The function computes and returns the optimal new camera intrinsic matrix based on the free scaling parameter. By varying this parameter, you may retrieve only sensible pixels alpha=0 , keep all the original image pixels if there is valuable information in the corners alpha=1 , or get something in between. When alpha\>0 , the undistorted result is likely to have some black pixels corresponding to "virtual" pixels outside of the captured distorted image. The original camera intrinsic matrix, distortion coefficients, the computed new camera intrinsic matrix, and newImageSize should be passed to #initUndistortRectifyMap to produce the maps for #remap .

getOptimalNewCameraMatrix

@Namespace(value="cv")
 @ByVal
public static Mat getOptimalNewCameraMatrix(@ByVal
                                                                           Mat cameraMatrix,
                                                                           @ByVal
                                                                           Mat distCoeffs,
                                                                           @ByVal
                                                                           Size imageSize,
                                                                           double alpha)

getOptimalNewCameraMatrix

@Namespace(value="cv")
 @ByVal
public static Mat getOptimalNewCameraMatrix(@ByVal
                                                                           UMat cameraMatrix,
                                                                           @ByVal
                                                                           UMat distCoeffs,
                                                                           @ByVal
                                                                           Size imageSize,
                                                                           double alpha,
                                                                           @ByVal(nullValue="cv::Size()")
                                                                           Size newImgSize,
                                                                           Rect validPixROI,
                                                                           @Cast(value="bool")
                                                                           boolean centerPrincipalPoint)

getOptimalNewCameraMatrix

@Namespace(value="cv")
 @ByVal
public static Mat getOptimalNewCameraMatrix(@ByVal
                                                                           UMat cameraMatrix,
                                                                           @ByVal
                                                                           UMat distCoeffs,
                                                                           @ByVal
                                                                           Size imageSize,
                                                                           double alpha)

getOptimalNewCameraMatrix

@Namespace(value="cv")
 @ByVal
public static Mat getOptimalNewCameraMatrix(@ByVal
                                                                           GpuMat cameraMatrix,
                                                                           @ByVal
                                                                           GpuMat distCoeffs,
                                                                           @ByVal
                                                                           Size imageSize,
                                                                           double alpha,
                                                                           @ByVal(nullValue="cv::Size()")
                                                                           Size newImgSize,
                                                                           Rect validPixROI,
                                                                           @Cast(value="bool")
                                                                           boolean centerPrincipalPoint)

getOptimalNewCameraMatrix

@Namespace(value="cv")
 @ByVal
public static Mat getOptimalNewCameraMatrix(@ByVal
                                                                           GpuMat cameraMatrix,
                                                                           @ByVal
                                                                           GpuMat distCoeffs,
                                                                           @ByVal
                                                                           Size imageSize,
                                                                           double alpha)

calibrateHandEye
```
@Namespace(value="cv")
public static void calibrateHandEye(@ByVal
                                                           MatVector R_gripper2base,
                                                           @ByVal
                                                           MatVector t_gripper2base,
                                                           @ByVal
                                                           MatVector R_target2cam,
                                                           @ByVal
                                                           MatVector t_target2cam,
                                                           @ByVal
                                                           Mat R_cam2gripper,
                                                           @ByVal
                                                           Mat t_cam2gripper,
                                                           @Cast(value="cv::HandEyeCalibrationMethod")
                                                           int method)
```
\brief Computes Hand-Eye calibration: _{}^{g}\textrm{T}_c
Parameters:

R_gripper - [in] 2base Rotation part extracted from the homogeneous matrix that transforms a point expressed in the gripper frame to the robot base frame (_{}^{b}\textrm{T}_g). This is a vector (vector<Mat>) that contains the rotation, (3x3) rotation matrices or (3x1) rotation vectors, for all the transformations from gripper frame to robot base frame.

t_gripper - [in] 2base Translation part extracted from the homogeneous matrix that transforms a point expressed in the gripper frame to the robot base frame (_{}^{b}\textrm{T}_g). This is a vector (vector<Mat>) that contains the (3x1) translation vectors for all the transformations from gripper frame to robot base frame.

R_target - [in] 2cam Rotation part extracted from the homogeneous matrix that transforms a point expressed in the target frame to the camera frame (_{}^{c}\textrm{T}_t). This is a vector (vector<Mat>) that contains the rotation, (3x3) rotation matrices or (3x1) rotation vectors, for all the transformations from calibration target frame to camera frame.

t_target - [in] 2cam Rotation part extracted from the homogeneous matrix that transforms a point expressed in the target frame to the camera frame (_{}^{c}\textrm{T}_t). This is a vector (vector<Mat>) that contains the (3x1) translation vectors for all the transformations from calibration target frame to camera frame.

R_cam - [out] 2gripper Estimated (3x3) rotation part extracted from the homogeneous matrix that transforms a point expressed in the camera frame to the gripper frame (_{}^{g}\textrm{T}_c).

t_cam - [out] 2gripper Estimated (3x1) translation part extracted from the homogeneous matrix that transforms a point expressed in the camera frame to the gripper frame (_{}^{g}\textrm{T}_c).
method - [in] One of the implemented Hand-Eye calibration method, see cv::HandEyeCalibrationMethod
The function performs the Hand-Eye calibration using various methods. One approach consists in estimating the rotation then the translation (separable solutions) and the following methods are implemented: - R. Tsai, R. Lenz A New Technique for Fully Autonomous and Efficient 3D Robotics Hand/EyeCalibration \cite Tsai89 - F. Park, B. Martin Robot Sensor Calibration: Solving AX = XB on the Euclidean Group \cite Park94 - R. Horaud, F. Dornaika Hand-Eye Calibration \cite Horaud95
Another approach consists in estimating simultaneously the rotation and the translation (simultaneous solutions), with the following implemented methods: - N. Andreff, R. Horaud, B. Espiau On-line Hand-Eye Calibration \cite Andreff99 - K. Daniilidis Hand-Eye Calibration Using Dual Quaternions \cite Daniilidis98
The following picture describes the Hand-Eye calibration problem where the transformation between a camera ("eye") mounted on a robot gripper ("hand") has to be estimated. This configuration is called eye-in-hand.
The eye-to-hand configuration consists in a static camera observing a calibration pattern mounted on the robot end-effector. The transformation from the camera to the robot base frame can then be estimated by inputting the suitable transformations to the function, see below.
![](pics/hand-eye_figure.png)
The calibration procedure is the following: - a static calibration pattern is used to estimate the transformation between the target frame and the camera frame - the robot gripper is moved in order to acquire several poses - for each pose, the homogeneous transformation between the gripper frame and the robot base frame is recorded using for instance the robot kinematics
```
 \[
    \begin{bmatrix}
    X_b\\
    Y_b\\
    Z_b\\
    1
    \end{bmatrix}
    =
    \begin{bmatrix}
    _{}^{b}\textrm{R}_g & _{}^{b}\textrm{t}_g \\
    0_{1 \times 3} & 1
    \end{bmatrix}
    \begin{bmatrix}
    X_g\\
    Y_g\\
    Z_g\\
    1
    \end{bmatrix}
\]
```
- for each pose, the homogeneous transformation between the calibration target frame and the camera frame is recorded using for instance a pose estimation method (PnP) from 2D-3D point correspondences
```
 \[
    \begin{bmatrix}
    X_c\\
    Y_c\\
    Z_c\\
    1
    \end{bmatrix}
    =
    \begin{bmatrix}
    _{}^{c}\textrm{R}_t & _{}^{c}\textrm{t}_t \\
    0_{1 \times 3} & 1
    \end{bmatrix}
    \begin{bmatrix}
    X_t\\
    Y_t\\
    Z_t\\
    1
    \end{bmatrix}
\]
```
The Hand-Eye calibration procedure returns the following homogeneous transformation
```
 \[
    \begin{bmatrix}
    X_g\\
    Y_g\\
    Z_g\\
    1
    \end{bmatrix}
    =
    \begin{bmatrix}
    _{}^{g}\textrm{R}_c & _{}^{g}\textrm{t}_c \\
    0_{1 \times 3} & 1
    \end{bmatrix}
    \begin{bmatrix}
    X_c\\
    Y_c\\
    Z_c\\
    1
    \end{bmatrix}
\]
```
This problem is also known as solving the \mathbf{A}\mathbf{X}=\mathbf{X}\mathbf{B} equation: - for an eye-in-hand configuration
```
 \[
    \begin{align*}
    ^{b}{\textrm{T}_g}^{(1)} \hspace{0.2em} ^{g}\textrm{T}_c \hspace{0.2em} ^{c}{\textrm{T}_t}^{(1)} &=
    \hspace{0.1em} ^{b}{\textrm{T}_g}^{(2)} \hspace{0.2em} ^{g}\textrm{T}_c \hspace{0.2em} ^{c}{\textrm{T}_t}^{(2)} \\

    (^{b}{\textrm{T}_g}^{(2)})^{-1} \hspace{0.2em} ^{b}{\textrm{T}_g}^{(1)} \hspace{0.2em} ^{g}\textrm{T}_c &=
    \hspace{0.1em} ^{g}\textrm{T}_c \hspace{0.2em} ^{c}{\textrm{T}_t}^{(2)} (^{c}{\textrm{T}_t}^{(1)})^{-1} \\

    \textrm{A}_i \textrm{X} &= \textrm{X} \textrm{B}_i \\
    \end{align*}
\]
```
- for an eye-to-hand configuration
```
 \[
    \begin{align*}
    ^{g}{\textrm{T}_b}^{(1)} \hspace{0.2em} ^{b}\textrm{T}_c \hspace{0.2em} ^{c}{\textrm{T}_t}^{(1)} &=
    \hspace{0.1em} ^{g}{\textrm{T}_b}^{(2)} \hspace{0.2em} ^{b}\textrm{T}_c \hspace{0.2em} ^{c}{\textrm{T}_t}^{(2)} \\

    (^{g}{\textrm{T}_b}^{(2)})^{-1} \hspace{0.2em} ^{g}{\textrm{T}_b}^{(1)} \hspace{0.2em} ^{b}\textrm{T}_c &=
    \hspace{0.1em} ^{b}\textrm{T}_c \hspace{0.2em} ^{c}{\textrm{T}_t}^{(2)} (^{c}{\textrm{T}_t}^{(1)})^{-1} \\

    \textrm{A}_i \textrm{X} &= \textrm{X} \textrm{B}_i \\
    \end{align*}
\]
```
\note Additional information can be found on this [website](http://campar.in.tum.de/Chair/HandEyeCalibration). \note A minimum of 2 motions with non parallel rotation axes are necessary to determine the hand-eye transformation. So at least 3 different poses are required, but it is strongly recommended to use many more poses.

calibrateHandEye

@Namespace(value="cv")
public static void calibrateHandEye(@ByVal
                                                           MatVector R_gripper2base,
                                                           @ByVal
                                                           MatVector t_gripper2base,
                                                           @ByVal
                                                           MatVector R_target2cam,
                                                           @ByVal
                                                           MatVector t_target2cam,
                                                           @ByVal
                                                           Mat R_cam2gripper,
                                                           @ByVal
                                                           Mat t_cam2gripper)

calibrateHandEye

@Namespace(value="cv")
public static void calibrateHandEye(@ByVal
                                                           UMatVector R_gripper2base,
                                                           @ByVal
                                                           UMatVector t_gripper2base,
                                                           @ByVal
                                                           UMatVector R_target2cam,
                                                           @ByVal
                                                           UMatVector t_target2cam,
                                                           @ByVal
                                                           Mat R_cam2gripper,
                                                           @ByVal
                                                           Mat t_cam2gripper,
                                                           @Cast(value="cv::HandEyeCalibrationMethod")
                                                           int method)

calibrateHandEye

@Namespace(value="cv")
public static void calibrateHandEye(@ByVal
                                                           UMatVector R_gripper2base,
                                                           @ByVal
                                                           UMatVector t_gripper2base,
                                                           @ByVal
                                                           UMatVector R_target2cam,
                                                           @ByVal
                                                           UMatVector t_target2cam,
                                                           @ByVal
                                                           Mat R_cam2gripper,
                                                           @ByVal
                                                           Mat t_cam2gripper)

calibrateHandEye

@Namespace(value="cv")
public static void calibrateHandEye(@ByVal
                                                           GpuMatVector R_gripper2base,
                                                           @ByVal
                                                           GpuMatVector t_gripper2base,
                                                           @ByVal
                                                           GpuMatVector R_target2cam,
                                                           @ByVal
                                                           GpuMatVector t_target2cam,
                                                           @ByVal
                                                           Mat R_cam2gripper,
                                                           @ByVal
                                                           Mat t_cam2gripper,
                                                           @Cast(value="cv::HandEyeCalibrationMethod")
                                                           int method)

calibrateHandEye

@Namespace(value="cv")
public static void calibrateHandEye(@ByVal
                                                           GpuMatVector R_gripper2base,
                                                           @ByVal
                                                           GpuMatVector t_gripper2base,
                                                           @ByVal
                                                           GpuMatVector R_target2cam,
                                                           @ByVal
                                                           GpuMatVector t_target2cam,
                                                           @ByVal
                                                           Mat R_cam2gripper,
                                                           @ByVal
                                                           Mat t_cam2gripper)

calibrateHandEye

@Namespace(value="cv")
public static void calibrateHandEye(@ByVal
                                                           MatVector R_gripper2base,
                                                           @ByVal
                                                           MatVector t_gripper2base,
                                                           @ByVal
                                                           MatVector R_target2cam,
                                                           @ByVal
                                                           MatVector t_target2cam,
                                                           @ByVal
                                                           UMat R_cam2gripper,
                                                           @ByVal
                                                           UMat t_cam2gripper,
                                                           @Cast(value="cv::HandEyeCalibrationMethod")
                                                           int method)

calibrateHandEye

@Namespace(value="cv")
public static void calibrateHandEye(@ByVal
                                                           MatVector R_gripper2base,
                                                           @ByVal
                                                           MatVector t_gripper2base,
                                                           @ByVal
                                                           MatVector R_target2cam,
                                                           @ByVal
                                                           MatVector t_target2cam,
                                                           @ByVal
                                                           UMat R_cam2gripper,
                                                           @ByVal
                                                           UMat t_cam2gripper)

calibrateHandEye

@Namespace(value="cv")
public static void calibrateHandEye(@ByVal
                                                           UMatVector R_gripper2base,
                                                           @ByVal
                                                           UMatVector t_gripper2base,
                                                           @ByVal
                                                           UMatVector R_target2cam,
                                                           @ByVal
                                                           UMatVector t_target2cam,
                                                           @ByVal
                                                           UMat R_cam2gripper,
                                                           @ByVal
                                                           UMat t_cam2gripper,
                                                           @Cast(value="cv::HandEyeCalibrationMethod")
                                                           int method)

calibrateHandEye

@Namespace(value="cv")
public static void calibrateHandEye(@ByVal
                                                           UMatVector R_gripper2base,
                                                           @ByVal
                                                           UMatVector t_gripper2base,
                                                           @ByVal
                                                           UMatVector R_target2cam,
                                                           @ByVal
                                                           UMatVector t_target2cam,
                                                           @ByVal
                                                           UMat R_cam2gripper,
                                                           @ByVal
                                                           UMat t_cam2gripper)

calibrateHandEye

@Namespace(value="cv")
public static void calibrateHandEye(@ByVal
                                                           GpuMatVector R_gripper2base,
                                                           @ByVal
                                                           GpuMatVector t_gripper2base,
                                                           @ByVal
                                                           GpuMatVector R_target2cam,
                                                           @ByVal
                                                           GpuMatVector t_target2cam,
                                                           @ByVal
                                                           UMat R_cam2gripper,
                                                           @ByVal
                                                           UMat t_cam2gripper,
                                                           @Cast(value="cv::HandEyeCalibrationMethod")
                                                           int method)

calibrateHandEye

@Namespace(value="cv")
public static void calibrateHandEye(@ByVal
                                                           GpuMatVector R_gripper2base,
                                                           @ByVal
                                                           GpuMatVector t_gripper2base,
                                                           @ByVal
                                                           GpuMatVector R_target2cam,
                                                           @ByVal
                                                           GpuMatVector t_target2cam,
                                                           @ByVal
                                                           UMat R_cam2gripper,
                                                           @ByVal
                                                           UMat t_cam2gripper)

calibrateHandEye

@Namespace(value="cv")
public static void calibrateHandEye(@ByVal
                                                           MatVector R_gripper2base,
                                                           @ByVal
                                                           MatVector t_gripper2base,
                                                           @ByVal
                                                           MatVector R_target2cam,
                                                           @ByVal
                                                           MatVector t_target2cam,
                                                           @ByVal
                                                           GpuMat R_cam2gripper,
                                                           @ByVal
                                                           GpuMat t_cam2gripper,
                                                           @Cast(value="cv::HandEyeCalibrationMethod")
                                                           int method)

calibrateHandEye

@Namespace(value="cv")
public static void calibrateHandEye(@ByVal
                                                           MatVector R_gripper2base,
                                                           @ByVal
                                                           MatVector t_gripper2base,
                                                           @ByVal
                                                           MatVector R_target2cam,
                                                           @ByVal
                                                           MatVector t_target2cam,
                                                           @ByVal
                                                           GpuMat R_cam2gripper,
                                                           @ByVal
                                                           GpuMat t_cam2gripper)

calibrateHandEye

@Namespace(value="cv")
public static void calibrateHandEye(@ByVal
                                                           UMatVector R_gripper2base,
                                                           @ByVal
                                                           UMatVector t_gripper2base,
                                                           @ByVal
                                                           UMatVector R_target2cam,
                                                           @ByVal
                                                           UMatVector t_target2cam,
                                                           @ByVal
                                                           GpuMat R_cam2gripper,
                                                           @ByVal
                                                           GpuMat t_cam2gripper,
                                                           @Cast(value="cv::HandEyeCalibrationMethod")
                                                           int method)

calibrateHandEye

@Namespace(value="cv")
public static void calibrateHandEye(@ByVal
                                                           UMatVector R_gripper2base,
                                                           @ByVal
                                                           UMatVector t_gripper2base,
                                                           @ByVal
                                                           UMatVector R_target2cam,
                                                           @ByVal
                                                           UMatVector t_target2cam,
                                                           @ByVal
                                                           GpuMat R_cam2gripper,
                                                           @ByVal
                                                           GpuMat t_cam2gripper)

calibrateHandEye

@Namespace(value="cv")
public static void calibrateHandEye(@ByVal
                                                           GpuMatVector R_gripper2base,
                                                           @ByVal
                                                           GpuMatVector t_gripper2base,
                                                           @ByVal
                                                           GpuMatVector R_target2cam,
                                                           @ByVal
                                                           GpuMatVector t_target2cam,
                                                           @ByVal
                                                           GpuMat R_cam2gripper,
                                                           @ByVal
                                                           GpuMat t_cam2gripper,
                                                           @Cast(value="cv::HandEyeCalibrationMethod")
                                                           int method)

calibrateHandEye

@Namespace(value="cv")
public static void calibrateHandEye(@ByVal
                                                           GpuMatVector R_gripper2base,
                                                           @ByVal
                                                           GpuMatVector t_gripper2base,
                                                           @ByVal
                                                           GpuMatVector R_target2cam,
                                                           @ByVal
                                                           GpuMatVector t_target2cam,
                                                           @ByVal
                                                           GpuMat R_cam2gripper,
                                                           @ByVal
                                                           GpuMat t_cam2gripper)

calibrateRobotWorldHandEye
```
@Namespace(value="cv")
public static void calibrateRobotWorldHandEye(@ByVal
                                                                     MatVector R_world2cam,
                                                                     @ByVal
                                                                     MatVector t_world2cam,
                                                                     @ByVal
                                                                     MatVector R_base2gripper,
                                                                     @ByVal
                                                                     MatVector t_base2gripper,
                                                                     @ByVal
                                                                     Mat R_base2world,
                                                                     @ByVal
                                                                     Mat t_base2world,
                                                                     @ByVal
                                                                     Mat R_gripper2cam,
                                                                     @ByVal
                                                                     Mat t_gripper2cam,
                                                                     @Cast(value="cv::RobotWorldHandEyeCalibrationMethod")
                                                                     int method)
```
\brief Computes Robot-World/Hand-Eye calibration: _{}^{w}\textrm{T}_b and _{}^{c}\textrm{T}_g
Parameters:

R_world - [in] 2cam Rotation part extracted from the homogeneous matrix that transforms a point expressed in the world frame to the camera frame (_{}^{c}\textrm{T}_w). This is a vector (vector<Mat>) that contains the rotation, (3x3) rotation matrices or (3x1) rotation vectors, for all the transformations from world frame to the camera frame.

t_world - [in] 2cam Translation part extracted from the homogeneous matrix that transforms a point expressed in the world frame to the camera frame (_{}^{c}\textrm{T}_w). This is a vector (vector<Mat>) that contains the (3x1) translation vectors for all the transformations from world frame to the camera frame.

R_base - [in] 2gripper Rotation part extracted from the homogeneous matrix that transforms a point expressed in the robot base frame to the gripper frame (_{}^{g}\textrm{T}_b). This is a vector (vector<Mat>) that contains the rotation, (3x3) rotation matrices or (3x1) rotation vectors, for all the transformations from robot base frame to the gripper frame.

t_base - [in] 2gripper Rotation part extracted from the homogeneous matrix that transforms a point expressed in the robot base frame to the gripper frame (_{}^{g}\textrm{T}_b). This is a vector (vector<Mat>) that contains the (3x1) translation vectors for all the transformations from robot base frame to the gripper frame.

R_base - [out] 2world Estimated (3x3) rotation part extracted from the homogeneous matrix that transforms a point expressed in the robot base frame to the world frame (_{}^{w}\textrm{T}_b).

t_base - [out] 2world Estimated (3x1) translation part extracted from the homogeneous matrix that transforms a point expressed in the robot base frame to the world frame (_{}^{w}\textrm{T}_b).

R_gripper - [out] 2cam Estimated (3x3) rotation part extracted from the homogeneous matrix that transforms a point expressed in the gripper frame to the camera frame (_{}^{c}\textrm{T}_g).

t_gripper - [out] 2cam Estimated (3x1) translation part extracted from the homogeneous matrix that transforms a point expressed in the gripper frame to the camera frame (_{}^{c}\textrm{T}_g).
method - [in] One of the implemented Robot-World/Hand-Eye calibration method, see cv::RobotWorldHandEyeCalibrationMethod
The function performs the Robot-World/Hand-Eye calibration using various methods. One approach consists in estimating the rotation then the translation (separable solutions): - M. Shah, Solving the robot-world/hand-eye calibration problem using the kronecker product \cite Shah2013SolvingTR
Another approach consists in estimating simultaneously the rotation and the translation (simultaneous solutions), with the following implemented method: - A. Li, L. Wang, and D. Wu, Simultaneous robot-world and hand-eye calibration using dual-quaternions and kronecker product \cite Li2010SimultaneousRA
The following picture describes the Robot-World/Hand-Eye calibration problem where the transformations between a robot and a world frame and between a robot gripper ("hand") and a camera ("eye") mounted at the robot end-effector have to be estimated.
![](pics/robot-world_hand-eye_figure.png)
The calibration procedure is the following: - a static calibration pattern is used to estimate the transformation between the target frame and the camera frame - the robot gripper is moved in order to acquire several poses - for each pose, the homogeneous transformation between the gripper frame and the robot base frame is recorded using for instance the robot kinematics
```
 \[
    \begin{bmatrix}
    X_g\\
    Y_g\\
    Z_g\\
    1
    \end{bmatrix}
    =
    \begin{bmatrix}
    _{}^{g}\textrm{R}_b & _{}^{g}\textrm{t}_b \\
    0_{1 \times 3} & 1
    \end{bmatrix}
    \begin{bmatrix}
    X_b\\
    Y_b\\
    Z_b\\
    1
    \end{bmatrix}
\]
```
- for each pose, the homogeneous transformation between the calibration target frame (the world frame) and the camera frame is recorded using for instance a pose estimation method (PnP) from 2D-3D point correspondences
```
 \[
    \begin{bmatrix}
    X_c\\
    Y_c\\
    Z_c\\
    1
    \end{bmatrix}
    =
    \begin{bmatrix}
    _{}^{c}\textrm{R}_w & _{}^{c}\textrm{t}_w \\
    0_{1 \times 3} & 1
    \end{bmatrix}
    \begin{bmatrix}
    X_w\\
    Y_w\\
    Z_w\\
    1
    \end{bmatrix}
\]
```
The Robot-World/Hand-Eye calibration procedure returns the following homogeneous transformations
```
 \[
    \begin{bmatrix}
    X_w\\
    Y_w\\
    Z_w\\
    1
    \end{bmatrix}
    =
    \begin{bmatrix}
    _{}^{w}\textrm{R}_b & _{}^{w}\textrm{t}_b \\
    0_{1 \times 3} & 1
    \end{bmatrix}
    \begin{bmatrix}
    X_b\\
    Y_b\\
    Z_b\\
    1
    \end{bmatrix}
\]
```
```
 \[
    \begin{bmatrix}
    X_c\\
    Y_c\\
    Z_c\\
    1
    \end{bmatrix}
    =
    \begin{bmatrix}
    _{}^{c}\textrm{R}_g & _{}^{c}\textrm{t}_g \\
    0_{1 \times 3} & 1
    \end{bmatrix}
    \begin{bmatrix}
    X_g\\
    Y_g\\
    Z_g\\
    1
    \end{bmatrix}
\]
```
This problem is also known as solving the \mathbf{A}\mathbf{X}=\mathbf{Z}\mathbf{B} equation, with: - \mathbf{A} \Leftrightarrow \hspace{0.1em} _{}^{c}\textrm{T}_w - \mathbf{X} \Leftrightarrow \hspace{0.1em} _{}^{w}\textrm{T}_b - \mathbf{Z} \Leftrightarrow \hspace{0.1em} _{}^{c}\textrm{T}_g - \mathbf{B} \Leftrightarrow \hspace{0.1em} _{}^{g}\textrm{T}_b
\note At least 3 measurements are required (input vectors size must be greater or equal to 3).

calibrateRobotWorldHandEye

@Namespace(value="cv")
public static void calibrateRobotWorldHandEye(@ByVal
                                                                     MatVector R_world2cam,
                                                                     @ByVal
                                                                     MatVector t_world2cam,
                                                                     @ByVal
                                                                     MatVector R_base2gripper,
                                                                     @ByVal
                                                                     MatVector t_base2gripper,
                                                                     @ByVal
                                                                     Mat R_base2world,
                                                                     @ByVal
                                                                     Mat t_base2world,
                                                                     @ByVal
                                                                     Mat R_gripper2cam,
                                                                     @ByVal
                                                                     Mat t_gripper2cam)

calibrateRobotWorldHandEye

@Namespace(value="cv")
public static void calibrateRobotWorldHandEye(@ByVal
                                                                     UMatVector R_world2cam,
                                                                     @ByVal
                                                                     UMatVector t_world2cam,
                                                                     @ByVal
                                                                     UMatVector R_base2gripper,
                                                                     @ByVal
                                                                     UMatVector t_base2gripper,
                                                                     @ByVal
                                                                     Mat R_base2world,
                                                                     @ByVal
                                                                     Mat t_base2world,
                                                                     @ByVal
                                                                     Mat R_gripper2cam,
                                                                     @ByVal
                                                                     Mat t_gripper2cam,
                                                                     @Cast(value="cv::RobotWorldHandEyeCalibrationMethod")
                                                                     int method)

calibrateRobotWorldHandEye

@Namespace(value="cv")
public static void calibrateRobotWorldHandEye(@ByVal
                                                                     UMatVector R_world2cam,
                                                                     @ByVal
                                                                     UMatVector t_world2cam,
                                                                     @ByVal
                                                                     UMatVector R_base2gripper,
                                                                     @ByVal
                                                                     UMatVector t_base2gripper,
                                                                     @ByVal
                                                                     Mat R_base2world,
                                                                     @ByVal
                                                                     Mat t_base2world,
                                                                     @ByVal
                                                                     Mat R_gripper2cam,
                                                                     @ByVal
                                                                     Mat t_gripper2cam)

calibrateRobotWorldHandEye

@Namespace(value="cv")
public static void calibrateRobotWorldHandEye(@ByVal
                                                                     GpuMatVector R_world2cam,
                                                                     @ByVal
                                                                     GpuMatVector t_world2cam,
                                                                     @ByVal
                                                                     GpuMatVector R_base2gripper,
                                                                     @ByVal
                                                                     GpuMatVector t_base2gripper,
                                                                     @ByVal
                                                                     Mat R_base2world,
                                                                     @ByVal
                                                                     Mat t_base2world,
                                                                     @ByVal
                                                                     Mat R_gripper2cam,
                                                                     @ByVal
                                                                     Mat t_gripper2cam,
                                                                     @Cast(value="cv::RobotWorldHandEyeCalibrationMethod")
                                                                     int method)

calibrateRobotWorldHandEye

@Namespace(value="cv")
public static void calibrateRobotWorldHandEye(@ByVal
                                                                     GpuMatVector R_world2cam,
                                                                     @ByVal
                                                                     GpuMatVector t_world2cam,
                                                                     @ByVal
                                                                     GpuMatVector R_base2gripper,
                                                                     @ByVal
                                                                     GpuMatVector t_base2gripper,
                                                                     @ByVal
                                                                     Mat R_base2world,
                                                                     @ByVal
                                                                     Mat t_base2world,
                                                                     @ByVal
                                                                     Mat R_gripper2cam,
                                                                     @ByVal
                                                                     Mat t_gripper2cam)

calibrateRobotWorldHandEye

@Namespace(value="cv")
public static void calibrateRobotWorldHandEye(@ByVal
                                                                     MatVector R_world2cam,
                                                                     @ByVal
                                                                     MatVector t_world2cam,
                                                                     @ByVal
                                                                     MatVector R_base2gripper,
                                                                     @ByVal
                                                                     MatVector t_base2gripper,
                                                                     @ByVal
                                                                     UMat R_base2world,
                                                                     @ByVal
                                                                     UMat t_base2world,
                                                                     @ByVal
                                                                     UMat R_gripper2cam,
                                                                     @ByVal
                                                                     UMat t_gripper2cam,
                                                                     @Cast(value="cv::RobotWorldHandEyeCalibrationMethod")
                                                                     int method)

calibrateRobotWorldHandEye

@Namespace(value="cv")
public static void calibrateRobotWorldHandEye(@ByVal
                                                                     MatVector R_world2cam,
                                                                     @ByVal
                                                                     MatVector t_world2cam,
                                                                     @ByVal
                                                                     MatVector R_base2gripper,
                                                                     @ByVal
                                                                     MatVector t_base2gripper,
                                                                     @ByVal
                                                                     UMat R_base2world,
                                                                     @ByVal
                                                                     UMat t_base2world,
                                                                     @ByVal
                                                                     UMat R_gripper2cam,
                                                                     @ByVal
                                                                     UMat t_gripper2cam)

calibrateRobotWorldHandEye

@Namespace(value="cv")
public static void calibrateRobotWorldHandEye(@ByVal
                                                                     UMatVector R_world2cam,
                                                                     @ByVal
                                                                     UMatVector t_world2cam,
                                                                     @ByVal
                                                                     UMatVector R_base2gripper,
                                                                     @ByVal
                                                                     UMatVector t_base2gripper,
                                                                     @ByVal
                                                                     UMat R_base2world,
                                                                     @ByVal
                                                                     UMat t_base2world,
                                                                     @ByVal
                                                                     UMat R_gripper2cam,
                                                                     @ByVal
                                                                     UMat t_gripper2cam,
                                                                     @Cast(value="cv::RobotWorldHandEyeCalibrationMethod")
                                                                     int method)

calibrateRobotWorldHandEye

@Namespace(value="cv")
public static void calibrateRobotWorldHandEye(@ByVal
                                                                     UMatVector R_world2cam,
                                                                     @ByVal
                                                                     UMatVector t_world2cam,
                                                                     @ByVal
                                                                     UMatVector R_base2gripper,
                                                                     @ByVal
                                                                     UMatVector t_base2gripper,
                                                                     @ByVal
                                                                     UMat R_base2world,
                                                                     @ByVal
                                                                     UMat t_base2world,
                                                                     @ByVal
                                                                     UMat R_gripper2cam,
                                                                     @ByVal
                                                                     UMat t_gripper2cam)

calibrateRobotWorldHandEye

@Namespace(value="cv")
public static void calibrateRobotWorldHandEye(@ByVal
                                                                     GpuMatVector R_world2cam,
                                                                     @ByVal
                                                                     GpuMatVector t_world2cam,
                                                                     @ByVal
                                                                     GpuMatVector R_base2gripper,
                                                                     @ByVal
                                                                     GpuMatVector t_base2gripper,
                                                                     @ByVal
                                                                     UMat R_base2world,
                                                                     @ByVal
                                                                     UMat t_base2world,
                                                                     @ByVal
                                                                     UMat R_gripper2cam,
                                                                     @ByVal
                                                                     UMat t_gripper2cam,
                                                                     @Cast(value="cv::RobotWorldHandEyeCalibrationMethod")
                                                                     int method)

calibrateRobotWorldHandEye

@Namespace(value="cv")
public static void calibrateRobotWorldHandEye(@ByVal
                                                                     GpuMatVector R_world2cam,
                                                                     @ByVal
                                                                     GpuMatVector t_world2cam,
                                                                     @ByVal
                                                                     GpuMatVector R_base2gripper,
                                                                     @ByVal
                                                                     GpuMatVector t_base2gripper,
                                                                     @ByVal
                                                                     UMat R_base2world,
                                                                     @ByVal
                                                                     UMat t_base2world,
                                                                     @ByVal
                                                                     UMat R_gripper2cam,
                                                                     @ByVal
                                                                     UMat t_gripper2cam)

calibrateRobotWorldHandEye

@Namespace(value="cv")
public static void calibrateRobotWorldHandEye(@ByVal
                                                                     MatVector R_world2cam,
                                                                     @ByVal
                                                                     MatVector t_world2cam,
                                                                     @ByVal
                                                                     MatVector R_base2gripper,
                                                                     @ByVal
                                                                     MatVector t_base2gripper,
                                                                     @ByVal
                                                                     GpuMat R_base2world,
                                                                     @ByVal
                                                                     GpuMat t_base2world,
                                                                     @ByVal
                                                                     GpuMat R_gripper2cam,
                                                                     @ByVal
                                                                     GpuMat t_gripper2cam,
                                                                     @Cast(value="cv::RobotWorldHandEyeCalibrationMethod")
                                                                     int method)

calibrateRobotWorldHandEye

@Namespace(value="cv")
public static void calibrateRobotWorldHandEye(@ByVal
                                                                     MatVector R_world2cam,
                                                                     @ByVal
                                                                     MatVector t_world2cam,
                                                                     @ByVal
                                                                     MatVector R_base2gripper,
                                                                     @ByVal
                                                                     MatVector t_base2gripper,
                                                                     @ByVal
                                                                     GpuMat R_base2world,
                                                                     @ByVal
                                                                     GpuMat t_base2world,
                                                                     @ByVal
                                                                     GpuMat R_gripper2cam,
                                                                     @ByVal
                                                                     GpuMat t_gripper2cam)

calibrateRobotWorldHandEye

@Namespace(value="cv")
public static void calibrateRobotWorldHandEye(@ByVal
                                                                     UMatVector R_world2cam,
                                                                     @ByVal
                                                                     UMatVector t_world2cam,
                                                                     @ByVal
                                                                     UMatVector R_base2gripper,
                                                                     @ByVal
                                                                     UMatVector t_base2gripper,
                                                                     @ByVal
                                                                     GpuMat R_base2world,
                                                                     @ByVal
                                                                     GpuMat t_base2world,
                                                                     @ByVal
                                                                     GpuMat R_gripper2cam,
                                                                     @ByVal
                                                                     GpuMat t_gripper2cam,
                                                                     @Cast(value="cv::RobotWorldHandEyeCalibrationMethod")
                                                                     int method)

calibrateRobotWorldHandEye

@Namespace(value="cv")
public static void calibrateRobotWorldHandEye(@ByVal
                                                                     UMatVector R_world2cam,
                                                                     @ByVal
                                                                     UMatVector t_world2cam,
                                                                     @ByVal
                                                                     UMatVector R_base2gripper,
                                                                     @ByVal
                                                                     UMatVector t_base2gripper,
                                                                     @ByVal
                                                                     GpuMat R_base2world,
                                                                     @ByVal
                                                                     GpuMat t_base2world,
                                                                     @ByVal
                                                                     GpuMat R_gripper2cam,
                                                                     @ByVal
                                                                     GpuMat t_gripper2cam)

calibrateRobotWorldHandEye

@Namespace(value="cv")
public static void calibrateRobotWorldHandEye(@ByVal
                                                                     GpuMatVector R_world2cam,
                                                                     @ByVal
                                                                     GpuMatVector t_world2cam,
                                                                     @ByVal
                                                                     GpuMatVector R_base2gripper,
                                                                     @ByVal
                                                                     GpuMatVector t_base2gripper,
                                                                     @ByVal
                                                                     GpuMat R_base2world,
                                                                     @ByVal
                                                                     GpuMat t_base2world,
                                                                     @ByVal
                                                                     GpuMat R_gripper2cam,
                                                                     @ByVal
                                                                     GpuMat t_gripper2cam,
                                                                     @Cast(value="cv::RobotWorldHandEyeCalibrationMethod")
                                                                     int method)

calibrateRobotWorldHandEye

@Namespace(value="cv")
public static void calibrateRobotWorldHandEye(@ByVal
                                                                     GpuMatVector R_world2cam,
                                                                     @ByVal
                                                                     GpuMatVector t_world2cam,
                                                                     @ByVal
                                                                     GpuMatVector R_base2gripper,
                                                                     @ByVal
                                                                     GpuMatVector t_base2gripper,
                                                                     @ByVal
                                                                     GpuMat R_base2world,
                                                                     @ByVal
                                                                     GpuMat t_base2world,
                                                                     @ByVal
                                                                     GpuMat R_gripper2cam,
                                                                     @ByVal
                                                                     GpuMat t_gripper2cam)

convertPointsToHomogeneous

@Namespace(value="cv")
public static void convertPointsToHomogeneous(@ByVal
                                                                     Mat src,
                                                                     @ByVal
                                                                     Mat dst)

\brief Converts points from Euclidean to homogeneous space.

Parameters:: src - Input vector of N-dimensional points.; dst - Output vector of N+1-dimensional points.
The function converts points from Euclidean to homogeneous space by appending 1's to the tuple of point coordinates. That is, each point (x1, x2, ..., xn) is converted to (x1, x2, ..., xn, 1).

convertPointsToHomogeneous

@Namespace(value="cv")
public static void convertPointsToHomogeneous(@ByVal
                                                                     UMat src,
                                                                     @ByVal
                                                                     UMat dst)

convertPointsToHomogeneous

@Namespace(value="cv")
public static void convertPointsToHomogeneous(@ByVal
                                                                     GpuMat src,
                                                                     @ByVal
                                                                     GpuMat dst)

convertPointsFromHomogeneous

@Namespace(value="cv")
public static void convertPointsFromHomogeneous(@ByVal
                                                                       Mat src,
                                                                       @ByVal
                                                                       Mat dst)

\brief Converts points from homogeneous to Euclidean space.

Parameters:: src - Input vector of N-dimensional points.; dst - Output vector of N-1-dimensional points.
The function converts points homogeneous to Euclidean space using perspective projection. That is, each point (x1, x2, ... x(n-1), xn) is converted to (x1/xn, x2/xn, ..., x(n-1)/xn). When xn=0, the output point coordinates will be (0,0,0,...).

convertPointsFromHomogeneous

@Namespace(value="cv")
public static void convertPointsFromHomogeneous(@ByVal
                                                                       UMat src,
                                                                       @ByVal
                                                                       UMat dst)

convertPointsFromHomogeneous

@Namespace(value="cv")
public static void convertPointsFromHomogeneous(@ByVal
                                                                       GpuMat src,
                                                                       @ByVal
                                                                       GpuMat dst)

convertPointsHomogeneous

@Namespace(value="cv")
public static void convertPointsHomogeneous(@ByVal
                                                                   Mat src,
                                                                   @ByVal
                                                                   Mat dst)

\brief Converts points to/from homogeneous coordinates.

Parameters:

src - Input array or vector of 2D, 3D, or 4D points.

dst - Output vector of 2D, 3D, or 4D points.

The function converts 2D or 3D points from/to homogeneous coordinates by calling either #convertPointsToHomogeneous or #convertPointsFromHomogeneous.

\note The function is obsolete. Use one of the previous two functions instead.

convertPointsHomogeneous

@Namespace(value="cv")
public static void convertPointsHomogeneous(@ByVal
                                                                   UMat src,
                                                                   @ByVal
                                                                   UMat dst)

convertPointsHomogeneous

@Namespace(value="cv")
public static void convertPointsHomogeneous(@ByVal
                                                                   GpuMat src,
                                                                   @ByVal
                                                                   GpuMat dst)

findFundamentalMat
```
@Namespace(value="cv")
 @ByVal
public static Mat findFundamentalMat(@ByVal
                                                                    Mat points1,
                                                                    @ByVal
                                                                    Mat points2,
                                                                    int method,
                                                                    double ransacReprojThreshold,
                                                                    double confidence,
                                                                    int maxIters,
                                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                    Mat mask)
```
\brief Calculates a fundamental matrix from the corresponding points in two images.
Parameters:

points1 - Array of N points from the first image. The point coordinates should be floating-point (single or double precision).

points2 - Array of the second image points of the same size and format as points1 .

method - Method for computing a fundamental matrix. - \ref FM_7POINT for a 7-point algorithm. N = 7 - \ref FM_8POINT for an 8-point algorithm. N \ge 8 - \ref FM_RANSAC for the RANSAC algorithm. N \ge 8 - \ref FM_LMEDS for the LMedS algorithm. N \ge 8

ransacReprojThreshold - Parameter used only for RANSAC. It is the maximum distance from a point to an epipolar line in pixels, beyond which the point is considered an outlier and is not used for computing the final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the point localization, image resolution, and the image noise.

confidence - Parameter used for the RANSAC and LMedS methods only. It specifies a desirable level of confidence (probability) that the estimated matrix is correct.

mask - [out] optional output mask
maxIters - The maximum number of robust method iterations.
The epipolar geometry is described by the following equation:
```
 \[[p_2; 1]^T F [p_1; 1] = 0\]
```
where F is a fundamental matrix, p_1 and p_2 are corresponding points in the first and the second images, respectively.
The function calculates the fundamental matrix using one of four methods listed above and returns the found fundamental matrix. Normally just one matrix is found. But in case of the 7-point algorithm, the function may return up to 3 solutions ( 9 \times 3 matrix that stores all 3 matrices sequentially).
The calculated fundamental matrix may be passed further to computeCorrespondEpilines that finds the epipolar lines corresponding to the specified points. It can also be passed to #stereoRectifyUncalibrated to compute the rectification transformation. :
```
    // Example. Estimation of fundamental matrix using the RANSAC algorithm
    int point_count = 100;
    vector<Point2f> points1(point_count);
    vector<Point2f> points2(point_count);

    // initialize the points here ...
    for( int i = 0; i < point_count; i++ )
    {
        points1[i] = ...;
        points2[i] = ...;
    }

    Mat fundamental_matrix =
     findFundamentalMat(points1, points2, FM_RANSAC, 3, 0.99);
```

findFundamentalMat

@Namespace(value="cv")
 @ByVal
public static Mat findFundamentalMat(@ByVal
                                                                    Mat points1,
                                                                    @ByVal
                                                                    Mat points2,
                                                                    int method,
                                                                    double ransacReprojThreshold,
                                                                    double confidence,
                                                                    int maxIters)

findFundamentalMat

@Namespace(value="cv")
 @ByVal
public static Mat findFundamentalMat(@ByVal
                                                                    UMat points1,
                                                                    @ByVal
                                                                    UMat points2,
                                                                    int method,
                                                                    double ransacReprojThreshold,
                                                                    double confidence,
                                                                    int maxIters,
                                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                    UMat mask)

findFundamentalMat

@Namespace(value="cv")
 @ByVal
public static Mat findFundamentalMat(@ByVal
                                                                    UMat points1,
                                                                    @ByVal
                                                                    UMat points2,
                                                                    int method,
                                                                    double ransacReprojThreshold,
                                                                    double confidence,
                                                                    int maxIters)

findFundamentalMat

@Namespace(value="cv")
 @ByVal
public static Mat findFundamentalMat(@ByVal
                                                                    GpuMat points1,
                                                                    @ByVal
                                                                    GpuMat points2,
                                                                    int method,
                                                                    double ransacReprojThreshold,
                                                                    double confidence,
                                                                    int maxIters,
                                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                    GpuMat mask)

findFundamentalMat

@Namespace(value="cv")
 @ByVal
public static Mat findFundamentalMat(@ByVal
                                                                    GpuMat points1,
                                                                    @ByVal
                                                                    GpuMat points2,
                                                                    int method,
                                                                    double ransacReprojThreshold,
                                                                    double confidence,
                                                                    int maxIters)

findFundamentalMat

@Namespace(value="cv")
 @ByVal
public static Mat findFundamentalMat(@ByVal
                                                                    Mat points1,
                                                                    @ByVal
                                                                    Mat points2,
                                                                    int method,
                                                                    double ransacReprojThreshold,
                                                                    double confidence,
                                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                    Mat mask)

\overload

findFundamentalMat

@Namespace(value="cv")
 @ByVal
public static Mat findFundamentalMat(@ByVal
                                                                    Mat points1,
                                                                    @ByVal
                                                                    Mat points2)

findFundamentalMat

@Namespace(value="cv")
 @ByVal
public static Mat findFundamentalMat(@ByVal
                                                                    UMat points1,
                                                                    @ByVal
                                                                    UMat points2,
                                                                    int method,
                                                                    double ransacReprojThreshold,
                                                                    double confidence,
                                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                    UMat mask)

findFundamentalMat

@Namespace(value="cv")
 @ByVal
public static Mat findFundamentalMat(@ByVal
                                                                    UMat points1,
                                                                    @ByVal
                                                                    UMat points2)

findFundamentalMat

@Namespace(value="cv")
 @ByVal
public static Mat findFundamentalMat(@ByVal
                                                                    GpuMat points1,
                                                                    @ByVal
                                                                    GpuMat points2,
                                                                    int method,
                                                                    double ransacReprojThreshold,
                                                                    double confidence,
                                                                    @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                    GpuMat mask)

findFundamentalMat

@Namespace(value="cv")
 @ByVal
public static Mat findFundamentalMat(@ByVal
                                                                    GpuMat points1,
                                                                    @ByVal
                                                                    GpuMat points2)

findFundamentalMat

@Namespace(value="cv")
 @ByVal
public static Mat findFundamentalMat(@ByVal
                                                                    Mat points1,
                                                                    @ByVal
                                                                    Mat points2,
                                                                    @ByVal
                                                                    Mat mask,
                                                                    int method,
                                                                    double ransacReprojThreshold,
                                                                    double confidence)

\overload

findFundamentalMat

@Namespace(value="cv")
 @ByVal
public static Mat findFundamentalMat(@ByVal
                                                                    Mat points1,
                                                                    @ByVal
                                                                    Mat points2,
                                                                    @ByVal
                                                                    Mat mask)

findFundamentalMat

@Namespace(value="cv")
 @ByVal
public static Mat findFundamentalMat(@ByVal
                                                                    UMat points1,
                                                                    @ByVal
                                                                    UMat points2,
                                                                    @ByVal
                                                                    UMat mask,
                                                                    int method,
                                                                    double ransacReprojThreshold,
                                                                    double confidence)

findFundamentalMat

@Namespace(value="cv")
 @ByVal
public static Mat findFundamentalMat(@ByVal
                                                                    UMat points1,
                                                                    @ByVal
                                                                    UMat points2,
                                                                    @ByVal
                                                                    UMat mask)

findFundamentalMat

@Namespace(value="cv")
 @ByVal
public static Mat findFundamentalMat(@ByVal
                                                                    GpuMat points1,
                                                                    @ByVal
                                                                    GpuMat points2,
                                                                    @ByVal
                                                                    GpuMat mask,
                                                                    int method,
                                                                    double ransacReprojThreshold,
                                                                    double confidence)

findFundamentalMat

@Namespace(value="cv")
 @ByVal
public static Mat findFundamentalMat(@ByVal
                                                                    GpuMat points1,
                                                                    @ByVal
                                                                    GpuMat points2,
                                                                    @ByVal
                                                                    GpuMat mask)

findFundamentalMat

@Namespace(value="cv")
 @ByVal
public static Mat findFundamentalMat(@ByVal
                                                                    Mat points1,
                                                                    @ByVal
                                                                    Mat points2,
                                                                    @ByVal
                                                                    Mat mask,
                                                                    @Const @ByRef
                                                                    UsacParams params)

findFundamentalMat

@Namespace(value="cv")
 @ByVal
public static Mat findFundamentalMat(@ByVal
                                                                    UMat points1,
                                                                    @ByVal
                                                                    UMat points2,
                                                                    @ByVal
                                                                    UMat mask,
                                                                    @Const @ByRef
                                                                    UsacParams params)

findFundamentalMat

@Namespace(value="cv")
 @ByVal
public static Mat findFundamentalMat(@ByVal
                                                                    GpuMat points1,
                                                                    @ByVal
                                                                    GpuMat points2,
                                                                    @ByVal
                                                                    GpuMat mask,
                                                                    @Const @ByRef
                                                                    UsacParams params)

findEssentialMat
```
@Namespace(value="cv")
 @ByVal
public static Mat findEssentialMat(@ByVal
                                                                  Mat points1,
                                                                  @ByVal
                                                                  Mat points2,
                                                                  @ByVal
                                                                  Mat cameraMatrix,
                                                                  int method,
                                                                  double prob,
                                                                  double threshold,
                                                                  int maxIters,
                                                                  @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                  Mat mask)
```
\brief Calculates an essential matrix from the corresponding points in two images.
Parameters:

points1 - Array of N (N \>= 5) 2D points from the first image. The point coordinates should be floating-point (single or double precision).

points2 - Array of the second image points of the same size and format as points1 .

cameraMatrix - Camera intrinsic matrix \cameramatrix{A} . Note that this function assumes that points1 and points2 are feature points from cameras with the same camera intrinsic matrix. If this assumption does not hold for your use case, use #undistortPoints with P = cv::NoArray() for both cameras to transform image points to normalized image coordinates, which are valid for the identity camera intrinsic matrix. When passing these coordinates, pass the identity matrix for this parameter.

method - Method for computing an essential matrix. - \ref RANSAC for the RANSAC algorithm. - \ref LMEDS for the LMedS algorithm.

prob - Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of confidence (probability) that the estimated matrix is correct.

threshold - Parameter used for RANSAC. It is the maximum distance from a point to an epipolar line in pixels, beyond which the point is considered an outlier and is not used for computing the final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the point localization, image resolution, and the image noise.

mask - Output array of N elements, every element of which is set to 0 for outliers and to 1 for the other points. The array is computed only in the RANSAC and LMedS methods.
maxIters - The maximum number of robust method iterations.
This function estimates essential matrix based on the five-point algorithm solver in \cite Nister03 . \cite SteweniusCFS is also a related. The epipolar geometry is described by the following equation:
```
 \[[p_2; 1]^T K^{-T} E K^{-1} [p_1; 1] = 0\]
```
where E is an essential matrix, p_1 and p_2 are corresponding points in the first and the second images, respectively. The result of this function may be passed further to #decomposeEssentialMat or #recoverPose to recover the relative pose between cameras.

findEssentialMat

@Namespace(value="cv")
 @ByVal
public static Mat findEssentialMat(@ByVal
                                                                  Mat points1,
                                                                  @ByVal
                                                                  Mat points2,
                                                                  @ByVal
                                                                  Mat cameraMatrix)

findEssentialMat

@Namespace(value="cv")
 @ByVal
public static Mat findEssentialMat(@ByVal
                                                                  UMat points1,
                                                                  @ByVal
                                                                  UMat points2,
                                                                  @ByVal
                                                                  UMat cameraMatrix,
                                                                  int method,
                                                                  double prob,
                                                                  double threshold,
                                                                  int maxIters,
                                                                  @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                  UMat mask)

findEssentialMat

@Namespace(value="cv")
 @ByVal
public static Mat findEssentialMat(@ByVal
                                                                  UMat points1,
                                                                  @ByVal
                                                                  UMat points2,
                                                                  @ByVal
                                                                  UMat cameraMatrix)

findEssentialMat

@Namespace(value="cv")
 @ByVal
public static Mat findEssentialMat(@ByVal
                                                                  GpuMat points1,
                                                                  @ByVal
                                                                  GpuMat points2,
                                                                  @ByVal
                                                                  GpuMat cameraMatrix,
                                                                  int method,
                                                                  double prob,
                                                                  double threshold,
                                                                  int maxIters,
                                                                  @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                  GpuMat mask)

findEssentialMat

@Namespace(value="cv")
 @ByVal
public static Mat findEssentialMat(@ByVal
                                                                  GpuMat points1,
                                                                  @ByVal
                                                                  GpuMat points2,
                                                                  @ByVal
                                                                  GpuMat cameraMatrix)

findEssentialMat

@Namespace(value="cv")
 @ByVal
public static Mat findEssentialMat(@ByVal
                                                                  Mat points1,
                                                                  @ByVal
                                                                  Mat points2,
                                                                  @ByVal
                                                                  Mat cameraMatrix,
                                                                  int method,
                                                                  double prob,
                                                                  double threshold,
                                                                  @ByVal
                                                                  Mat mask)

\overload

findEssentialMat

@Namespace(value="cv")
 @ByVal
public static Mat findEssentialMat(@ByVal
                                                                  UMat points1,
                                                                  @ByVal
                                                                  UMat points2,
                                                                  @ByVal
                                                                  UMat cameraMatrix,
                                                                  int method,
                                                                  double prob,
                                                                  double threshold,
                                                                  @ByVal
                                                                  UMat mask)

findEssentialMat

@Namespace(value="cv")
 @ByVal
public static Mat findEssentialMat(@ByVal
                                                                  GpuMat points1,
                                                                  @ByVal
                                                                  GpuMat points2,
                                                                  @ByVal
                                                                  GpuMat cameraMatrix,
                                                                  int method,
                                                                  double prob,
                                                                  double threshold,
                                                                  @ByVal
                                                                  GpuMat mask)

findEssentialMat

@Namespace(value="cv")
 @ByVal
public static Mat findEssentialMat(@ByVal
                                                                  Mat points1,
                                                                  @ByVal
                                                                  Mat points2,
                                                                  double focal,
                                                                  @ByVal(nullValue="cv::Point2d(0, 0)")
                                                                  Point2d pp,
                                                                  int method,
                                                                  double prob,
                                                                  double threshold,
                                                                  int maxIters,
                                                                  @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                  Mat mask)

\overload

Parameters:

points1 - Array of N (N \>= 5) 2D points from the first image. The point coordinates should be floating-point (single or double precision).

points2 - Array of the second image points of the same size and format as points1 .

focal - focal length of the camera. Note that this function assumes that points1 and points2 are feature points from cameras with same focal length and principal point.

pp - principal point of the camera.

method - Method for computing a fundamental matrix. - \ref RANSAC for the RANSAC algorithm. - \ref LMEDS for the LMedS algorithm.

threshold - Parameter used for RANSAC. It is the maximum distance from a point to an epipolar line in pixels, beyond which the point is considered an outlier and is not used for computing the final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the point localization, image resolution, and the image noise.

prob - Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of confidence (probability) that the estimated matrix is correct.

mask - Output array of N elements, every element of which is set to 0 for outliers and to 1 for the other points. The array is computed only in the RANSAC and LMedS methods.

maxIters - The maximum number of robust method iterations.

This function differs from the one above that it computes camera intrinsic matrix from focal length and principal point:

 \[A =
\begin{bmatrix}
f & 0 & x_{pp}  \\
0 & f & y_{pp}  \\
0 & 0 & 1
\end{bmatrix}\]

findEssentialMat

@Namespace(value="cv")
 @ByVal
public static Mat findEssentialMat(@ByVal
                                                                  Mat points1,
                                                                  @ByVal
                                                                  Mat points2)

findEssentialMat

@Namespace(value="cv")
 @ByVal
public static Mat findEssentialMat(@ByVal
                                                                  UMat points1,
                                                                  @ByVal
                                                                  UMat points2,
                                                                  double focal,
                                                                  @ByVal(nullValue="cv::Point2d(0, 0)")
                                                                  Point2d pp,
                                                                  int method,
                                                                  double prob,
                                                                  double threshold,
                                                                  int maxIters,
                                                                  @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                  UMat mask)

findEssentialMat

@Namespace(value="cv")
 @ByVal
public static Mat findEssentialMat(@ByVal
                                                                  UMat points1,
                                                                  @ByVal
                                                                  UMat points2)

findEssentialMat

@Namespace(value="cv")
 @ByVal
public static Mat findEssentialMat(@ByVal
                                                                  GpuMat points1,
                                                                  @ByVal
                                                                  GpuMat points2,
                                                                  double focal,
                                                                  @ByVal(nullValue="cv::Point2d(0, 0)")
                                                                  Point2d pp,
                                                                  int method,
                                                                  double prob,
                                                                  double threshold,
                                                                  int maxIters,
                                                                  @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                  GpuMat mask)

findEssentialMat

@Namespace(value="cv")
 @ByVal
public static Mat findEssentialMat(@ByVal
                                                                  GpuMat points1,
                                                                  @ByVal
                                                                  GpuMat points2)

findEssentialMat

@Namespace(value="cv")
 @ByVal
public static Mat findEssentialMat(@ByVal
                                                                  Mat points1,
                                                                  @ByVal
                                                                  Mat points2,
                                                                  double focal,
                                                                  @ByVal
                                                                  Point2d pp,
                                                                  int method,
                                                                  double prob,
                                                                  double threshold,
                                                                  @ByVal
                                                                  Mat mask)

\overload

findEssentialMat

@Namespace(value="cv")
 @ByVal
public static Mat findEssentialMat(@ByVal
                                                                  UMat points1,
                                                                  @ByVal
                                                                  UMat points2,
                                                                  double focal,
                                                                  @ByVal
                                                                  Point2d pp,
                                                                  int method,
                                                                  double prob,
                                                                  double threshold,
                                                                  @ByVal
                                                                  UMat mask)

findEssentialMat

@Namespace(value="cv")
 @ByVal
public static Mat findEssentialMat(@ByVal
                                                                  GpuMat points1,
                                                                  @ByVal
                                                                  GpuMat points2,
                                                                  double focal,
                                                                  @ByVal
                                                                  Point2d pp,
                                                                  int method,
                                                                  double prob,
                                                                  double threshold,
                                                                  @ByVal
                                                                  GpuMat mask)

findEssentialMat
```
@Namespace(value="cv")
 @ByVal
public static Mat findEssentialMat(@ByVal
                                                                  Mat points1,
                                                                  @ByVal
                                                                  Mat points2,
                                                                  @ByVal
                                                                  Mat cameraMatrix1,
                                                                  @ByVal
                                                                  Mat distCoeffs1,
                                                                  @ByVal
                                                                  Mat cameraMatrix2,
                                                                  @ByVal
                                                                  Mat distCoeffs2,
                                                                  int method,
                                                                  double prob,
                                                                  double threshold,
                                                                  @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                  Mat mask)
```
\brief Calculates an essential matrix from the corresponding points in two images from potentially two different cameras.
Parameters:

points1 - Array of N (N \>= 5) 2D points from the first image. The point coordinates should be floating-point (single or double precision).

points2 - Array of the second image points of the same size and format as points1 .

cameraMatrix1 - Camera matrix K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1} . Note that this function assumes that points1 and points2 are feature points from cameras with the same camera matrix. If this assumption does not hold for your use case, use #undistortPoints with P = cv::NoArray() for both cameras to transform image points to normalized image coordinates, which are valid for the identity camera matrix. When passing these coordinates, pass the identity matrix for this parameter.

cameraMatrix2 - Camera matrix K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1} . Note that this function assumes that points1 and points2 are feature points from cameras with the same camera matrix. If this assumption does not hold for your use case, use #undistortPoints with P = cv::NoArray() for both cameras to transform image points to normalized image coordinates, which are valid for the identity camera matrix. When passing these coordinates, pass the identity matrix for this parameter.

distCoeffs1 - Input vector of distortion coefficients (k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]]) of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.

distCoeffs2 - Input vector of distortion coefficients (k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]]) of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.

method - Method for computing an essential matrix. - \ref RANSAC for the RANSAC algorithm. - \ref LMEDS for the LMedS algorithm.

prob - Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of confidence (probability) that the estimated matrix is correct.

threshold - Parameter used for RANSAC. It is the maximum distance from a point to an epipolar line in pixels, beyond which the point is considered an outlier and is not used for computing the final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the point localization, image resolution, and the image noise.
mask - Output array of N elements, every element of which is set to 0 for outliers and to 1 for the other points. The array is computed only in the RANSAC and LMedS methods.
This function estimates essential matrix based on the five-point algorithm solver in \cite Nister03 . \cite SteweniusCFS is also a related. The epipolar geometry is described by the following equation:
```
 \[[p_2; 1]^T K^{-T} E K^{-1} [p_1; 1] = 0\]
```
where E is an essential matrix, p_1 and p_2 are corresponding points in the first and the second images, respectively. The result of this function may be passed further to #decomposeEssentialMat or #recoverPose to recover the relative pose between cameras.

findEssentialMat

@Namespace(value="cv")
 @ByVal
public static Mat findEssentialMat(@ByVal
                                                                  Mat points1,
                                                                  @ByVal
                                                                  Mat points2,
                                                                  @ByVal
                                                                  Mat cameraMatrix1,
                                                                  @ByVal
                                                                  Mat distCoeffs1,
                                                                  @ByVal
                                                                  Mat cameraMatrix2,
                                                                  @ByVal
                                                                  Mat distCoeffs2)

findEssentialMat

@Namespace(value="cv")
 @ByVal
public static Mat findEssentialMat(@ByVal
                                                                  UMat points1,
                                                                  @ByVal
                                                                  UMat points2,
                                                                  @ByVal
                                                                  UMat cameraMatrix1,
                                                                  @ByVal
                                                                  UMat distCoeffs1,
                                                                  @ByVal
                                                                  UMat cameraMatrix2,
                                                                  @ByVal
                                                                  UMat distCoeffs2,
                                                                  int method,
                                                                  double prob,
                                                                  double threshold,
                                                                  @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                  UMat mask)

findEssentialMat

@Namespace(value="cv")
 @ByVal
public static Mat findEssentialMat(@ByVal
                                                                  UMat points1,
                                                                  @ByVal
                                                                  UMat points2,
                                                                  @ByVal
                                                                  UMat cameraMatrix1,
                                                                  @ByVal
                                                                  UMat distCoeffs1,
                                                                  @ByVal
                                                                  UMat cameraMatrix2,
                                                                  @ByVal
                                                                  UMat distCoeffs2)

findEssentialMat

@Namespace(value="cv")
 @ByVal
public static Mat findEssentialMat(@ByVal
                                                                  GpuMat points1,
                                                                  @ByVal
                                                                  GpuMat points2,
                                                                  @ByVal
                                                                  GpuMat cameraMatrix1,
                                                                  @ByVal
                                                                  GpuMat distCoeffs1,
                                                                  @ByVal
                                                                  GpuMat cameraMatrix2,
                                                                  @ByVal
                                                                  GpuMat distCoeffs2,
                                                                  int method,
                                                                  double prob,
                                                                  double threshold,
                                                                  @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                  GpuMat mask)

findEssentialMat

@Namespace(value="cv")
 @ByVal
public static Mat findEssentialMat(@ByVal
                                                                  GpuMat points1,
                                                                  @ByVal
                                                                  GpuMat points2,
                                                                  @ByVal
                                                                  GpuMat cameraMatrix1,
                                                                  @ByVal
                                                                  GpuMat distCoeffs1,
                                                                  @ByVal
                                                                  GpuMat cameraMatrix2,
                                                                  @ByVal
                                                                  GpuMat distCoeffs2)

findEssentialMat

@Namespace(value="cv")
 @ByVal
public static Mat findEssentialMat(@ByVal
                                                                  Mat points1,
                                                                  @ByVal
                                                                  Mat points2,
                                                                  @ByVal
                                                                  Mat cameraMatrix1,
                                                                  @ByVal
                                                                  Mat cameraMatrix2,
                                                                  @ByVal
                                                                  Mat dist_coeff1,
                                                                  @ByVal
                                                                  Mat dist_coeff2,
                                                                  @ByVal
                                                                  Mat mask,
                                                                  @Const @ByRef
                                                                  UsacParams params)

findEssentialMat

@Namespace(value="cv")
 @ByVal
public static Mat findEssentialMat(@ByVal
                                                                  UMat points1,
                                                                  @ByVal
                                                                  UMat points2,
                                                                  @ByVal
                                                                  UMat cameraMatrix1,
                                                                  @ByVal
                                                                  UMat cameraMatrix2,
                                                                  @ByVal
                                                                  UMat dist_coeff1,
                                                                  @ByVal
                                                                  UMat dist_coeff2,
                                                                  @ByVal
                                                                  UMat mask,
                                                                  @Const @ByRef
                                                                  UsacParams params)

findEssentialMat

@Namespace(value="cv")
 @ByVal
public static Mat findEssentialMat(@ByVal
                                                                  GpuMat points1,
                                                                  @ByVal
                                                                  GpuMat points2,
                                                                  @ByVal
                                                                  GpuMat cameraMatrix1,
                                                                  @ByVal
                                                                  GpuMat cameraMatrix2,
                                                                  @ByVal
                                                                  GpuMat dist_coeff1,
                                                                  @ByVal
                                                                  GpuMat dist_coeff2,
                                                                  @ByVal
                                                                  GpuMat mask,
                                                                  @Const @ByRef
                                                                  UsacParams params)

decomposeEssentialMat

@Namespace(value="cv")
public static void decomposeEssentialMat(@ByVal
                                                                Mat E,
                                                                @ByVal
                                                                Mat R1,
                                                                @ByVal
                                                                Mat R2,
                                                                @ByVal
                                                                Mat t)

\brief Decompose an essential matrix to possible rotations and translation.

Parameters:

E - The input essential matrix.

R1 - One possible rotation matrix.

R2 - Another possible rotation matrix.

t - One possible translation.

This function decomposes the essential matrix E using svd decomposition \cite HartleyZ00. In general, four possible poses exist for the decomposition of E. They are [R_1, t], [R_1, -t], [R_2, t], [R_2, -t].

If E gives the epipolar constraint [p_2; 1]^T A^{-T} E A^{-1} [p_1; 1] = 0 between the image points p_1 in the first image and p_2 in second image, then any of the tuples [R_1, t], [R_1, -t], [R_2, t], [R_2, -t] is a change of basis from the first camera's coordinate system to the second camera's coordinate system. However, by decomposing E, one can only get the direction of the translation. For this reason, the translation t is returned with unit length.

decomposeEssentialMat

@Namespace(value="cv")
public static void decomposeEssentialMat(@ByVal
                                                                UMat E,
                                                                @ByVal
                                                                UMat R1,
                                                                @ByVal
                                                                UMat R2,
                                                                @ByVal
                                                                UMat t)

decomposeEssentialMat

@Namespace(value="cv")
public static void decomposeEssentialMat(@ByVal
                                                                GpuMat E,
                                                                @ByVal
                                                                GpuMat R1,
                                                                @ByVal
                                                                GpuMat R2,
                                                                @ByVal
                                                                GpuMat t)

recoverPose

@Namespace(value="cv")
public static int recoverPose(@ByVal
                                                     Mat E,
                                                     @ByVal
                                                     Mat points1,
                                                     @ByVal
                                                     Mat points2,
                                                     @ByVal
                                                     Mat cameraMatrix,
                                                     @ByVal
                                                     Mat R,
                                                     @ByVal
                                                     Mat t,
                                                     @ByVal(nullValue="cv::InputOutputArray(cv::noArray())")
                                                     Mat mask)

\brief Recovers the relative camera rotation and the translation from an estimated essential matrix and the corresponding points in two images, using cheirality check. Returns the number of inliers that pass the check.

Parameters:

E - The input essential matrix.

points1 - Array of N 2D points from the first image. The point coordinates should be floating-point (single or double precision).

points2 - Array of the second image points of the same size and format as points1 .

cameraMatrix - Camera intrinsic matrix \cameramatrix{A} . Note that this function assumes that points1 and points2 are feature points from cameras with the same camera intrinsic matrix.

R - Output rotation matrix. Together with the translation vector, this matrix makes up a tuple that performs a change of basis from the first camera's coordinate system to the second camera's coordinate system. Note that, in general, t can not be used for this tuple, see the parameter described below.

t - Output translation vector. This vector is obtained by \ref decomposeEssentialMat and therefore is only known up to scale, i.e. t is the direction of the translation vector and has unit length.

mask - Input/output mask for inliers in points1 and points2. If it is not empty, then it marks inliers in points1 and points2 for then given essential matrix E. Only these inliers will be used to recover pose. In the output mask only inliers which pass the cheirality check.

This function decomposes an essential matrix using \ref decomposeEssentialMat and then verifies possible pose hypotheses by doing cheirality check. The cheirality check means that the triangulated 3D points should have positive depth. Some details can be found in \cite Nister03.

This function can be used to process the output E and mask from \ref findEssentialMat. In this scenario, points1 and points2 are the same input for #findEssentialMat :


    // Example. Estimation of fundamental matrix using the RANSAC algorithm
    int point_count = 100;
    vector<Point2f> points1(point_count);
    vector<Point2f> points2(point_count);

    // initialize the points here ...
    for( int i = 0; i < point_count; i++ )
    {
        points1[i] = ...;
        points2[i] = ...;
    }

    // cametra matrix with both focal lengths = 1, and principal point = (0, 0)
    Mat cameraMatrix = Mat::eye(3, 3, CV_64F);

    Mat E, R, t, mask;

    E = findEssentialMat(points1, points2, cameraMatrix, RANSAC, 0.999, 1.0, mask);
    recoverPose(E, points1, points2, cameraMatrix, R, t, mask);

recoverPose

@Namespace(value="cv")
public static int recoverPose(@ByVal
                                                     Mat E,
                                                     @ByVal
                                                     Mat points1,
                                                     @ByVal
                                                     Mat points2,
                                                     @ByVal
                                                     Mat cameraMatrix,
                                                     @ByVal
                                                     Mat R,
                                                     @ByVal
                                                     Mat t)

recoverPose

@Namespace(value="cv")
public static int recoverPose(@ByVal
                                                     UMat E,
                                                     @ByVal
                                                     UMat points1,
                                                     @ByVal
                                                     UMat points2,
                                                     @ByVal
                                                     UMat cameraMatrix,
                                                     @ByVal
                                                     UMat R,
                                                     @ByVal
                                                     UMat t,
                                                     @ByVal(nullValue="cv::InputOutputArray(cv::noArray())")
                                                     UMat mask)

recoverPose

@Namespace(value="cv")
public static int recoverPose(@ByVal
                                                     UMat E,
                                                     @ByVal
                                                     UMat points1,
                                                     @ByVal
                                                     UMat points2,
                                                     @ByVal
                                                     UMat cameraMatrix,
                                                     @ByVal
                                                     UMat R,
                                                     @ByVal
                                                     UMat t)

recoverPose

@Namespace(value="cv")
public static int recoverPose(@ByVal
                                                     GpuMat E,
                                                     @ByVal
                                                     GpuMat points1,
                                                     @ByVal
                                                     GpuMat points2,
                                                     @ByVal
                                                     GpuMat cameraMatrix,
                                                     @ByVal
                                                     GpuMat R,
                                                     @ByVal
                                                     GpuMat t,
                                                     @ByVal(nullValue="cv::InputOutputArray(cv::noArray())")
                                                     GpuMat mask)

recoverPose

@Namespace(value="cv")
public static int recoverPose(@ByVal
                                                     GpuMat E,
                                                     @ByVal
                                                     GpuMat points1,
                                                     @ByVal
                                                     GpuMat points2,
                                                     @ByVal
                                                     GpuMat cameraMatrix,
                                                     @ByVal
                                                     GpuMat R,
                                                     @ByVal
                                                     GpuMat t)

recoverPose

@Namespace(value="cv")
public static int recoverPose(@ByVal
                                                     Mat E,
                                                     @ByVal
                                                     Mat points1,
                                                     @ByVal
                                                     Mat points2,
                                                     @ByVal
                                                     Mat R,
                                                     @ByVal
                                                     Mat t,
                                                     double focal,
                                                     @ByVal(nullValue="cv::Point2d(0, 0)")
                                                     Point2d pp,
                                                     @ByVal(nullValue="cv::InputOutputArray(cv::noArray())")
                                                     Mat mask)

\overload

Parameters:

E - The input essential matrix.

points1 - Array of N 2D points from the first image. The point coordinates should be floating-point (single or double precision).

points2 - Array of the second image points of the same size and format as points1 .

t - Output translation vector. This vector is obtained by \ref decomposeEssentialMat and therefore is only known up to scale, i.e. t is the direction of the translation vector and has unit length.

focal - Focal length of the camera. Note that this function assumes that points1 and points2 are feature points from cameras with same focal length and principal point.

pp - principal point of the camera.

This function differs from the one above that it computes camera intrinsic matrix from focal length and principal point:

 \[A =
\begin{bmatrix}
f & 0 & x_{pp}  \\
0 & f & y_{pp}  \\
0 & 0 & 1
\end{bmatrix}\]

recoverPose

@Namespace(value="cv")
public static int recoverPose(@ByVal
                                                     Mat E,
                                                     @ByVal
                                                     Mat points1,
                                                     @ByVal
                                                     Mat points2,
                                                     @ByVal
                                                     Mat R,
                                                     @ByVal
                                                     Mat t)

recoverPose

@Namespace(value="cv")
public static int recoverPose(@ByVal
                                                     UMat E,
                                                     @ByVal
                                                     UMat points1,
                                                     @ByVal
                                                     UMat points2,
                                                     @ByVal
                                                     UMat R,
                                                     @ByVal
                                                     UMat t,
                                                     double focal,
                                                     @ByVal(nullValue="cv::Point2d(0, 0)")
                                                     Point2d pp,
                                                     @ByVal(nullValue="cv::InputOutputArray(cv::noArray())")
                                                     UMat mask)

recoverPose

@Namespace(value="cv")
public static int recoverPose(@ByVal
                                                     UMat E,
                                                     @ByVal
                                                     UMat points1,
                                                     @ByVal
                                                     UMat points2,
                                                     @ByVal
                                                     UMat R,
                                                     @ByVal
                                                     UMat t)

recoverPose

@Namespace(value="cv")
public static int recoverPose(@ByVal
                                                     GpuMat E,
                                                     @ByVal
                                                     GpuMat points1,
                                                     @ByVal
                                                     GpuMat points2,
                                                     @ByVal
                                                     GpuMat R,
                                                     @ByVal
                                                     GpuMat t,
                                                     double focal,
                                                     @ByVal(nullValue="cv::Point2d(0, 0)")
                                                     Point2d pp,
                                                     @ByVal(nullValue="cv::InputOutputArray(cv::noArray())")
                                                     GpuMat mask)

recoverPose

@Namespace(value="cv")
public static int recoverPose(@ByVal
                                                     GpuMat E,
                                                     @ByVal
                                                     GpuMat points1,
                                                     @ByVal
                                                     GpuMat points2,
                                                     @ByVal
                                                     GpuMat R,
                                                     @ByVal
                                                     GpuMat t)

recoverPose

@Namespace(value="cv")
public static int recoverPose(@ByVal
                                                     Mat E,
                                                     @ByVal
                                                     Mat points1,
                                                     @ByVal
                                                     Mat points2,
                                                     @ByVal
                                                     Mat cameraMatrix,
                                                     @ByVal
                                                     Mat R,
                                                     @ByVal
                                                     Mat t,
                                                     double distanceThresh,
                                                     @ByVal(nullValue="cv::InputOutputArray(cv::noArray())")
                                                     Mat mask,
                                                     @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                     Mat triangulatedPoints)

\overload

Parameters:: E - The input essential matrix.; points1 - Array of N 2D points from the first image. The point coordinates should be floating-point (single or double precision).; points2 - Array of the second image points of the same size and format as points1.; cameraMatrix - Camera intrinsic matrix \cameramatrix{A} . Note that this function assumes that points1 and points2 are feature points from cameras with the same camera intrinsic matrix.; R - Output rotation matrix. Together with the translation vector, this matrix makes up a tuple that performs a change of basis from the first camera's coordinate system to the second camera's coordinate system. Note that, in general, t can not be used for this tuple, see the parameter description below.; t - Output translation vector. This vector is obtained by \ref decomposeEssentialMat and therefore is only known up to scale, i.e. t is the direction of the translation vector and has unit length.; distanceThresh - threshold distance which is used to filter out far away points (i.e. infinite points).; mask - Input/output mask for inliers in points1 and points2. If it is not empty, then it marks inliers in points1 and points2 for then given essential matrix E. Only these inliers will be used to recover pose. In the output mask only inliers which pass the cheirality check.; triangulatedPoints - 3D points which were reconstructed by triangulation.
This function differs from the one above that it outputs the triangulated 3D point that are used for the cheirality check.

recoverPose

@Namespace(value="cv")
public static int recoverPose(@ByVal
                                                     Mat E,
                                                     @ByVal
                                                     Mat points1,
                                                     @ByVal
                                                     Mat points2,
                                                     @ByVal
                                                     Mat cameraMatrix,
                                                     @ByVal
                                                     Mat R,
                                                     @ByVal
                                                     Mat t,
                                                     double distanceThresh)

recoverPose

@Namespace(value="cv")
public static int recoverPose(@ByVal
                                                     UMat E,
                                                     @ByVal
                                                     UMat points1,
                                                     @ByVal
                                                     UMat points2,
                                                     @ByVal
                                                     UMat cameraMatrix,
                                                     @ByVal
                                                     UMat R,
                                                     @ByVal
                                                     UMat t,
                                                     double distanceThresh,
                                                     @ByVal(nullValue="cv::InputOutputArray(cv::noArray())")
                                                     UMat mask,
                                                     @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                     UMat triangulatedPoints)

recoverPose

@Namespace(value="cv")
public static int recoverPose(@ByVal
                                                     UMat E,
                                                     @ByVal
                                                     UMat points1,
                                                     @ByVal
                                                     UMat points2,
                                                     @ByVal
                                                     UMat cameraMatrix,
                                                     @ByVal
                                                     UMat R,
                                                     @ByVal
                                                     UMat t,
                                                     double distanceThresh)

recoverPose

@Namespace(value="cv")
public static int recoverPose(@ByVal
                                                     GpuMat E,
                                                     @ByVal
                                                     GpuMat points1,
                                                     @ByVal
                                                     GpuMat points2,
                                                     @ByVal
                                                     GpuMat cameraMatrix,
                                                     @ByVal
                                                     GpuMat R,
                                                     @ByVal
                                                     GpuMat t,
                                                     double distanceThresh,
                                                     @ByVal(nullValue="cv::InputOutputArray(cv::noArray())")
                                                     GpuMat mask,
                                                     @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                     GpuMat triangulatedPoints)

recoverPose

@Namespace(value="cv")
public static int recoverPose(@ByVal
                                                     GpuMat E,
                                                     @ByVal
                                                     GpuMat points1,
                                                     @ByVal
                                                     GpuMat points2,
                                                     @ByVal
                                                     GpuMat cameraMatrix,
                                                     @ByVal
                                                     GpuMat R,
                                                     @ByVal
                                                     GpuMat t,
                                                     double distanceThresh)

computeCorrespondEpilines
```
@Namespace(value="cv")
public static void computeCorrespondEpilines(@ByVal
                                                                    Mat points,
                                                                    int whichImage,
                                                                    @ByVal
                                                                    Mat F,
                                                                    @ByVal
                                                                    Mat lines)
```
\brief For points in an image of a stereo pair, computes the corresponding epilines in the other image.
Parameters:

points - Input points. N \times 1 or 1 \times N matrix of type CV_32FC2 or vector\ .

whichImage - Index of the image (1 or 2) that contains the points .

F - Fundamental matrix that can be estimated using #findFundamentalMat or #stereoRectify .
lines - Output vector of the epipolar lines corresponding to the points in the other image. Each line ax + by + c=0 is encoded by 3 numbers (a, b, c) .
For every point in one of the two images of a stereo pair, the function finds the equation of the corresponding epipolar line in the other image.
From the fundamental matrix definition (see #findFundamentalMat ), line l^{(2)}_i in the second image for the point p^{(1)}_i in the first image (when whichImage=1 ) is computed as:
```
 \[l^{(2)}_i = F p^{(1)}_i\]
```
And vice versa, when whichImage=2, l^{(1)}_i is computed from p^{(2)}_i as:
```
 \[l^{(1)}_i = F^T p^{(2)}_i\]
```
Line coefficients are defined up to a scale. They are normalized so that a_i^2+b_i^2=1 .

computeCorrespondEpilines

@Namespace(value="cv")
public static void computeCorrespondEpilines(@ByVal
                                                                    UMat points,
                                                                    int whichImage,
                                                                    @ByVal
                                                                    UMat F,
                                                                    @ByVal
                                                                    UMat lines)

computeCorrespondEpilines

@Namespace(value="cv")
public static void computeCorrespondEpilines(@ByVal
                                                                    GpuMat points,
                                                                    int whichImage,
                                                                    @ByVal
                                                                    GpuMat F,
                                                                    @ByVal
                                                                    GpuMat lines)

triangulatePoints

@Namespace(value="cv")
public static void triangulatePoints(@ByVal
                                                            Mat projMatr1,
                                                            @ByVal
                                                            Mat projMatr2,
                                                            @ByVal
                                                            Mat projPoints1,
                                                            @ByVal
                                                            Mat projPoints2,
                                                            @ByVal
                                                            Mat points4D)

\brief This function reconstructs 3-dimensional points (in homogeneous coordinates) by using their observations with a stereo camera.

Parameters:

projMatr1 - 3x4 projection matrix of the first camera, i.e. this matrix projects 3D points given in the world's coordinate system into the first image.

projMatr2 - 3x4 projection matrix of the second camera, i.e. this matrix projects 3D points given in the world's coordinate system into the second image.

projPoints1 - 2xN array of feature points in the first image. In the case of the c++ version, it can be also a vector of feature points or two-channel matrix of size 1xN or Nx1.

projPoints2 - 2xN array of corresponding points in the second image. In the case of the c++ version, it can be also a vector of feature points or two-channel matrix of size 1xN or Nx1.

points4D - 4xN array of reconstructed points in homogeneous coordinates. These points are returned in the world's coordinate system.

\note Keep in mind that all input data should be of float type in order for this function to work.

\note If the projection matrices from \ref stereoRectify are used, then the returned points are represented in the first camera's rectified coordinate system.

See Also:

reprojectImageTo3D

triangulatePoints

@Namespace(value="cv")
public static void triangulatePoints(@ByVal
                                                            UMat projMatr1,
                                                            @ByVal
                                                            UMat projMatr2,
                                                            @ByVal
                                                            UMat projPoints1,
                                                            @ByVal
                                                            UMat projPoints2,
                                                            @ByVal
                                                            UMat points4D)

triangulatePoints

@Namespace(value="cv")
public static void triangulatePoints(@ByVal
                                                            GpuMat projMatr1,
                                                            @ByVal
                                                            GpuMat projMatr2,
                                                            @ByVal
                                                            GpuMat projPoints1,
                                                            @ByVal
                                                            GpuMat projPoints2,
                                                            @ByVal
                                                            GpuMat points4D)

correctMatches

@Namespace(value="cv")
public static void correctMatches(@ByVal
                                                         Mat F,
                                                         @ByVal
                                                         Mat points1,
                                                         @ByVal
                                                         Mat points2,
                                                         @ByVal
                                                         Mat newPoints1,
                                                         @ByVal
                                                         Mat newPoints2)

\brief Refines coordinates of corresponding points.

Parameters:: F - 3x3 fundamental matrix.; points1 - 1xN array containing the first set of points.; points2 - 1xN array containing the second set of points.; newPoints1 - The optimized points1.; newPoints2 - The optimized points2.
The function implements the Optimal Triangulation Method (see Multiple View Geometry for details). For each given point correspondence points1[i] \<-\> points2[i], and a fundamental matrix F, it computes the corrected correspondences newPoints1[i] \<-\> newPoints2[i] that minimize the geometric error d(points1[i], newPoints1[i])^2 + d(points2[i],newPoints2[i])^2 (where d(a,b) is the geometric distance between points a and b ) subject to the epipolar constraint newPoints2^T * F * newPoints1 = 0 .

correctMatches

@Namespace(value="cv")
public static void correctMatches(@ByVal
                                                         UMat F,
                                                         @ByVal
                                                         UMat points1,
                                                         @ByVal
                                                         UMat points2,
                                                         @ByVal
                                                         UMat newPoints1,
                                                         @ByVal
                                                         UMat newPoints2)

correctMatches

@Namespace(value="cv")
public static void correctMatches(@ByVal
                                                         GpuMat F,
                                                         @ByVal
                                                         GpuMat points1,
                                                         @ByVal
                                                         GpuMat points2,
                                                         @ByVal
                                                         GpuMat newPoints1,
                                                         @ByVal
                                                         GpuMat newPoints2)

filterSpeckles

@Namespace(value="cv")
public static void filterSpeckles(@ByVal
                                                         Mat img,
                                                         double newVal,
                                                         int maxSpeckleSize,
                                                         double maxDiff,
                                                         @ByVal(nullValue="cv::InputOutputArray(cv::noArray())")
                                                         Mat buf)

\brief Filters off small noise blobs (speckles) in the disparity map

Parameters:: img - The input 16-bit signed disparity image; newVal - The disparity value used to paint-off the speckles; maxSpeckleSize - The maximum speckle size to consider it a speckle. Larger blobs are not affected by the algorithm; maxDiff - Maximum difference between neighbor disparity pixels to put them into the same blob. Note that since StereoBM, StereoSGBM and may be other algorithms return a fixed-point disparity map, where disparity values are multiplied by 16, this scale factor should be taken into account when specifying this parameter value.; buf - The optional temporary buffer to avoid memory allocation within the function.

filterSpeckles

@Namespace(value="cv")
public static void filterSpeckles(@ByVal
                                                         Mat img,
                                                         double newVal,
                                                         int maxSpeckleSize,
                                                         double maxDiff)

filterSpeckles

@Namespace(value="cv")
public static void filterSpeckles(@ByVal
                                                         UMat img,
                                                         double newVal,
                                                         int maxSpeckleSize,
                                                         double maxDiff,
                                                         @ByVal(nullValue="cv::InputOutputArray(cv::noArray())")
                                                         UMat buf)

filterSpeckles

@Namespace(value="cv")
public static void filterSpeckles(@ByVal
                                                         UMat img,
                                                         double newVal,
                                                         int maxSpeckleSize,
                                                         double maxDiff)

filterSpeckles

@Namespace(value="cv")
public static void filterSpeckles(@ByVal
                                                         GpuMat img,
                                                         double newVal,
                                                         int maxSpeckleSize,
                                                         double maxDiff,
                                                         @ByVal(nullValue="cv::InputOutputArray(cv::noArray())")
                                                         GpuMat buf)

filterSpeckles

@Namespace(value="cv")
public static void filterSpeckles(@ByVal
                                                         GpuMat img,
                                                         double newVal,
                                                         int maxSpeckleSize,
                                                         double maxDiff)

getValidDisparityROI

@Namespace(value="cv")
 @ByVal
public static Rect getValidDisparityROI(@ByVal
                                                                       Rect roi1,
                                                                       @ByVal
                                                                       Rect roi2,
                                                                       int minDisparity,
                                                                       int numberOfDisparities,
                                                                       int blockSize)

computes valid disparity ROI from the valid ROIs of the rectified images (that are returned by #stereoRectify)

validateDisparity

@Namespace(value="cv")
public static void validateDisparity(@ByVal
                                                            Mat disparity,
                                                            @ByVal
                                                            Mat cost,
                                                            int minDisparity,
                                                            int numberOfDisparities,
                                                            int disp12MaxDisp)

validates disparity using the left-right check. The matrix "cost" should be computed by the stereo correspondence algorithm

validateDisparity

@Namespace(value="cv")
public static void validateDisparity(@ByVal
                                                            Mat disparity,
                                                            @ByVal
                                                            Mat cost,
                                                            int minDisparity,
                                                            int numberOfDisparities)

validateDisparity

@Namespace(value="cv")
public static void validateDisparity(@ByVal
                                                            UMat disparity,
                                                            @ByVal
                                                            UMat cost,
                                                            int minDisparity,
                                                            int numberOfDisparities,
                                                            int disp12MaxDisp)

validateDisparity

@Namespace(value="cv")
public static void validateDisparity(@ByVal
                                                            UMat disparity,
                                                            @ByVal
                                                            UMat cost,
                                                            int minDisparity,
                                                            int numberOfDisparities)

validateDisparity

@Namespace(value="cv")
public static void validateDisparity(@ByVal
                                                            GpuMat disparity,
                                                            @ByVal
                                                            GpuMat cost,
                                                            int minDisparity,
                                                            int numberOfDisparities,
                                                            int disp12MaxDisp)

validateDisparity

@Namespace(value="cv")
public static void validateDisparity(@ByVal
                                                            GpuMat disparity,
                                                            @ByVal
                                                            GpuMat cost,
                                                            int minDisparity,
                                                            int numberOfDisparities)

reprojectImageTo3D
```
@Namespace(value="cv")
public static void reprojectImageTo3D(@ByVal
                                                             Mat disparity,
                                                             @ByVal
                                                             Mat _3dImage,
                                                             @ByVal
                                                             Mat Q,
                                                             @Cast(value="bool")
                                                             boolean handleMissingValues,
                                                             int ddepth)
```
\brief Reprojects a disparity image to 3D space.
Parameters:

disparity - Input single-channel 8-bit unsigned, 16-bit signed, 32-bit signed or 32-bit floating-point disparity image. The values of 8-bit / 16-bit signed formats are assumed to have no fractional bits. If the disparity is 16-bit signed format, as computed by \ref StereoBM or \ref StereoSGBM and maybe other algorithms, it should be divided by 16 (and scaled to float) before being used here.

_3dImage - Output 3-channel floating-point image of the same size as disparity. Each element of _3dImage(x,y) contains 3D coordinates of the point (x,y) computed from the disparity map. If one uses Q obtained by \ref stereoRectify, then the returned points are represented in the first camera's rectified coordinate system.

Q - 4 \times 4 perspective transformation matrix that can be obtained with \ref stereoRectify.

handleMissingValues - Indicates, whether the function should handle missing values (i.e. points where the disparity was not computed). If handleMissingValues=true, then pixels with the minimal disparity that corresponds to the outliers (see StereoMatcher::compute ) are transformed to 3D points with a very large Z value (currently set to 10000).
ddepth - The optional output array depth. If it is -1, the output image will have CV_32F depth. ddepth can also be set to CV_16S, CV_32S or CV_32F.
The function transforms a single-channel disparity map to a 3-channel image representing a 3D surface. That is, for each pixel (x,y) and the corresponding disparity d=disparity(x,y) , it computes:
```
 \[\begin{bmatrix}
X \\
Y \\
Z \\
W
\end{bmatrix} = Q \begin{bmatrix}
x \\
y \\
\texttt{disparity} (x,y) \\
z
\end{bmatrix}.\]
```
See Also:

reproject a sparse set of points {(x,y,d),...} to 3D space, use perspectiveTransform.

reprojectImageTo3D

@Namespace(value="cv")
public static void reprojectImageTo3D(@ByVal
                                                             Mat disparity,
                                                             @ByVal
                                                             Mat _3dImage,
                                                             @ByVal
                                                             Mat Q)

reprojectImageTo3D

@Namespace(value="cv")
public static void reprojectImageTo3D(@ByVal
                                                             UMat disparity,
                                                             @ByVal
                                                             UMat _3dImage,
                                                             @ByVal
                                                             UMat Q,
                                                             @Cast(value="bool")
                                                             boolean handleMissingValues,
                                                             int ddepth)

reprojectImageTo3D

@Namespace(value="cv")
public static void reprojectImageTo3D(@ByVal
                                                             UMat disparity,
                                                             @ByVal
                                                             UMat _3dImage,
                                                             @ByVal
                                                             UMat Q)

reprojectImageTo3D

@Namespace(value="cv")
public static void reprojectImageTo3D(@ByVal
                                                             GpuMat disparity,
                                                             @ByVal
                                                             GpuMat _3dImage,
                                                             @ByVal
                                                             GpuMat Q,
                                                             @Cast(value="bool")
                                                             boolean handleMissingValues,
                                                             int ddepth)

reprojectImageTo3D

@Namespace(value="cv")
public static void reprojectImageTo3D(@ByVal
                                                             GpuMat disparity,
                                                             @ByVal
                                                             GpuMat _3dImage,
                                                             @ByVal
                                                             GpuMat Q)

sampsonDistance

@Namespace(value="cv")
public static double sampsonDistance(@ByVal
                                                            Mat pt1,
                                                            @ByVal
                                                            Mat pt2,
                                                            @ByVal
                                                            Mat F)

\brief Calculates the Sampson Distance between two points.

The function cv::sampsonDistance calculates and returns the first order approximation of the geometric error as:

 \[
sd( \texttt{pt1} , \texttt{pt2} )=
\frac{(\texttt{pt2}^t \cdot \texttt{F} \cdot \texttt{pt1})^2}
{((\texttt{F} \cdot \texttt{pt1})(0))^2 +
((\texttt{F} \cdot \texttt{pt1})(1))^2 +
((\texttt{F}^t \cdot \texttt{pt2})(0))^2 +
((\texttt{F}^t \cdot \texttt{pt2})(1))^2}
\]

The fundamental matrix may be calculated using the #findFundamentalMat function. See \cite HartleyZ00 11.4.3 for details.

Parameters:: pt1 - first homogeneous 2d point; pt2 - second homogeneous 2d point; F - fundamental matrix
Returns:: The computed Sampson distance.

sampsonDistance

@Namespace(value="cv")
public static double sampsonDistance(@ByVal
                                                            UMat pt1,
                                                            @ByVal
                                                            UMat pt2,
                                                            @ByVal
                                                            UMat F)

sampsonDistance

@Namespace(value="cv")
public static double sampsonDistance(@ByVal
                                                            GpuMat pt1,
                                                            @ByVal
                                                            GpuMat pt2,
                                                            @ByVal
                                                            GpuMat F)

estimateAffine3D

@Namespace(value="cv")
public static int estimateAffine3D(@ByVal
                                                          Mat src,
                                                          @ByVal
                                                          Mat dst,
                                                          @ByVal
                                                          Mat out,
                                                          @ByVal
                                                          Mat inliers,
                                                          double ransacThreshold,
                                                          double confidence)

\brief Computes an optimal affine transformation between two 3D point sets.

It computes

 \[
\begin{bmatrix}
x\\
y\\
z\\
\end{bmatrix}
=
\begin{bmatrix}
a_{11} & a_{12} & a_{13}\\
a_{21} & a_{22} & a_{23}\\
a_{31} & a_{32} & a_{33}\\
\end{bmatrix}
\begin{bmatrix}
X\\
Y\\
Z\\
\end{bmatrix}
+
\begin{bmatrix}
b_1\\
b_2\\
b_3\\
\end{bmatrix}
\]

Parameters:

src - First input 3D point set containing (X,Y,Z).

dst - Second input 3D point set containing (x,y,z).

out - Output 3D affine transformation matrix 3 \times 4 of the form

 \[
\begin{bmatrix}
a_{11} & a_{12} & a_{13} & b_1\\
a_{21} & a_{22} & a_{23} & b_2\\
a_{31} & a_{32} & a_{33} & b_3\\
\end{bmatrix}
\]

inliers - Output vector indicating which points are inliers (1-inlier, 0-outlier).

ransacThreshold - Maximum reprojection error in the RANSAC algorithm to consider a point as an inlier.

confidence - Confidence level, between 0 and 1, for the estimated transformation. Anything between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.

The function estimates an optimal 3D affine transformation between two 3D point sets using the RANSAC algorithm.

estimateAffine3D

@Namespace(value="cv")
public static int estimateAffine3D(@ByVal
                                                          Mat src,
                                                          @ByVal
                                                          Mat dst,
                                                          @ByVal
                                                          Mat out,
                                                          @ByVal
                                                          Mat inliers)

estimateAffine3D

@Namespace(value="cv")
public static int estimateAffine3D(@ByVal
                                                          UMat src,
                                                          @ByVal
                                                          UMat dst,
                                                          @ByVal
                                                          UMat out,
                                                          @ByVal
                                                          UMat inliers,
                                                          double ransacThreshold,
                                                          double confidence)

estimateAffine3D

@Namespace(value="cv")
public static int estimateAffine3D(@ByVal
                                                          UMat src,
                                                          @ByVal
                                                          UMat dst,
                                                          @ByVal
                                                          UMat out,
                                                          @ByVal
                                                          UMat inliers)

estimateAffine3D

@Namespace(value="cv")
public static int estimateAffine3D(@ByVal
                                                          GpuMat src,
                                                          @ByVal
                                                          GpuMat dst,
                                                          @ByVal
                                                          GpuMat out,
                                                          @ByVal
                                                          GpuMat inliers,
                                                          double ransacThreshold,
                                                          double confidence)

estimateAffine3D

@Namespace(value="cv")
public static int estimateAffine3D(@ByVal
                                                          GpuMat src,
                                                          @ByVal
                                                          GpuMat dst,
                                                          @ByVal
                                                          GpuMat out,
                                                          @ByVal
                                                          GpuMat inliers)

estimateAffine3D
```
@Namespace(value="cv")
 @ByVal
public static Mat estimateAffine3D(@ByVal
                                                                  Mat src,
                                                                  @ByVal
                                                                  Mat dst,
                                                                  DoublePointer scale,
                                                                  @Cast(value="bool")
                                                                  boolean force_rotation)
```
\brief Computes an optimal affine transformation between two 3D point sets.
It computes R,s,t minimizing \sum{i} dst_i - c \cdot R \cdot src_i where R is a 3x3 rotation matrix, t is a 3x1 translation vector and s is a scalar size value. This is an implementation of the algorithm by Umeyama \cite umeyama1991least . The estimated affine transform has a homogeneous scale which is a subclass of affine transformations with 7 degrees of freedom. The paired point sets need to comprise at least 3 points each.
Parameters:

src - First input 3D point set.

dst - Second input 3D point set.

scale - If null is passed, the scale parameter c will be assumed to be 1.0. Else the pointed-to variable will be set to the optimal scale.

force_rotation - If true, the returned rotation will never be a reflection. This might be unwanted, e.g. when optimizing a transform between a right- and a left-handed coordinate system.

Returns:
3D affine transformation matrix 3 \times 4 of the form
```
 \[T =
\begin{bmatrix}
R & t\\
\end{bmatrix}
\]
```

estimateAffine3D

@Namespace(value="cv")
 @ByVal
public static Mat estimateAffine3D(@ByVal
                                                                  Mat src,
                                                                  @ByVal
                                                                  Mat dst)

estimateAffine3D

@Namespace(value="cv")
 @ByVal
public static Mat estimateAffine3D(@ByVal
                                                                  Mat src,
                                                                  @ByVal
                                                                  Mat dst,
                                                                  DoubleBuffer scale,
                                                                  @Cast(value="bool")
                                                                  boolean force_rotation)

estimateAffine3D

@Namespace(value="cv")
 @ByVal
public static Mat estimateAffine3D(@ByVal
                                                                  Mat src,
                                                                  @ByVal
                                                                  Mat dst,
                                                                  double[] scale,
                                                                  @Cast(value="bool")
                                                                  boolean force_rotation)

estimateAffine3D

@Namespace(value="cv")
 @ByVal
public static Mat estimateAffine3D(@ByVal
                                                                  UMat src,
                                                                  @ByVal
                                                                  UMat dst,
                                                                  DoublePointer scale,
                                                                  @Cast(value="bool")
                                                                  boolean force_rotation)

estimateAffine3D

@Namespace(value="cv")
 @ByVal
public static Mat estimateAffine3D(@ByVal
                                                                  UMat src,
                                                                  @ByVal
                                                                  UMat dst)

estimateAffine3D

@Namespace(value="cv")
 @ByVal
public static Mat estimateAffine3D(@ByVal
                                                                  UMat src,
                                                                  @ByVal
                                                                  UMat dst,
                                                                  DoubleBuffer scale,
                                                                  @Cast(value="bool")
                                                                  boolean force_rotation)

estimateAffine3D

@Namespace(value="cv")
 @ByVal
public static Mat estimateAffine3D(@ByVal
                                                                  UMat src,
                                                                  @ByVal
                                                                  UMat dst,
                                                                  double[] scale,
                                                                  @Cast(value="bool")
                                                                  boolean force_rotation)

estimateAffine3D

@Namespace(value="cv")
 @ByVal
public static Mat estimateAffine3D(@ByVal
                                                                  GpuMat src,
                                                                  @ByVal
                                                                  GpuMat dst,
                                                                  DoublePointer scale,
                                                                  @Cast(value="bool")
                                                                  boolean force_rotation)

estimateAffine3D

@Namespace(value="cv")
 @ByVal
public static Mat estimateAffine3D(@ByVal
                                                                  GpuMat src,
                                                                  @ByVal
                                                                  GpuMat dst)

estimateAffine3D

@Namespace(value="cv")
 @ByVal
public static Mat estimateAffine3D(@ByVal
                                                                  GpuMat src,
                                                                  @ByVal
                                                                  GpuMat dst,
                                                                  DoubleBuffer scale,
                                                                  @Cast(value="bool")
                                                                  boolean force_rotation)

estimateAffine3D

@Namespace(value="cv")
 @ByVal
public static Mat estimateAffine3D(@ByVal
                                                                  GpuMat src,
                                                                  @ByVal
                                                                  GpuMat dst,
                                                                  double[] scale,
                                                                  @Cast(value="bool")
                                                                  boolean force_rotation)

estimateTranslation3D

@Namespace(value="cv")
public static int estimateTranslation3D(@ByVal
                                                               Mat src,
                                                               @ByVal
                                                               Mat dst,
                                                               @ByVal
                                                               Mat out,
                                                               @ByVal
                                                               Mat inliers,
                                                               double ransacThreshold,
                                                               double confidence)

\brief Computes an optimal translation between two 3D point sets. It computes

 \[
 \begin{bmatrix}
 x\\
 y\\
 z\\
 \end{bmatrix}
 =
 \begin{bmatrix}
 X\\
 Y\\
 Z\\
 \end{bmatrix}
 +
 \begin{bmatrix}
 b_1\\
 b_2\\
 b_3\\
 \end{bmatrix}
 \]

Parameters:

src - First input 3D point set containing (X,Y,Z).

dst - Second input 3D point set containing (x,y,z).

out - Output 3D translation vector 3 \times 1 of the form

 \[
 \begin{bmatrix}
 b_1 \\
 b_2 \\
 b_3 \\
 \end{bmatrix}
 \]

inliers - Output vector indicating which points are inliers (1-inlier, 0-outlier).

ransacThreshold - Maximum reprojection error in the RANSAC algorithm to consider a point as an inlier.

estimateTranslation3D

@Namespace(value="cv")
public static int estimateTranslation3D(@ByVal
                                                               Mat src,
                                                               @ByVal
                                                               Mat dst,
                                                               @ByVal
                                                               Mat out,
                                                               @ByVal
                                                               Mat inliers)

estimateTranslation3D

@Namespace(value="cv")
public static int estimateTranslation3D(@ByVal
                                                               UMat src,
                                                               @ByVal
                                                               UMat dst,
                                                               @ByVal
                                                               UMat out,
                                                               @ByVal
                                                               UMat inliers,
                                                               double ransacThreshold,
                                                               double confidence)

estimateTranslation3D

@Namespace(value="cv")
public static int estimateTranslation3D(@ByVal
                                                               UMat src,
                                                               @ByVal
                                                               UMat dst,
                                                               @ByVal
                                                               UMat out,
                                                               @ByVal
                                                               UMat inliers)

estimateTranslation3D

@Namespace(value="cv")
public static int estimateTranslation3D(@ByVal
                                                               GpuMat src,
                                                               @ByVal
                                                               GpuMat dst,
                                                               @ByVal
                                                               GpuMat out,
                                                               @ByVal
                                                               GpuMat inliers,
                                                               double ransacThreshold,
                                                               double confidence)

estimateTranslation3D

@Namespace(value="cv")
public static int estimateTranslation3D(@ByVal
                                                               GpuMat src,
                                                               @ByVal
                                                               GpuMat dst,
                                                               @ByVal
                                                               GpuMat out,
                                                               @ByVal
                                                               GpuMat inliers)

estimateAffine2D

@Namespace(value="cv")
 @ByVal
public static Mat estimateAffine2D(@ByVal
                                                                  Mat from,
                                                                  @ByVal
                                                                  Mat to,
                                                                  @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                  Mat inliers,
                                                                  int method,
                                                                  double ransacReprojThreshold,
                                                                  @Cast(value="size_t")
                                                                  long maxIters,
                                                                  double confidence,
                                                                  @Cast(value="size_t")
                                                                  long refineIters)

\brief Computes an optimal affine transformation between two 2D point sets.

It computes

 \[
\begin{bmatrix}
x\\
y\\
\end{bmatrix}
=
\begin{bmatrix}
a_{11} & a_{12}\\
a_{21} & a_{22}\\
\end{bmatrix}
\begin{bmatrix}
X\\
Y\\
\end{bmatrix}
+
\begin{bmatrix}
b_1\\
b_2\\
\end{bmatrix}
\]

Parameters:

from - First input 2D point set containing (X,Y).

to - Second input 2D point set containing (x,y).

inliers - Output vector indicating which points are inliers (1-inlier, 0-outlier).

method - Robust method used to compute transformation. The following methods are possible: - \ref RANSAC - RANSAC-based robust method - \ref LMEDS - Least-Median robust method RANSAC is the default method.

ransacReprojThreshold - Maximum reprojection error in the RANSAC algorithm to consider a point as an inlier. Applies only to RANSAC.

maxIters - The maximum number of robust method iterations.

refineIters - Maximum number of iterations of refining algorithm (Levenberg-Marquardt). Passing 0 will disable refining, so the output matrix will be output of robust method.

Returns:

Output 2D affine transformation matrix 2 \times 3 or empty matrix if transformation could not be estimated. The returned matrix has the following form:

 \[
\begin{bmatrix}
a_{11} & a_{12} & b_1\\
a_{21} & a_{22} & b_2\\
\end{bmatrix}
\]

The function estimates an optimal 2D affine transformation between two 2D point sets using the selected robust algorithm.

The computed transformation is then refined further (using only inliers) with the Levenberg-Marquardt method to reduce the re-projection error even more.

\note The RANSAC method can handle practically any ratio of outliers but needs a threshold to distinguish inliers from outliers. The method LMeDS does not need any threshold but it works correctly only when there are more than 50% of inliers.

See Also:

estimateAffinePartial2D, getAffineTransform

estimateAffine2D

@Namespace(value="cv")
 @ByVal
public static Mat estimateAffine2D(@ByVal
                                                                  Mat from,
                                                                  @ByVal
                                                                  Mat to)

estimateAffine2D

@Namespace(value="cv")
 @ByVal
public static Mat estimateAffine2D(@ByVal
                                                                  UMat from,
                                                                  @ByVal
                                                                  UMat to,
                                                                  @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                  UMat inliers,
                                                                  int method,
                                                                  double ransacReprojThreshold,
                                                                  @Cast(value="size_t")
                                                                  long maxIters,
                                                                  double confidence,
                                                                  @Cast(value="size_t")
                                                                  long refineIters)

estimateAffine2D

@Namespace(value="cv")
 @ByVal
public static Mat estimateAffine2D(@ByVal
                                                                  UMat from,
                                                                  @ByVal
                                                                  UMat to)

estimateAffine2D

@Namespace(value="cv")
 @ByVal
public static Mat estimateAffine2D(@ByVal
                                                                  GpuMat from,
                                                                  @ByVal
                                                                  GpuMat to,
                                                                  @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                  GpuMat inliers,
                                                                  int method,
                                                                  double ransacReprojThreshold,
                                                                  @Cast(value="size_t")
                                                                  long maxIters,
                                                                  double confidence,
                                                                  @Cast(value="size_t")
                                                                  long refineIters)

estimateAffine2D

@Namespace(value="cv")
 @ByVal
public static Mat estimateAffine2D(@ByVal
                                                                  GpuMat from,
                                                                  @ByVal
                                                                  GpuMat to)

estimateAffine2D

@Namespace(value="cv")
 @ByVal
public static Mat estimateAffine2D(@ByVal
                                                                  Mat pts1,
                                                                  @ByVal
                                                                  Mat pts2,
                                                                  @ByVal
                                                                  Mat inliers,
                                                                  @Const @ByRef
                                                                  UsacParams params)

estimateAffine2D

@Namespace(value="cv")
 @ByVal
public static Mat estimateAffine2D(@ByVal
                                                                  UMat pts1,
                                                                  @ByVal
                                                                  UMat pts2,
                                                                  @ByVal
                                                                  UMat inliers,
                                                                  @Const @ByRef
                                                                  UsacParams params)

estimateAffine2D

@Namespace(value="cv")
 @ByVal
public static Mat estimateAffine2D(@ByVal
                                                                  GpuMat pts1,
                                                                  @ByVal
                                                                  GpuMat pts2,
                                                                  @ByVal
                                                                  GpuMat inliers,
                                                                  @Const @ByRef
                                                                  UsacParams params)

estimateAffinePartial2D
```
@Namespace(value="cv")
 @ByVal
public static Mat estimateAffinePartial2D(@ByVal
                                                                         Mat from,
                                                                         @ByVal
                                                                         Mat to,
                                                                         @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                         Mat inliers,
                                                                         int method,
                                                                         double ransacReprojThreshold,
                                                                         @Cast(value="size_t")
                                                                         long maxIters,
                                                                         double confidence,
                                                                         @Cast(value="size_t")
                                                                         long refineIters)
```
\brief Computes an optimal limited affine transformation with 4 degrees of freedom between two 2D point sets.
Parameters:

from - First input 2D point set.

to - Second input 2D point set.

inliers - Output vector indicating which points are inliers.

method - Robust method used to compute transformation. The following methods are possible: - \ref RANSAC - RANSAC-based robust method - \ref LMEDS - Least-Median robust method RANSAC is the default method.

ransacReprojThreshold - Maximum reprojection error in the RANSAC algorithm to consider a point as an inlier. Applies only to RANSAC.

maxIters - The maximum number of robust method iterations.

confidence - Confidence level, between 0 and 1, for the estimated transformation. Anything between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.

refineIters - Maximum number of iterations of refining algorithm (Levenberg-Marquardt). Passing 0 will disable refining, so the output matrix will be output of robust method.

Returns:
Output 2D affine transformation (4 degrees of freedom) matrix 2 \times 3 or empty matrix if transformation could not be estimated.
The function estimates an optimal 2D affine transformation with 4 degrees of freedom limited to combinations of translation, rotation, and uniform scaling. Uses the selected algorithm for robust estimation.
The computed transformation is then refined further (using only inliers) with the Levenberg-Marquardt method to reduce the re-projection error even more.
Estimated transformation matrix is:
```
 \[ \begin{bmatrix} \cos(\theta) \cdot s & -\sin(\theta) \cdot s & t_x \\
                \sin(\theta) \cdot s & \cos(\theta) \cdot s & t_y
\end{bmatrix} \]
```
Where \theta is the rotation angle, s the scaling factor and t_x, t_y are translations in x, y axes respectively.
\note The RANSAC method can handle practically any ratio of outliers but need a threshold to distinguish inliers from outliers. The method LMeDS does not need any threshold but it works correctly only when there are more than 50% of inliers.
See Also:

estimateAffine2D, getAffineTransform

estimateAffinePartial2D

@Namespace(value="cv")
 @ByVal
public static Mat estimateAffinePartial2D(@ByVal
                                                                         Mat from,
                                                                         @ByVal
                                                                         Mat to)

estimateAffinePartial2D

@Namespace(value="cv")
 @ByVal
public static Mat estimateAffinePartial2D(@ByVal
                                                                         UMat from,
                                                                         @ByVal
                                                                         UMat to,
                                                                         @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                         UMat inliers,
                                                                         int method,
                                                                         double ransacReprojThreshold,
                                                                         @Cast(value="size_t")
                                                                         long maxIters,
                                                                         double confidence,
                                                                         @Cast(value="size_t")
                                                                         long refineIters)

estimateAffinePartial2D

@Namespace(value="cv")
 @ByVal
public static Mat estimateAffinePartial2D(@ByVal
                                                                         UMat from,
                                                                         @ByVal
                                                                         UMat to)

estimateAffinePartial2D

@Namespace(value="cv")
 @ByVal
public static Mat estimateAffinePartial2D(@ByVal
                                                                         GpuMat from,
                                                                         @ByVal
                                                                         GpuMat to,
                                                                         @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                         GpuMat inliers,
                                                                         int method,
                                                                         double ransacReprojThreshold,
                                                                         @Cast(value="size_t")
                                                                         long maxIters,
                                                                         double confidence,
                                                                         @Cast(value="size_t")
                                                                         long refineIters)

estimateAffinePartial2D

@Namespace(value="cv")
 @ByVal
public static Mat estimateAffinePartial2D(@ByVal
                                                                         GpuMat from,
                                                                         @ByVal
                                                                         GpuMat to)

decomposeHomographyMat

@Namespace(value="cv")
public static int decomposeHomographyMat(@ByVal
                                                                Mat H,
                                                                @ByVal
                                                                Mat K,
                                                                @ByVal
                                                                MatVector rotations,
                                                                @ByVal
                                                                MatVector translations,
                                                                @ByVal
                                                                MatVector normals)

\brief Decompose a homography matrix to rotation(s), translation(s) and plane normal(s).

Parameters:

H - The input homography matrix between two images.

K - The input camera intrinsic matrix.

rotations - Array of rotation matrices.

translations - Array of translation matrices.

normals - Array of plane normal matrices.

This function extracts relative camera motion between two views of a planar object and returns up to four mathematical solution tuples of rotation, translation, and plane normal. The decomposition of the homography matrix H is described in detail in \cite Malis.

If the homography H, induced by the plane, gives the constraint

 \[s_i \vecthree{x'_i}{y'_i}{1} \sim H \vecthree{x_i}{y_i}{1}\]

on the source image points p_i and the destination image points p'_i, then the tuple of rotations[k] and translations[k] is a change of basis from the source camera's coordinate system to the destination camera's coordinate system. However, by decomposing H, one can only get the translation normalized by the (typically unknown) depth of the scene, i.e. its direction but with normalized length.

If point correspondences are available, at least two solutions may further be invalidated, by applying positive depth constraint, i.e. all points must be in front of the camera.

decomposeHomographyMat

@Namespace(value="cv")
public static int decomposeHomographyMat(@ByVal
                                                                Mat H,
                                                                @ByVal
                                                                Mat K,
                                                                @ByVal
                                                                UMatVector rotations,
                                                                @ByVal
                                                                UMatVector translations,
                                                                @ByVal
                                                                UMatVector normals)

decomposeHomographyMat

@Namespace(value="cv")
public static int decomposeHomographyMat(@ByVal
                                                                Mat H,
                                                                @ByVal
                                                                Mat K,
                                                                @ByVal
                                                                GpuMatVector rotations,
                                                                @ByVal
                                                                GpuMatVector translations,
                                                                @ByVal
                                                                GpuMatVector normals)

decomposeHomographyMat

@Namespace(value="cv")
public static int decomposeHomographyMat(@ByVal
                                                                UMat H,
                                                                @ByVal
                                                                UMat K,
                                                                @ByVal
                                                                MatVector rotations,
                                                                @ByVal
                                                                MatVector translations,
                                                                @ByVal
                                                                MatVector normals)

decomposeHomographyMat

@Namespace(value="cv")
public static int decomposeHomographyMat(@ByVal
                                                                UMat H,
                                                                @ByVal
                                                                UMat K,
                                                                @ByVal
                                                                UMatVector rotations,
                                                                @ByVal
                                                                UMatVector translations,
                                                                @ByVal
                                                                UMatVector normals)

decomposeHomographyMat

@Namespace(value="cv")
public static int decomposeHomographyMat(@ByVal
                                                                UMat H,
                                                                @ByVal
                                                                UMat K,
                                                                @ByVal
                                                                GpuMatVector rotations,
                                                                @ByVal
                                                                GpuMatVector translations,
                                                                @ByVal
                                                                GpuMatVector normals)

decomposeHomographyMat

@Namespace(value="cv")
public static int decomposeHomographyMat(@ByVal
                                                                GpuMat H,
                                                                @ByVal
                                                                GpuMat K,
                                                                @ByVal
                                                                MatVector rotations,
                                                                @ByVal
                                                                MatVector translations,
                                                                @ByVal
                                                                MatVector normals)

decomposeHomographyMat

@Namespace(value="cv")
public static int decomposeHomographyMat(@ByVal
                                                                GpuMat H,
                                                                @ByVal
                                                                GpuMat K,
                                                                @ByVal
                                                                UMatVector rotations,
                                                                @ByVal
                                                                UMatVector translations,
                                                                @ByVal
                                                                UMatVector normals)

decomposeHomographyMat

@Namespace(value="cv")
public static int decomposeHomographyMat(@ByVal
                                                                GpuMat H,
                                                                @ByVal
                                                                GpuMat K,
                                                                @ByVal
                                                                GpuMatVector rotations,
                                                                @ByVal
                                                                GpuMatVector translations,
                                                                @ByVal
                                                                GpuMatVector normals)

filterHomographyDecompByVisibleRefpoints

@Namespace(value="cv")
public static void filterHomographyDecompByVisibleRefpoints(@ByVal
                                                                                   MatVector rotations,
                                                                                   @ByVal
                                                                                   MatVector normals,
                                                                                   @ByVal
                                                                                   Mat beforePoints,
                                                                                   @ByVal
                                                                                   Mat afterPoints,
                                                                                   @ByVal
                                                                                   Mat possibleSolutions,
                                                                                   @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                                                   Mat pointsMask)

\brief Filters homography decompositions based on additional information.

Parameters:

rotations - Vector of rotation matrices.

normals - Vector of plane normal matrices.

beforePoints - Vector of (rectified) visible reference points before the homography is applied

afterPoints - Vector of (rectified) visible reference points after the homography is applied

possibleSolutions - Vector of int indices representing the viable solution set after filtering

pointsMask - optional Mat/Vector of 8u type representing the mask for the inliers as given by the #findHomography function

This function is intended to filter the output of the #decomposeHomographyMat based on additional information as described in \cite Malis . The summary of the method: the #decomposeHomographyMat function returns 2 unique solutions and their "opposites" for a total of 4 solutions. If we have access to the sets of points visible in the camera frame before and after the homography transformation is applied, we can determine which are the true potential solutions and which are the opposites by verifying which homographies are consistent with all visible reference points being in front of the camera. The inputs are left unchanged; the filtered solution set is returned as indices into the existing one.

filterHomographyDecompByVisibleRefpoints

@Namespace(value="cv")
public static void filterHomographyDecompByVisibleRefpoints(@ByVal
                                                                                   MatVector rotations,
                                                                                   @ByVal
                                                                                   MatVector normals,
                                                                                   @ByVal
                                                                                   Mat beforePoints,
                                                                                   @ByVal
                                                                                   Mat afterPoints,
                                                                                   @ByVal
                                                                                   Mat possibleSolutions)

filterHomographyDecompByVisibleRefpoints

@Namespace(value="cv")
public static void filterHomographyDecompByVisibleRefpoints(@ByVal
                                                                                   UMatVector rotations,
                                                                                   @ByVal
                                                                                   UMatVector normals,
                                                                                   @ByVal
                                                                                   Mat beforePoints,
                                                                                   @ByVal
                                                                                   Mat afterPoints,
                                                                                   @ByVal
                                                                                   Mat possibleSolutions,
                                                                                   @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                                                   Mat pointsMask)

filterHomographyDecompByVisibleRefpoints

@Namespace(value="cv")
public static void filterHomographyDecompByVisibleRefpoints(@ByVal
                                                                                   UMatVector rotations,
                                                                                   @ByVal
                                                                                   UMatVector normals,
                                                                                   @ByVal
                                                                                   Mat beforePoints,
                                                                                   @ByVal
                                                                                   Mat afterPoints,
                                                                                   @ByVal
                                                                                   Mat possibleSolutions)

filterHomographyDecompByVisibleRefpoints

@Namespace(value="cv")
public static void filterHomographyDecompByVisibleRefpoints(@ByVal
                                                                                   GpuMatVector rotations,
                                                                                   @ByVal
                                                                                   GpuMatVector normals,
                                                                                   @ByVal
                                                                                   Mat beforePoints,
                                                                                   @ByVal
                                                                                   Mat afterPoints,
                                                                                   @ByVal
                                                                                   Mat possibleSolutions,
                                                                                   @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                                                   Mat pointsMask)

filterHomographyDecompByVisibleRefpoints

@Namespace(value="cv")
public static void filterHomographyDecompByVisibleRefpoints(@ByVal
                                                                                   GpuMatVector rotations,
                                                                                   @ByVal
                                                                                   GpuMatVector normals,
                                                                                   @ByVal
                                                                                   Mat beforePoints,
                                                                                   @ByVal
                                                                                   Mat afterPoints,
                                                                                   @ByVal
                                                                                   Mat possibleSolutions)

filterHomographyDecompByVisibleRefpoints

@Namespace(value="cv")
public static void filterHomographyDecompByVisibleRefpoints(@ByVal
                                                                                   MatVector rotations,
                                                                                   @ByVal
                                                                                   MatVector normals,
                                                                                   @ByVal
                                                                                   UMat beforePoints,
                                                                                   @ByVal
                                                                                   UMat afterPoints,
                                                                                   @ByVal
                                                                                   UMat possibleSolutions,
                                                                                   @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                                                   UMat pointsMask)

filterHomographyDecompByVisibleRefpoints

@Namespace(value="cv")
public static void filterHomographyDecompByVisibleRefpoints(@ByVal
                                                                                   MatVector rotations,
                                                                                   @ByVal
                                                                                   MatVector normals,
                                                                                   @ByVal
                                                                                   UMat beforePoints,
                                                                                   @ByVal
                                                                                   UMat afterPoints,
                                                                                   @ByVal
                                                                                   UMat possibleSolutions)

filterHomographyDecompByVisibleRefpoints

@Namespace(value="cv")
public static void filterHomographyDecompByVisibleRefpoints(@ByVal
                                                                                   UMatVector rotations,
                                                                                   @ByVal
                                                                                   UMatVector normals,
                                                                                   @ByVal
                                                                                   UMat beforePoints,
                                                                                   @ByVal
                                                                                   UMat afterPoints,
                                                                                   @ByVal
                                                                                   UMat possibleSolutions,
                                                                                   @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                                                   UMat pointsMask)

filterHomographyDecompByVisibleRefpoints

@Namespace(value="cv")
public static void filterHomographyDecompByVisibleRefpoints(@ByVal
                                                                                   UMatVector rotations,
                                                                                   @ByVal
                                                                                   UMatVector normals,
                                                                                   @ByVal
                                                                                   UMat beforePoints,
                                                                                   @ByVal
                                                                                   UMat afterPoints,
                                                                                   @ByVal
                                                                                   UMat possibleSolutions)

filterHomographyDecompByVisibleRefpoints

@Namespace(value="cv")
public static void filterHomographyDecompByVisibleRefpoints(@ByVal
                                                                                   GpuMatVector rotations,
                                                                                   @ByVal
                                                                                   GpuMatVector normals,
                                                                                   @ByVal
                                                                                   UMat beforePoints,
                                                                                   @ByVal
                                                                                   UMat afterPoints,
                                                                                   @ByVal
                                                                                   UMat possibleSolutions,
                                                                                   @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                                                   UMat pointsMask)

filterHomographyDecompByVisibleRefpoints

@Namespace(value="cv")
public static void filterHomographyDecompByVisibleRefpoints(@ByVal
                                                                                   GpuMatVector rotations,
                                                                                   @ByVal
                                                                                   GpuMatVector normals,
                                                                                   @ByVal
                                                                                   UMat beforePoints,
                                                                                   @ByVal
                                                                                   UMat afterPoints,
                                                                                   @ByVal
                                                                                   UMat possibleSolutions)

filterHomographyDecompByVisibleRefpoints

@Namespace(value="cv")
public static void filterHomographyDecompByVisibleRefpoints(@ByVal
                                                                                   MatVector rotations,
                                                                                   @ByVal
                                                                                   MatVector normals,
                                                                                   @ByVal
                                                                                   GpuMat beforePoints,
                                                                                   @ByVal
                                                                                   GpuMat afterPoints,
                                                                                   @ByVal
                                                                                   GpuMat possibleSolutions,
                                                                                   @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                                                   GpuMat pointsMask)

filterHomographyDecompByVisibleRefpoints

@Namespace(value="cv")
public static void filterHomographyDecompByVisibleRefpoints(@ByVal
                                                                                   MatVector rotations,
                                                                                   @ByVal
                                                                                   MatVector normals,
                                                                                   @ByVal
                                                                                   GpuMat beforePoints,
                                                                                   @ByVal
                                                                                   GpuMat afterPoints,
                                                                                   @ByVal
                                                                                   GpuMat possibleSolutions)

filterHomographyDecompByVisibleRefpoints

@Namespace(value="cv")
public static void filterHomographyDecompByVisibleRefpoints(@ByVal
                                                                                   UMatVector rotations,
                                                                                   @ByVal
                                                                                   UMatVector normals,
                                                                                   @ByVal
                                                                                   GpuMat beforePoints,
                                                                                   @ByVal
                                                                                   GpuMat afterPoints,
                                                                                   @ByVal
                                                                                   GpuMat possibleSolutions,
                                                                                   @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                                                   GpuMat pointsMask)

filterHomographyDecompByVisibleRefpoints

@Namespace(value="cv")
public static void filterHomographyDecompByVisibleRefpoints(@ByVal
                                                                                   UMatVector rotations,
                                                                                   @ByVal
                                                                                   UMatVector normals,
                                                                                   @ByVal
                                                                                   GpuMat beforePoints,
                                                                                   @ByVal
                                                                                   GpuMat afterPoints,
                                                                                   @ByVal
                                                                                   GpuMat possibleSolutions)

filterHomographyDecompByVisibleRefpoints

@Namespace(value="cv")
public static void filterHomographyDecompByVisibleRefpoints(@ByVal
                                                                                   GpuMatVector rotations,
                                                                                   @ByVal
                                                                                   GpuMatVector normals,
                                                                                   @ByVal
                                                                                   GpuMat beforePoints,
                                                                                   @ByVal
                                                                                   GpuMat afterPoints,
                                                                                   @ByVal
                                                                                   GpuMat possibleSolutions,
                                                                                   @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                                                   GpuMat pointsMask)

filterHomographyDecompByVisibleRefpoints

@Namespace(value="cv")
public static void filterHomographyDecompByVisibleRefpoints(@ByVal
                                                                                   GpuMatVector rotations,
                                                                                   @ByVal
                                                                                   GpuMatVector normals,
                                                                                   @ByVal
                                                                                   GpuMat beforePoints,
                                                                                   @ByVal
                                                                                   GpuMat afterPoints,
                                                                                   @ByVal
                                                                                   GpuMat possibleSolutions)

undistort
```
@Namespace(value="cv")
public static void undistort(@ByVal
                                                    Mat src,
                                                    @ByVal
                                                    Mat dst,
                                                    @ByVal
                                                    Mat cameraMatrix,
                                                    @ByVal
                                                    Mat distCoeffs,
                                                    @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                    Mat newCameraMatrix)
```
\brief Transforms an image to compensate for lens distortion.
The function transforms an image to compensate radial and tangential lens distortion.
The function is simply a combination of #initUndistortRectifyMap (with unity R ) and #remap (with bilinear interpolation). See the former function for details of the transformation being performed.
Those pixels in the destination image, for which there is no correspondent pixels in the source image, are filled with zeros (black color).
A particular subset of the source image that will be visible in the corrected image can be regulated by newCameraMatrix. You can use #getOptimalNewCameraMatrix to compute the appropriate newCameraMatrix depending on your requirements.
The camera matrix and the distortion parameters can be determined using #calibrateCamera. If the resolution of images is different from the resolution used at the calibration stage, f_x, f_y, c_x and c_y need to be scaled accordingly, while the distortion coefficients remain the same.

Parameters:

src - Input (distorted) image.

dst - Output (corrected) image that has the same size and type as src .

cameraMatrix - Input camera matrix A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1} .

distCoeffs - Input vector of distortion coefficients (k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]]) of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.

newCameraMatrix - Camera matrix of the distorted image. By default, it is the same as cameraMatrix but you may additionally scale and shift the result by using a different matrix.

undistort

@Namespace(value="cv")
public static void undistort(@ByVal
                                                    Mat src,
                                                    @ByVal
                                                    Mat dst,
                                                    @ByVal
                                                    Mat cameraMatrix,
                                                    @ByVal
                                                    Mat distCoeffs)

undistort

@Namespace(value="cv")
public static void undistort(@ByVal
                                                    UMat src,
                                                    @ByVal
                                                    UMat dst,
                                                    @ByVal
                                                    UMat cameraMatrix,
                                                    @ByVal
                                                    UMat distCoeffs,
                                                    @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                    UMat newCameraMatrix)

undistort

@Namespace(value="cv")
public static void undistort(@ByVal
                                                    UMat src,
                                                    @ByVal
                                                    UMat dst,
                                                    @ByVal
                                                    UMat cameraMatrix,
                                                    @ByVal
                                                    UMat distCoeffs)

undistort

@Namespace(value="cv")
public static void undistort(@ByVal
                                                    GpuMat src,
                                                    @ByVal
                                                    GpuMat dst,
                                                    @ByVal
                                                    GpuMat cameraMatrix,
                                                    @ByVal
                                                    GpuMat distCoeffs,
                                                    @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                    GpuMat newCameraMatrix)

undistort

@Namespace(value="cv")
public static void undistort(@ByVal
                                                    GpuMat src,
                                                    @ByVal
                                                    GpuMat dst,
                                                    @ByVal
                                                    GpuMat cameraMatrix,
                                                    @ByVal
                                                    GpuMat distCoeffs)

initUndistortRectifyMap

@Namespace(value="cv")
public static void initUndistortRectifyMap(@ByVal
                                                                  Mat cameraMatrix,
                                                                  @ByVal
                                                                  Mat distCoeffs,
                                                                  @ByVal
                                                                  Mat R,
                                                                  @ByVal
                                                                  Mat newCameraMatrix,
                                                                  @ByVal
                                                                  Size size,
                                                                  int m1type,
                                                                  @ByVal
                                                                  Mat map1,
                                                                  @ByVal
                                                                  Mat map2)

\brief Computes the undistortion and rectification transformation map.

The function computes the joint undistortion and rectification transformation and represents the result in the form of maps for #remap. The undistorted image looks like original, as if it is captured with a camera using the camera matrix =newCameraMatrix and zero distortion. In case of a monocular camera, newCameraMatrix is usually equal to cameraMatrix, or it can be computed by #getOptimalNewCameraMatrix for a better control over scaling. In case of a stereo camera, newCameraMatrix is normally set to P1 or P2 computed by #stereoRectify .

Also, this new camera is oriented differently in the coordinate space, according to R. That, for example, helps to align two heads of a stereo camera so that the epipolar lines on both images become horizontal and have the same y- coordinate (in case of a horizontally aligned stereo camera).

The function actually builds the maps for the inverse mapping algorithm that is used by #remap. That is, for each pixel (u, v) in the destination (corrected and rectified) image, the function computes the corresponding coordinates in the source image (that is, in the original image from camera). The following process is applied:

 \[
\begin{array}{l}
x  \leftarrow (u - {c'}_x)/{f'}_x  \\
y  \leftarrow (v - {c'}_y)/{f'}_y  \\
{[X\,Y\,W]} ^T  \leftarrow R^{-1}*[x \, y \, 1]^T  \\
x'  \leftarrow X/W  \\
y'  \leftarrow Y/W  \\
r^2  \leftarrow x'^2 + y'^2 \\
x''  \leftarrow x' \frac{1 + k_1 r^2 + k_2 r^4 + k_3 r^6}{1 + k_4 r^2 + k_5 r^4 + k_6 r^6}
+ 2p_1 x' y' + p_2(r^2 + 2 x'^2)  + s_1 r^2 + s_2 r^4\\
y''  \leftarrow y' \frac{1 + k_1 r^2 + k_2 r^4 + k_3 r^6}{1 + k_4 r^2 + k_5 r^4 + k_6 r^6}
+ p_1 (r^2 + 2 y'^2) + 2 p_2 x' y' + s_3 r^2 + s_4 r^4 \\
s\vecthree{x'''}{y'''}{1} =
\vecthreethree{R_{33}(\tau_x, \tau_y)}{0}{-R_{13}((\tau_x, \tau_y)}
{0}{R_{33}(\tau_x, \tau_y)}{-R_{23}(\tau_x, \tau_y)}
{0}{0}{1} R(\tau_x, \tau_y) \vecthree{x''}{y''}{1}\\
map_x(u,v)  \leftarrow x''' f_x + c_x  \\
map_y(u,v)  \leftarrow y''' f_y + c_y
\end{array}
\]

where (k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]]) are the distortion coefficients.

In case of a stereo camera, this function is called twice: once for each camera head, after #stereoRectify, which in its turn is called after #stereoCalibrate. But if the stereo camera was not calibrated, it is still possible to compute the rectification transformations directly from the fundamental matrix using #stereoRectifyUncalibrated. For each camera, the function computes homography H as the rectification transformation in a pixel domain, not a rotation matrix R in 3D space. R can be computed from H as

 \[\texttt{R} = \texttt{cameraMatrix} ^{-1} \cdot \texttt{H} \cdot \texttt{cameraMatrix}\]

where cameraMatrix can be chosen arbitrarily.

Parameters:: cameraMatrix - Input camera matrix A=\vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1} .; distCoeffs - Input vector of distortion coefficients (k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]]) of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.; R - Optional rectification transformation in the object space (3x3 matrix). R1 or R2 , computed by #stereoRectify can be passed here. If the matrix is empty, the identity transformation is assumed. In cvInitUndistortMap R assumed to be an identity matrix.; newCameraMatrix - New camera matrix A'=\vecthreethree{f_x'}{0}{c_x'}{0}{f_y'}{c_y'}{0}{0}{1}.; size - Undistorted image size.; m1type - Type of the first output map that can be CV_32FC1, CV_32FC2 or CV_16SC2, see #convertMaps; map1 - The first output map.; map2 - The second output map.

initUndistortRectifyMap

@Namespace(value="cv")
public static void initUndistortRectifyMap(@ByVal
                                                                  UMat cameraMatrix,
                                                                  @ByVal
                                                                  UMat distCoeffs,
                                                                  @ByVal
                                                                  UMat R,
                                                                  @ByVal
                                                                  UMat newCameraMatrix,
                                                                  @ByVal
                                                                  Size size,
                                                                  int m1type,
                                                                  @ByVal
                                                                  UMat map1,
                                                                  @ByVal
                                                                  UMat map2)

initUndistortRectifyMap

@Namespace(value="cv")
public static void initUndistortRectifyMap(@ByVal
                                                                  GpuMat cameraMatrix,
                                                                  @ByVal
                                                                  GpuMat distCoeffs,
                                                                  @ByVal
                                                                  GpuMat R,
                                                                  @ByVal
                                                                  GpuMat newCameraMatrix,
                                                                  @ByVal
                                                                  Size size,
                                                                  int m1type,
                                                                  @ByVal
                                                                  GpuMat map1,
                                                                  @ByVal
                                                                  GpuMat map2)

initInverseRectificationMap
```
@Namespace(value="cv")
public static void initInverseRectificationMap(@ByVal
                                                                      Mat cameraMatrix,
                                                                      @ByVal
                                                                      Mat distCoeffs,
                                                                      @ByVal
                                                                      Mat R,
                                                                      @ByVal
                                                                      Mat newCameraMatrix,
                                                                      @Const @ByRef
                                                                      Size size,
                                                                      int m1type,
                                                                      @ByVal
                                                                      Mat map1,
                                                                      @ByVal
                                                                      Mat map2)
```
\brief Computes the projection and inverse-rectification transformation map. In essense, this is the inverse of #initUndistortRectifyMap to accomodate stereo-rectification of projectors ('inverse-cameras') in projector-camera pairs.
The function computes the joint projection and inverse rectification transformation and represents the result in the form of maps for #remap. The projected image looks like a distorted version of the original which, once projected by a projector, should visually match the original. In case of a monocular camera, newCameraMatrix is usually equal to cameraMatrix, or it can be computed by #getOptimalNewCameraMatrix for a better control over scaling. In case of a projector-camera pair, newCameraMatrix is normally set to P1 or P2 computed by #stereoRectify .
The projector is oriented differently in the coordinate space, according to R. In case of projector-camera pairs, this helps align the projector (in the same manner as #initUndistortRectifyMap for the camera) to create a stereo-rectified pair. This allows epipolar lines on both images to become horizontal and have the same y-coordinate (in case of a horizontally aligned projector-camera pair).
The function builds the maps for the inverse mapping algorithm that is used by #remap. That is, for each pixel (u, v) in the destination (projected and inverse-rectified) image, the function computes the corresponding coordinates in the source image (that is, in the original digital image). The following process is applied:
```
 \[
\begin{array}{l}
\text{newCameraMatrix}\\
x  \leftarrow (u - {c'}_x)/{f'}_x  \\
y  \leftarrow (v - {c'}_y)/{f'}_y  \\

\\\text{Undistortion}
\\\scriptsize{\textit{though equation shown is for radial undistortion, function implements cv::undistortPoints()}}\\
r^2  \leftarrow x^2 + y^2 \\
\theta \leftarrow \frac{1 + k_1 r^2 + k_2 r^4 + k_3 r^6}{1 + k_4 r^2 + k_5 r^4 + k_6 r^6}\\
x' \leftarrow \frac{x}{\theta} \\
y'  \leftarrow \frac{y}{\theta} \\

\\\text{Rectification}\\
{[X\,Y\,W]} ^T  \leftarrow R*[x' \, y' \, 1]^T  \\
x''  \leftarrow X/W  \\
y''  \leftarrow Y/W  \\

\\\text{cameraMatrix}\\
map_x(u,v)  \leftarrow x'' f_x + c_x  \\
map_y(u,v)  \leftarrow y'' f_y + c_y
\end{array}
\]
```
where (k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]]) are the distortion coefficients vector distCoeffs.
In case of a stereo-rectified projector-camera pair, this function is called for the projector while #initUndistortRectifyMap is called for the camera head. This is done after #stereoRectify, which in turn is called after #stereoCalibrate. If the projector-camera pair is not calibrated, it is still possible to compute the rectification transformations directly from the fundamental matrix using #stereoRectifyUncalibrated. For the projector and camera, the function computes homography H as the rectification transformation in a pixel domain, not a rotation matrix R in 3D space. R can be computed from H as
```
 \[\texttt{R} = \texttt{cameraMatrix} ^{-1} \cdot \texttt{H} \cdot \texttt{cameraMatrix}\]
```
where cameraMatrix can be chosen arbitrarily.
Parameters:

cameraMatrix - Input camera matrix A=\vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1} .

distCoeffs - Input vector of distortion coefficients (k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]]) of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.

R - Optional rectification transformation in the object space (3x3 matrix). R1 or R2, computed by #stereoRectify can be passed here. If the matrix is empty, the identity transformation is assumed.

newCameraMatrix - New camera matrix A'=\vecthreethree{f_x'}{0}{c_x'}{0}{f_y'}{c_y'}{0}{0}{1}.

size - Distorted image size.

m1type - Type of the first output map. Can be CV_32FC1, CV_32FC2 or CV_16SC2, see #convertMaps

map1 - The first output map for #remap.

map2 - The second output map for #remap.

initInverseRectificationMap

@Namespace(value="cv")
public static void initInverseRectificationMap(@ByVal
                                                                      UMat cameraMatrix,
                                                                      @ByVal
                                                                      UMat distCoeffs,
                                                                      @ByVal
                                                                      UMat R,
                                                                      @ByVal
                                                                      UMat newCameraMatrix,
                                                                      @Const @ByRef
                                                                      Size size,
                                                                      int m1type,
                                                                      @ByVal
                                                                      UMat map1,
                                                                      @ByVal
                                                                      UMat map2)

initInverseRectificationMap

@Namespace(value="cv")
public static void initInverseRectificationMap(@ByVal
                                                                      GpuMat cameraMatrix,
                                                                      @ByVal
                                                                      GpuMat distCoeffs,
                                                                      @ByVal
                                                                      GpuMat R,
                                                                      @ByVal
                                                                      GpuMat newCameraMatrix,
                                                                      @Const @ByRef
                                                                      Size size,
                                                                      int m1type,
                                                                      @ByVal
                                                                      GpuMat map1,
                                                                      @ByVal
                                                                      GpuMat map2)

initWideAngleProjMap

@Namespace(value="cv")
public static float initWideAngleProjMap(@ByVal
                                                                Mat cameraMatrix,
                                                                @ByVal
                                                                Mat distCoeffs,
                                                                @ByVal
                                                                Size imageSize,
                                                                int destImageWidth,
                                                                int m1type,
                                                                @ByVal
                                                                Mat map1,
                                                                @ByVal
                                                                Mat map2,
                                                                @Cast(value="cv::UndistortTypes")
                                                                int projType,
                                                                double alpha)

initializes maps for #remap for wide-angle

initWideAngleProjMap

@Namespace(value="cv")
public static float initWideAngleProjMap(@ByVal
                                                                Mat cameraMatrix,
                                                                @ByVal
                                                                Mat distCoeffs,
                                                                @ByVal
                                                                Size imageSize,
                                                                int destImageWidth,
                                                                int m1type,
                                                                @ByVal
                                                                Mat map1,
                                                                @ByVal
                                                                Mat map2)

initWideAngleProjMap

@Namespace(value="cv")
public static float initWideAngleProjMap(@ByVal
                                                                UMat cameraMatrix,
                                                                @ByVal
                                                                UMat distCoeffs,
                                                                @ByVal
                                                                Size imageSize,
                                                                int destImageWidth,
                                                                int m1type,
                                                                @ByVal
                                                                UMat map1,
                                                                @ByVal
                                                                UMat map2,
                                                                @Cast(value="cv::UndistortTypes")
                                                                int projType,
                                                                double alpha)

initWideAngleProjMap

@Namespace(value="cv")
public static float initWideAngleProjMap(@ByVal
                                                                UMat cameraMatrix,
                                                                @ByVal
                                                                UMat distCoeffs,
                                                                @ByVal
                                                                Size imageSize,
                                                                int destImageWidth,
                                                                int m1type,
                                                                @ByVal
                                                                UMat map1,
                                                                @ByVal
                                                                UMat map2)

initWideAngleProjMap

@Namespace(value="cv")
public static float initWideAngleProjMap(@ByVal
                                                                GpuMat cameraMatrix,
                                                                @ByVal
                                                                GpuMat distCoeffs,
                                                                @ByVal
                                                                Size imageSize,
                                                                int destImageWidth,
                                                                int m1type,
                                                                @ByVal
                                                                GpuMat map1,
                                                                @ByVal
                                                                GpuMat map2,
                                                                @Cast(value="cv::UndistortTypes")
                                                                int projType,
                                                                double alpha)

initWideAngleProjMap

@Namespace(value="cv")
public static float initWideAngleProjMap(@ByVal
                                                                GpuMat cameraMatrix,
                                                                @ByVal
                                                                GpuMat distCoeffs,
                                                                @ByVal
                                                                Size imageSize,
                                                                int destImageWidth,
                                                                int m1type,
                                                                @ByVal
                                                                GpuMat map1,
                                                                @ByVal
                                                                GpuMat map2)

initWideAngleProjMap

@Namespace(value="cv")
public static float initWideAngleProjMap(@ByVal
                                                                Mat cameraMatrix,
                                                                @ByVal
                                                                Mat distCoeffs,
                                                                @ByVal
                                                                Size imageSize,
                                                                int destImageWidth,
                                                                int m1type,
                                                                @ByVal
                                                                Mat map1,
                                                                @ByVal
                                                                Mat map2,
                                                                int projType)

initWideAngleProjMap

@Namespace(value="cv")
public static float initWideAngleProjMap(@ByVal
                                                                UMat cameraMatrix,
                                                                @ByVal
                                                                UMat distCoeffs,
                                                                @ByVal
                                                                Size imageSize,
                                                                int destImageWidth,
                                                                int m1type,
                                                                @ByVal
                                                                UMat map1,
                                                                @ByVal
                                                                UMat map2,
                                                                int projType)

initWideAngleProjMap

@Namespace(value="cv")
public static float initWideAngleProjMap(@ByVal
                                                                GpuMat cameraMatrix,
                                                                @ByVal
                                                                GpuMat distCoeffs,
                                                                @ByVal
                                                                Size imageSize,
                                                                int destImageWidth,
                                                                int m1type,
                                                                @ByVal
                                                                GpuMat map1,
                                                                @ByVal
                                                                GpuMat map2,
                                                                int projType)

getDefaultNewCameraMatrix
```
@Namespace(value="cv")
 @ByVal
public static Mat getDefaultNewCameraMatrix(@ByVal
                                                                           Mat cameraMatrix,
                                                                           @ByVal(nullValue="cv::Size()")
                                                                           Size imgsize,
                                                                           @Cast(value="bool")
                                                                           boolean centerPrincipalPoint)
```
\brief Returns the default new camera matrix.
The function returns the camera matrix that is either an exact copy of the input cameraMatrix (when centerPrinicipalPoint=false ), or the modified one (when centerPrincipalPoint=true).
In the latter case, the new camera matrix will be:
```
 \[\begin{bmatrix} f_x && 0 && ( \texttt{imgSize.width} -1)*0.5  \\ 0 && f_y && ( \texttt{imgSize.height} -1)*0.5  \\ 0 && 0 && 1 \end{bmatrix} ,\]
```
where f_x and f_y are (0,0) and (1,1) elements of cameraMatrix, respectively.
By default, the undistortion functions in OpenCV (see #initUndistortRectifyMap, #undistort) do not move the principal point. However, when you work with stereo, it is important to move the principal points in both views to the same y-coordinate (which is required by most of stereo correspondence algorithms), and may be to the same x-coordinate too. So, you can form the new camera matrix for each view where the principal points are located at the center.
Parameters:

cameraMatrix - Input camera matrix.

imgsize - Camera view image size in pixels.

centerPrincipalPoint - Location of the principal point in the new camera matrix. The parameter indicates whether this location should be at the image center or not.

getDefaultNewCameraMatrix

@Namespace(value="cv")
 @ByVal
public static Mat getDefaultNewCameraMatrix(@ByVal
                                                                           Mat cameraMatrix)

getDefaultNewCameraMatrix

@Namespace(value="cv")
 @ByVal
public static Mat getDefaultNewCameraMatrix(@ByVal
                                                                           UMat cameraMatrix,
                                                                           @ByVal(nullValue="cv::Size()")
                                                                           Size imgsize,
                                                                           @Cast(value="bool")
                                                                           boolean centerPrincipalPoint)

getDefaultNewCameraMatrix

@Namespace(value="cv")
 @ByVal
public static Mat getDefaultNewCameraMatrix(@ByVal
                                                                           UMat cameraMatrix)

getDefaultNewCameraMatrix

@Namespace(value="cv")
 @ByVal
public static Mat getDefaultNewCameraMatrix(@ByVal
                                                                           GpuMat cameraMatrix,
                                                                           @ByVal(nullValue="cv::Size()")
                                                                           Size imgsize,
                                                                           @Cast(value="bool")
                                                                           boolean centerPrincipalPoint)

getDefaultNewCameraMatrix

@Namespace(value="cv")
 @ByVal
public static Mat getDefaultNewCameraMatrix(@ByVal
                                                                           GpuMat cameraMatrix)

undistortPoints
```
@Namespace(value="cv")
public static void undistortPoints(@ByVal
                                                          Mat src,
                                                          @ByVal
                                                          Mat dst,
                                                          @ByVal
                                                          Mat cameraMatrix,
                                                          @ByVal
                                                          Mat distCoeffs,
                                                          @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                          Mat R,
                                                          @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                          Mat P)
```
\brief Computes the ideal point coordinates from the observed point coordinates.
The function is similar to #undistort and #initUndistortRectifyMap but it operates on a sparse set of points instead of a raster image. Also the function performs a reverse transformation to #projectPoints. In case of a 3D object, it does not reconstruct its 3D coordinates, but for a planar object, it does, up to a translation vector, if the proper R is specified.
For each observed point coordinate (u, v) the function computes:
```
 \[
\begin{array}{l}
x^{"}  \leftarrow (u - c_x)/f_x  \\
y^{"}  \leftarrow (v - c_y)/f_y  \\
(x',y') = undistort(x^{"},y^{"}, \texttt{distCoeffs}) \\
{[X\,Y\,W]} ^T  \leftarrow R*[x' \, y' \, 1]^T  \\
x  \leftarrow X/W  \\
y  \leftarrow Y/W  \\
\text{only performed if P is specified:} \\
u'  \leftarrow x {f'}_x + {c'}_x  \\
v'  \leftarrow y {f'}_y + {c'}_y
\end{array}
\]
```
where *undistort* is an approximate iterative algorithm that estimates the normalized original point coordinates out of the normalized distorted point coordinates ("normalized" means that the coordinates do not depend on the camera matrix).
The function can be used for both a stereo camera head or a monocular camera (when R is empty).
Parameters:

src - Observed point coordinates, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel (CV_32FC2 or CV_64FC2) (or vector\ ).

dst - Output ideal point coordinates (1xN/Nx1 2-channel or vector\ ) after undistortion and reverse perspective transformation. If matrix P is identity or omitted, dst will contain normalized point coordinates.

cameraMatrix - Camera matrix \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1} .

distCoeffs - Input vector of distortion coefficients (k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]]) of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.

R - Rectification transformation in the object space (3x3 matrix). R1 or R2 computed by #stereoRectify can be passed here. If the matrix is empty, the identity transformation is used.

P - New camera matrix (3x3) or new projection matrix (3x4) \begin{bmatrix} {f'}_x & 0 & {c'}_x & t_x \\ 0 & {f'}_y & {c'}_y & t_y \\ 0 & 0 & 1 & t_z \end{bmatrix}. P1 or P2 computed by #stereoRectify can be passed here. If the matrix is empty, the identity new camera matrix is used.

undistortPoints

@Namespace(value="cv")
public static void undistortPoints(@ByVal
                                                          Mat src,
                                                          @ByVal
                                                          Mat dst,
                                                          @ByVal
                                                          Mat cameraMatrix,
                                                          @ByVal
                                                          Mat distCoeffs)

undistortPoints

@Namespace(value="cv")
public static void undistortPoints(@ByVal
                                                          UMat src,
                                                          @ByVal
                                                          UMat dst,
                                                          @ByVal
                                                          UMat cameraMatrix,
                                                          @ByVal
                                                          UMat distCoeffs,
                                                          @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                          UMat R,
                                                          @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                          UMat P)

undistortPoints

@Namespace(value="cv")
public static void undistortPoints(@ByVal
                                                          UMat src,
                                                          @ByVal
                                                          UMat dst,
                                                          @ByVal
                                                          UMat cameraMatrix,
                                                          @ByVal
                                                          UMat distCoeffs)

undistortPoints

@Namespace(value="cv")
public static void undistortPoints(@ByVal
                                                          GpuMat src,
                                                          @ByVal
                                                          GpuMat dst,
                                                          @ByVal
                                                          GpuMat cameraMatrix,
                                                          @ByVal
                                                          GpuMat distCoeffs,
                                                          @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                          GpuMat R,
                                                          @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                          GpuMat P)

undistortPoints

@Namespace(value="cv")
public static void undistortPoints(@ByVal
                                                          GpuMat src,
                                                          @ByVal
                                                          GpuMat dst,
                                                          @ByVal
                                                          GpuMat cameraMatrix,
                                                          @ByVal
                                                          GpuMat distCoeffs)

undistortPointsIter

@Namespace(value="cv")
 @Name(value="undistortPoints")
public static void undistortPointsIter(@ByVal
                                                                                              Mat src,
                                                                                              @ByVal
                                                                                              Mat dst,
                                                                                              @ByVal
                                                                                              Mat cameraMatrix,
                                                                                              @ByVal
                                                                                              Mat distCoeffs,
                                                                                              @ByVal
                                                                                              Mat R,
                                                                                              @ByVal
                                                                                              Mat P,
                                                                                              @ByVal
                                                                                              TermCriteria criteria)

\overload \note Default version of #undistortPoints does 5 iterations to compute undistorted points.

undistortPointsIter

@Namespace(value="cv")
 @Name(value="undistortPoints")
public static void undistortPointsIter(@ByVal
                                                                                              UMat src,
                                                                                              @ByVal
                                                                                              UMat dst,
                                                                                              @ByVal
                                                                                              UMat cameraMatrix,
                                                                                              @ByVal
                                                                                              UMat distCoeffs,
                                                                                              @ByVal
                                                                                              UMat R,
                                                                                              @ByVal
                                                                                              UMat P,
                                                                                              @ByVal
                                                                                              TermCriteria criteria)

undistortPointsIter

@Namespace(value="cv")
 @Name(value="undistortPoints")
public static void undistortPointsIter(@ByVal
                                                                                              GpuMat src,
                                                                                              @ByVal
                                                                                              GpuMat dst,
                                                                                              @ByVal
                                                                                              GpuMat cameraMatrix,
                                                                                              @ByVal
                                                                                              GpuMat distCoeffs,
                                                                                              @ByVal
                                                                                              GpuMat R,
                                                                                              @ByVal
                                                                                              GpuMat P,
                                                                                              @ByVal
                                                                                              TermCriteria criteria)

projectPoints

@Namespace(value="cv::fisheye")
public static void projectPoints(@ByVal
                                                                 Mat objectPoints,
                                                                 @ByVal
                                                                 Mat imagePoints,
                                                                 @Const @ByRef
                                                                 Mat affine,
                                                                 @ByVal
                                                                 Mat K,
                                                                 @ByVal
                                                                 Mat D,
                                                                 double alpha,
                                                                 @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                 Mat jacobian)

\brief Projects points using fisheye model

Parameters:: objectPoints - Array of object points, 1xN/Nx1 3-channel (or vector\ ), where N is the number of points in the view.; imagePoints - Output array of image points, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel, or vector\.; affine -; K - Camera intrinsic matrix cameramatrix{K}.; D - Input vector of distortion coefficients \distcoeffsfisheye.; alpha - The skew coefficient.; jacobian - Optional output 2Nx15 jacobian matrix of derivatives of image points with respect to components of the focal lengths, coordinates of the principal point, distortion coefficients, rotation vector, translation vector, and the skew. In the old interface different components of the jacobian are returned via different output parameters.
The function computes projections of 3D points to the image plane given intrinsic and extrinsic camera parameters. Optionally, the function computes Jacobians - matrices of partial derivatives of image points coordinates (as functions of all the input parameters) with respect to the particular parameters, intrinsic and/or extrinsic.

projectPoints

@Namespace(value="cv::fisheye")
public static void projectPoints(@ByVal
                                                                 Mat objectPoints,
                                                                 @ByVal
                                                                 Mat imagePoints,
                                                                 @Const @ByRef
                                                                 Mat affine,
                                                                 @ByVal
                                                                 Mat K,
                                                                 @ByVal
                                                                 Mat D)

projectPoints

@Namespace(value="cv::fisheye")
public static void projectPoints(@ByVal
                                                                 UMat objectPoints,
                                                                 @ByVal
                                                                 UMat imagePoints,
                                                                 @Const @ByRef
                                                                 Mat affine,
                                                                 @ByVal
                                                                 UMat K,
                                                                 @ByVal
                                                                 UMat D,
                                                                 double alpha,
                                                                 @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                 UMat jacobian)

projectPoints

@Namespace(value="cv::fisheye")
public static void projectPoints(@ByVal
                                                                 UMat objectPoints,
                                                                 @ByVal
                                                                 UMat imagePoints,
                                                                 @Const @ByRef
                                                                 Mat affine,
                                                                 @ByVal
                                                                 UMat K,
                                                                 @ByVal
                                                                 UMat D)

projectPoints

@Namespace(value="cv::fisheye")
public static void projectPoints(@ByVal
                                                                 GpuMat objectPoints,
                                                                 @ByVal
                                                                 GpuMat imagePoints,
                                                                 @Const @ByRef
                                                                 Mat affine,
                                                                 @ByVal
                                                                 GpuMat K,
                                                                 @ByVal
                                                                 GpuMat D,
                                                                 double alpha,
                                                                 @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                 GpuMat jacobian)

projectPoints

@Namespace(value="cv::fisheye")
public static void projectPoints(@ByVal
                                                                 GpuMat objectPoints,
                                                                 @ByVal
                                                                 GpuMat imagePoints,
                                                                 @Const @ByRef
                                                                 Mat affine,
                                                                 @ByVal
                                                                 GpuMat K,
                                                                 @ByVal
                                                                 GpuMat D)

projectPoints

@Namespace(value="cv::fisheye")
public static void projectPoints(@ByVal
                                                                 Mat objectPoints,
                                                                 @ByVal
                                                                 Mat imagePoints,
                                                                 @ByVal
                                                                 Mat rvec,
                                                                 @ByVal
                                                                 Mat tvec,
                                                                 @ByVal
                                                                 Mat K,
                                                                 @ByVal
                                                                 Mat D,
                                                                 double alpha,
                                                                 @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                 Mat jacobian)

\overload

projectPoints

@Namespace(value="cv::fisheye")
public static void projectPoints(@ByVal
                                                                 UMat objectPoints,
                                                                 @ByVal
                                                                 UMat imagePoints,
                                                                 @ByVal
                                                                 UMat rvec,
                                                                 @ByVal
                                                                 UMat tvec,
                                                                 @ByVal
                                                                 UMat K,
                                                                 @ByVal
                                                                 UMat D,
                                                                 double alpha,
                                                                 @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                 UMat jacobian)

projectPoints

@Namespace(value="cv::fisheye")
public static void projectPoints(@ByVal
                                                                 GpuMat objectPoints,
                                                                 @ByVal
                                                                 GpuMat imagePoints,
                                                                 @ByVal
                                                                 GpuMat rvec,
                                                                 @ByVal
                                                                 GpuMat tvec,
                                                                 @ByVal
                                                                 GpuMat K,
                                                                 @ByVal
                                                                 GpuMat D,
                                                                 double alpha,
                                                                 @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                 GpuMat jacobian)

distortPoints

@Namespace(value="cv::fisheye")
public static void distortPoints(@ByVal
                                                                 Mat undistorted,
                                                                 @ByVal
                                                                 Mat distorted,
                                                                 @ByVal
                                                                 Mat K,
                                                                 @ByVal
                                                                 Mat D,
                                                                 double alpha)

\brief Distorts 2D points using fisheye model.

Parameters:: undistorted - Array of object points, 1xN/Nx1 2-channel (or vector\ ), where N is the number of points in the view.; K - Camera intrinsic matrix cameramatrix{K}.; D - Input vector of distortion coefficients \distcoeffsfisheye.; alpha - The skew coefficient.; distorted - Output array of image points, 1xN/Nx1 2-channel, or vector\ .
Note that the function assumes the camera intrinsic matrix of the undistorted points to be identity. This means if you want to transform back points undistorted with #fisheye::undistortPoints you have to multiply them with P^{-1}.

distortPoints

@Namespace(value="cv::fisheye")
public static void distortPoints(@ByVal
                                                                 Mat undistorted,
                                                                 @ByVal
                                                                 Mat distorted,
                                                                 @ByVal
                                                                 Mat K,
                                                                 @ByVal
                                                                 Mat D)

distortPoints

@Namespace(value="cv::fisheye")
public static void distortPoints(@ByVal
                                                                 UMat undistorted,
                                                                 @ByVal
                                                                 UMat distorted,
                                                                 @ByVal
                                                                 UMat K,
                                                                 @ByVal
                                                                 UMat D,
                                                                 double alpha)

distortPoints

@Namespace(value="cv::fisheye")
public static void distortPoints(@ByVal
                                                                 UMat undistorted,
                                                                 @ByVal
                                                                 UMat distorted,
                                                                 @ByVal
                                                                 UMat K,
                                                                 @ByVal
                                                                 UMat D)

distortPoints

@Namespace(value="cv::fisheye")
public static void distortPoints(@ByVal
                                                                 GpuMat undistorted,
                                                                 @ByVal
                                                                 GpuMat distorted,
                                                                 @ByVal
                                                                 GpuMat K,
                                                                 @ByVal
                                                                 GpuMat D,
                                                                 double alpha)

distortPoints

@Namespace(value="cv::fisheye")
public static void distortPoints(@ByVal
                                                                 GpuMat undistorted,
                                                                 @ByVal
                                                                 GpuMat distorted,
                                                                 @ByVal
                                                                 GpuMat K,
                                                                 @ByVal
                                                                 GpuMat D)

undistortImage

@Namespace(value="cv::fisheye")
public static void undistortImage(@ByVal
                                                                  Mat distorted,
                                                                  @ByVal
                                                                  Mat undistorted,
                                                                  @ByVal
                                                                  Mat K,
                                                                  @ByVal
                                                                  Mat D,
                                                                  @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                                  Mat Knew,
                                                                  @Const @ByRef(nullValue="cv::Size()")
                                                                  Size new_size)

\brief Transforms an image to compensate for fisheye lens distortion.

Parameters:

distorted - image with fisheye lens distortion.

undistorted - Output image with compensated fisheye lens distortion.

K - Camera intrinsic matrix cameramatrix{K}.

D - Input vector of distortion coefficients \distcoeffsfisheye.

Knew - Camera intrinsic matrix of the distorted image. By default, it is the identity matrix but you may additionally scale and shift the result by using a different matrix.

new_size - the new size

The function transforms an image to compensate radial and tangential lens distortion.

The function is simply a combination of #fisheye::initUndistortRectifyMap (with unity R ) and #remap (with bilinear interpolation). See the former function for details of the transformation being performed.

See below the results of undistortImage. - a\) result of undistort of perspective camera model (all possible coefficients (k_1, k_2, k_3, k_4, k_5, k_6) of distortion were optimized under calibration) - b\) result of #fisheye::undistortImage of fisheye camera model (all possible coefficients (k_1, k_2, k_3, k_4) of fisheye distortion were optimized under calibration) - c\) original image was captured with fisheye lens

Pictures a) and b) almost the same. But if we consider points of image located far from the center of image, we can notice that on image a) these points are distorted.

![image](pics/fisheye_undistorted.jpg)

undistortImage

@Namespace(value="cv::fisheye")
public static void undistortImage(@ByVal
                                                                  Mat distorted,
                                                                  @ByVal
                                                                  Mat undistorted,
                                                                  @ByVal
                                                                  Mat K,
                                                                  @ByVal
                                                                  Mat D)

undistortImage

@Namespace(value="cv::fisheye")
public static void undistortImage(@ByVal
                                                                  UMat distorted,
                                                                  @ByVal
                                                                  UMat undistorted,
                                                                  @ByVal
                                                                  UMat K,
                                                                  @ByVal
                                                                  UMat D,
                                                                  @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                                  UMat Knew,
                                                                  @Const @ByRef(nullValue="cv::Size()")
                                                                  Size new_size)

undistortImage

@Namespace(value="cv::fisheye")
public static void undistortImage(@ByVal
                                                                  UMat distorted,
                                                                  @ByVal
                                                                  UMat undistorted,
                                                                  @ByVal
                                                                  UMat K,
                                                                  @ByVal
                                                                  UMat D)

undistortImage

@Namespace(value="cv::fisheye")
public static void undistortImage(@ByVal
                                                                  GpuMat distorted,
                                                                  @ByVal
                                                                  GpuMat undistorted,
                                                                  @ByVal
                                                                  GpuMat K,
                                                                  @ByVal
                                                                  GpuMat D,
                                                                  @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                                  GpuMat Knew,
                                                                  @Const @ByRef(nullValue="cv::Size()")
                                                                  Size new_size)

undistortImage

@Namespace(value="cv::fisheye")
public static void undistortImage(@ByVal
                                                                  GpuMat distorted,
                                                                  @ByVal
                                                                  GpuMat undistorted,
                                                                  @ByVal
                                                                  GpuMat K,
                                                                  @ByVal
                                                                  GpuMat D)

estimateNewCameraMatrixForUndistortRectify

@Namespace(value="cv::fisheye")
public static void estimateNewCameraMatrixForUndistortRectify(@ByVal
                                                                                              Mat K,
                                                                                              @ByVal
                                                                                              Mat D,
                                                                                              @Const @ByRef
                                                                                              Size image_size,
                                                                                              @ByVal
                                                                                              Mat R,
                                                                                              @ByVal
                                                                                              Mat P,
                                                                                              double balance,
                                                                                              @Const @ByRef(nullValue="cv::Size()")
                                                                                              Size new_size,
                                                                                              double fov_scale)

\brief Estimates new camera intrinsic matrix for undistortion or rectification.

Parameters:: K - Camera intrinsic matrix cameramatrix{K}.; image_size - Size of the image; D - Input vector of distortion coefficients \distcoeffsfisheye.; R - Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3 1-channel or 1x1 3-channel; P - New camera intrinsic matrix (3x3) or new projection matrix (3x4); balance - Sets the new focal length in range between the min focal length and the max focal length. Balance is in range of [0, 1].; new_size - the new size; fov_scale - Divisor for new focal length.

estimateNewCameraMatrixForUndistortRectify

@Namespace(value="cv::fisheye")
public static void estimateNewCameraMatrixForUndistortRectify(@ByVal
                                                                                              Mat K,
                                                                                              @ByVal
                                                                                              Mat D,
                                                                                              @Const @ByRef
                                                                                              Size image_size,
                                                                                              @ByVal
                                                                                              Mat R,
                                                                                              @ByVal
                                                                                              Mat P)

estimateNewCameraMatrixForUndistortRectify

@Namespace(value="cv::fisheye")
public static void estimateNewCameraMatrixForUndistortRectify(@ByVal
                                                                                              UMat K,
                                                                                              @ByVal
                                                                                              UMat D,
                                                                                              @Const @ByRef
                                                                                              Size image_size,
                                                                                              @ByVal
                                                                                              UMat R,
                                                                                              @ByVal
                                                                                              UMat P,
                                                                                              double balance,
                                                                                              @Const @ByRef(nullValue="cv::Size()")
                                                                                              Size new_size,
                                                                                              double fov_scale)

estimateNewCameraMatrixForUndistortRectify

@Namespace(value="cv::fisheye")
public static void estimateNewCameraMatrixForUndistortRectify(@ByVal
                                                                                              UMat K,
                                                                                              @ByVal
                                                                                              UMat D,
                                                                                              @Const @ByRef
                                                                                              Size image_size,
                                                                                              @ByVal
                                                                                              UMat R,
                                                                                              @ByVal
                                                                                              UMat P)

estimateNewCameraMatrixForUndistortRectify

@Namespace(value="cv::fisheye")
public static void estimateNewCameraMatrixForUndistortRectify(@ByVal
                                                                                              GpuMat K,
                                                                                              @ByVal
                                                                                              GpuMat D,
                                                                                              @Const @ByRef
                                                                                              Size image_size,
                                                                                              @ByVal
                                                                                              GpuMat R,
                                                                                              @ByVal
                                                                                              GpuMat P,
                                                                                              double balance,
                                                                                              @Const @ByRef(nullValue="cv::Size()")
                                                                                              Size new_size,
                                                                                              double fov_scale)

estimateNewCameraMatrixForUndistortRectify

@Namespace(value="cv::fisheye")
public static void estimateNewCameraMatrixForUndistortRectify(@ByVal
                                                                                              GpuMat K,
                                                                                              @ByVal
                                                                                              GpuMat D,
                                                                                              @Const @ByRef
                                                                                              Size image_size,
                                                                                              @ByVal
                                                                                              GpuMat R,
                                                                                              @ByVal
                                                                                              GpuMat P)

calibrate
```
@Namespace(value="cv::fisheye")
public static double calibrate(@ByVal
                                                               MatVector objectPoints,
                                                               @ByVal
                                                               MatVector imagePoints,
                                                               @Const @ByRef
                                                               Size image_size,
                                                               @ByVal
                                                               Mat K,
                                                               @ByVal
                                                               Mat D,
                                                               @ByVal
                                                               MatVector rvecs,
                                                               @ByVal
                                                               MatVector tvecs,
                                                               int flags,
                                                               @ByVal(nullValue="cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 100, DBL_EPSILON)")
                                                               TermCriteria criteria)
```
\brief Performs camera calibaration

Parameters:

objectPoints - vector of vectors of calibration pattern points in the calibration pattern coordinate space.

imagePoints - vector of vectors of the projections of calibration pattern points. imagePoints.size() and objectPoints.size() and imagePoints[i].size() must be equal to objectPoints[i].size() for each i.

image_size - Size of the image used only to initialize the camera intrinsic matrix.

K - Output 3x3 floating-point camera intrinsic matrix \cameramatrix{A} . If \ref fisheye::CALIB_USE_INTRINSIC_GUESS is specified, some or all of fx, fy, cx, cy must be initialized before calling the function.

D - Output vector of distortion coefficients \distcoeffsfisheye.

rvecs - Output vector of rotation vectors (see Rodrigues ) estimated for each pattern view. That is, each k-th rotation vector together with the corresponding k-th translation vector (see the next output parameter description) brings the calibration pattern from the model coordinate space (in which object points are specified) to the world coordinate space, that is, a real position of the calibration pattern in the k-th pattern view (k=0.. *M* -1).

tvecs - Output vector of translation vectors estimated for each pattern view.

flags - Different flags that may be zero or a combination of the following values: - \ref fisheye::CALIB_USE_INTRINSIC_GUESS cameraMatrix contains valid initial values of fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially set to the image center ( imageSize is used), and focal distances are computed in a least-squares fashion. - \ref fisheye::CALIB_RECOMPUTE_EXTRINSIC Extrinsic will be recomputed after each iteration of intrinsic optimization. - \ref fisheye::CALIB_CHECK_COND The functions will check validity of condition number. - \ref fisheye::CALIB_FIX_SKEW Skew coefficient (alpha) is set to zero and stay zero. - \ref fisheye::CALIB_FIX_K1,..., \ref fisheye::CALIB_FIX_K4 Selected distortion coefficients are set to zeros and stay zero. - \ref fisheye::CALIB_FIX_PRINCIPAL_POINT The principal point is not changed during the global optimization. It stays at the center or at a different location specified when \ref fisheye::CALIB_USE_INTRINSIC_GUESS is set too. - \ref fisheye::CALIB_FIX_FOCAL_LENGTH The focal length is not changed during the global optimization. It is the max(width,height)/\pi or the provided f_x, f_y when \ref fisheye::CALIB_USE_INTRINSIC_GUESS is set too.

criteria - Termination criteria for the iterative optimization algorithm.

calibrate

@Namespace(value="cv::fisheye")
public static double calibrate(@ByVal
                                                               MatVector objectPoints,
                                                               @ByVal
                                                               MatVector imagePoints,
                                                               @Const @ByRef
                                                               Size image_size,
                                                               @ByVal
                                                               Mat K,
                                                               @ByVal
                                                               Mat D,
                                                               @ByVal
                                                               MatVector rvecs,
                                                               @ByVal
                                                               MatVector tvecs)

calibrate

@Namespace(value="cv::fisheye")
public static double calibrate(@ByVal
                                                               UMatVector objectPoints,
                                                               @ByVal
                                                               UMatVector imagePoints,
                                                               @Const @ByRef
                                                               Size image_size,
                                                               @ByVal
                                                               Mat K,
                                                               @ByVal
                                                               Mat D,
                                                               @ByVal
                                                               UMatVector rvecs,
                                                               @ByVal
                                                               UMatVector tvecs,
                                                               int flags,
                                                               @ByVal(nullValue="cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 100, DBL_EPSILON)")
                                                               TermCriteria criteria)

calibrate

@Namespace(value="cv::fisheye")
public static double calibrate(@ByVal
                                                               UMatVector objectPoints,
                                                               @ByVal
                                                               UMatVector imagePoints,
                                                               @Const @ByRef
                                                               Size image_size,
                                                               @ByVal
                                                               Mat K,
                                                               @ByVal
                                                               Mat D,
                                                               @ByVal
                                                               UMatVector rvecs,
                                                               @ByVal
                                                               UMatVector tvecs)

calibrate

@Namespace(value="cv::fisheye")
public static double calibrate(@ByVal
                                                               GpuMatVector objectPoints,
                                                               @ByVal
                                                               GpuMatVector imagePoints,
                                                               @Const @ByRef
                                                               Size image_size,
                                                               @ByVal
                                                               Mat K,
                                                               @ByVal
                                                               Mat D,
                                                               @ByVal
                                                               GpuMatVector rvecs,
                                                               @ByVal
                                                               GpuMatVector tvecs,
                                                               int flags,
                                                               @ByVal(nullValue="cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 100, DBL_EPSILON)")
                                                               TermCriteria criteria)

calibrate

@Namespace(value="cv::fisheye")
public static double calibrate(@ByVal
                                                               GpuMatVector objectPoints,
                                                               @ByVal
                                                               GpuMatVector imagePoints,
                                                               @Const @ByRef
                                                               Size image_size,
                                                               @ByVal
                                                               Mat K,
                                                               @ByVal
                                                               Mat D,
                                                               @ByVal
                                                               GpuMatVector rvecs,
                                                               @ByVal
                                                               GpuMatVector tvecs)

calibrate

@Namespace(value="cv::fisheye")
public static double calibrate(@ByVal
                                                               MatVector objectPoints,
                                                               @ByVal
                                                               MatVector imagePoints,
                                                               @Const @ByRef
                                                               Size image_size,
                                                               @ByVal
                                                               UMat K,
                                                               @ByVal
                                                               UMat D,
                                                               @ByVal
                                                               MatVector rvecs,
                                                               @ByVal
                                                               MatVector tvecs,
                                                               int flags,
                                                               @ByVal(nullValue="cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 100, DBL_EPSILON)")
                                                               TermCriteria criteria)

calibrate

@Namespace(value="cv::fisheye")
public static double calibrate(@ByVal
                                                               MatVector objectPoints,
                                                               @ByVal
                                                               MatVector imagePoints,
                                                               @Const @ByRef
                                                               Size image_size,
                                                               @ByVal
                                                               UMat K,
                                                               @ByVal
                                                               UMat D,
                                                               @ByVal
                                                               MatVector rvecs,
                                                               @ByVal
                                                               MatVector tvecs)

calibrate

@Namespace(value="cv::fisheye")
public static double calibrate(@ByVal
                                                               UMatVector objectPoints,
                                                               @ByVal
                                                               UMatVector imagePoints,
                                                               @Const @ByRef
                                                               Size image_size,
                                                               @ByVal
                                                               UMat K,
                                                               @ByVal
                                                               UMat D,
                                                               @ByVal
                                                               UMatVector rvecs,
                                                               @ByVal
                                                               UMatVector tvecs,
                                                               int flags,
                                                               @ByVal(nullValue="cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 100, DBL_EPSILON)")
                                                               TermCriteria criteria)

calibrate

@Namespace(value="cv::fisheye")
public static double calibrate(@ByVal
                                                               UMatVector objectPoints,
                                                               @ByVal
                                                               UMatVector imagePoints,
                                                               @Const @ByRef
                                                               Size image_size,
                                                               @ByVal
                                                               UMat K,
                                                               @ByVal
                                                               UMat D,
                                                               @ByVal
                                                               UMatVector rvecs,
                                                               @ByVal
                                                               UMatVector tvecs)

calibrate

@Namespace(value="cv::fisheye")
public static double calibrate(@ByVal
                                                               GpuMatVector objectPoints,
                                                               @ByVal
                                                               GpuMatVector imagePoints,
                                                               @Const @ByRef
                                                               Size image_size,
                                                               @ByVal
                                                               UMat K,
                                                               @ByVal
                                                               UMat D,
                                                               @ByVal
                                                               GpuMatVector rvecs,
                                                               @ByVal
                                                               GpuMatVector tvecs,
                                                               int flags,
                                                               @ByVal(nullValue="cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 100, DBL_EPSILON)")
                                                               TermCriteria criteria)

calibrate

@Namespace(value="cv::fisheye")
public static double calibrate(@ByVal
                                                               GpuMatVector objectPoints,
                                                               @ByVal
                                                               GpuMatVector imagePoints,
                                                               @Const @ByRef
                                                               Size image_size,
                                                               @ByVal
                                                               UMat K,
                                                               @ByVal
                                                               UMat D,
                                                               @ByVal
                                                               GpuMatVector rvecs,
                                                               @ByVal
                                                               GpuMatVector tvecs)

calibrate

@Namespace(value="cv::fisheye")
public static double calibrate(@ByVal
                                                               MatVector objectPoints,
                                                               @ByVal
                                                               MatVector imagePoints,
                                                               @Const @ByRef
                                                               Size image_size,
                                                               @ByVal
                                                               GpuMat K,
                                                               @ByVal
                                                               GpuMat D,
                                                               @ByVal
                                                               MatVector rvecs,
                                                               @ByVal
                                                               MatVector tvecs,
                                                               int flags,
                                                               @ByVal(nullValue="cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 100, DBL_EPSILON)")
                                                               TermCriteria criteria)

calibrate

@Namespace(value="cv::fisheye")
public static double calibrate(@ByVal
                                                               MatVector objectPoints,
                                                               @ByVal
                                                               MatVector imagePoints,
                                                               @Const @ByRef
                                                               Size image_size,
                                                               @ByVal
                                                               GpuMat K,
                                                               @ByVal
                                                               GpuMat D,
                                                               @ByVal
                                                               MatVector rvecs,
                                                               @ByVal
                                                               MatVector tvecs)

calibrate

@Namespace(value="cv::fisheye")
public static double calibrate(@ByVal
                                                               UMatVector objectPoints,
                                                               @ByVal
                                                               UMatVector imagePoints,
                                                               @Const @ByRef
                                                               Size image_size,
                                                               @ByVal
                                                               GpuMat K,
                                                               @ByVal
                                                               GpuMat D,
                                                               @ByVal
                                                               UMatVector rvecs,
                                                               @ByVal
                                                               UMatVector tvecs,
                                                               int flags,
                                                               @ByVal(nullValue="cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 100, DBL_EPSILON)")
                                                               TermCriteria criteria)

calibrate

@Namespace(value="cv::fisheye")
public static double calibrate(@ByVal
                                                               UMatVector objectPoints,
                                                               @ByVal
                                                               UMatVector imagePoints,
                                                               @Const @ByRef
                                                               Size image_size,
                                                               @ByVal
                                                               GpuMat K,
                                                               @ByVal
                                                               GpuMat D,
                                                               @ByVal
                                                               UMatVector rvecs,
                                                               @ByVal
                                                               UMatVector tvecs)

calibrate

@Namespace(value="cv::fisheye")
public static double calibrate(@ByVal
                                                               GpuMatVector objectPoints,
                                                               @ByVal
                                                               GpuMatVector imagePoints,
                                                               @Const @ByRef
                                                               Size image_size,
                                                               @ByVal
                                                               GpuMat K,
                                                               @ByVal
                                                               GpuMat D,
                                                               @ByVal
                                                               GpuMatVector rvecs,
                                                               @ByVal
                                                               GpuMatVector tvecs,
                                                               int flags,
                                                               @ByVal(nullValue="cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 100, DBL_EPSILON)")
                                                               TermCriteria criteria)

calibrate

@Namespace(value="cv::fisheye")
public static double calibrate(@ByVal
                                                               GpuMatVector objectPoints,
                                                               @ByVal
                                                               GpuMatVector imagePoints,
                                                               @Const @ByRef
                                                               Size image_size,
                                                               @ByVal
                                                               GpuMat K,
                                                               @ByVal
                                                               GpuMat D,
                                                               @ByVal
                                                               GpuMatVector rvecs,
                                                               @ByVal
                                                               GpuMatVector tvecs)

stereoRectify

@Namespace(value="cv::fisheye")
public static void stereoRectify(@ByVal
                                                                 Mat K1,
                                                                 @ByVal
                                                                 Mat D1,
                                                                 @ByVal
                                                                 Mat K2,
                                                                 @ByVal
                                                                 Mat D2,
                                                                 @Const @ByRef
                                                                 Size imageSize,
                                                                 @ByVal
                                                                 Mat R,
                                                                 @ByVal
                                                                 Mat tvec,
                                                                 @ByVal
                                                                 Mat R1,
                                                                 @ByVal
                                                                 Mat R2,
                                                                 @ByVal
                                                                 Mat P1,
                                                                 @ByVal
                                                                 Mat P2,
                                                                 @ByVal
                                                                 Mat Q,
                                                                 int flags,
                                                                 @Const @ByRef(nullValue="cv::Size()")
                                                                 Size newImageSize,
                                                                 double balance,
                                                                 double fov_scale)

\brief Stereo rectification for fisheye camera model

Parameters:: K1 - First camera intrinsic matrix.; D1 - First camera distortion parameters.; K2 - Second camera intrinsic matrix.; D2 - Second camera distortion parameters.; imageSize - Size of the image used for stereo calibration.; R - Rotation matrix between the coordinate systems of the first and the second cameras.; tvec - Translation vector between coordinate systems of the cameras.; R1 - Output 3x3 rectification transform (rotation matrix) for the first camera.; R2 - Output 3x3 rectification transform (rotation matrix) for the second camera.; P1 - Output 3x4 projection matrix in the new (rectified) coordinate systems for the first camera.; P2 - Output 3x4 projection matrix in the new (rectified) coordinate systems for the second camera.; Q - Output 4 \times 4 disparity-to-depth mapping matrix (see reprojectImageTo3D ).; flags - Operation flags that may be zero or \ref fisheye::CALIB_ZERO_DISPARITY . If the flag is set, the function makes the principal points of each camera have the same pixel coordinates in the rectified views. And if the flag is not set, the function may still shift the images in the horizontal or vertical direction (depending on the orientation of epipolar lines) to maximize the useful image area.; newImageSize - New image resolution after rectification. The same size should be passed to #initUndistortRectifyMap (see the stereo_calib.cpp sample in OpenCV samples directory). When (0,0) is passed (default), it is set to the original imageSize . Setting it to larger value can help you preserve details in the original image, especially when there is a big radial distortion.; balance - Sets the new focal length in range between the min focal length and the max focal length. Balance is in range of [0, 1].; fov_scale - Divisor for new focal length.

stereoRectify

@Namespace(value="cv::fisheye")
public static void stereoRectify(@ByVal
                                                                 Mat K1,
                                                                 @ByVal
                                                                 Mat D1,
                                                                 @ByVal
                                                                 Mat K2,
                                                                 @ByVal
                                                                 Mat D2,
                                                                 @Const @ByRef
                                                                 Size imageSize,
                                                                 @ByVal
                                                                 Mat R,
                                                                 @ByVal
                                                                 Mat tvec,
                                                                 @ByVal
                                                                 Mat R1,
                                                                 @ByVal
                                                                 Mat R2,
                                                                 @ByVal
                                                                 Mat P1,
                                                                 @ByVal
                                                                 Mat P2,
                                                                 @ByVal
                                                                 Mat Q,
                                                                 int flags)

stereoRectify

@Namespace(value="cv::fisheye")
public static void stereoRectify(@ByVal
                                                                 UMat K1,
                                                                 @ByVal
                                                                 UMat D1,
                                                                 @ByVal
                                                                 UMat K2,
                                                                 @ByVal
                                                                 UMat D2,
                                                                 @Const @ByRef
                                                                 Size imageSize,
                                                                 @ByVal
                                                                 UMat R,
                                                                 @ByVal
                                                                 UMat tvec,
                                                                 @ByVal
                                                                 UMat R1,
                                                                 @ByVal
                                                                 UMat R2,
                                                                 @ByVal
                                                                 UMat P1,
                                                                 @ByVal
                                                                 UMat P2,
                                                                 @ByVal
                                                                 UMat Q,
                                                                 int flags,
                                                                 @Const @ByRef(nullValue="cv::Size()")
                                                                 Size newImageSize,
                                                                 double balance,
                                                                 double fov_scale)

stereoRectify

@Namespace(value="cv::fisheye")
public static void stereoRectify(@ByVal
                                                                 UMat K1,
                                                                 @ByVal
                                                                 UMat D1,
                                                                 @ByVal
                                                                 UMat K2,
                                                                 @ByVal
                                                                 UMat D2,
                                                                 @Const @ByRef
                                                                 Size imageSize,
                                                                 @ByVal
                                                                 UMat R,
                                                                 @ByVal
                                                                 UMat tvec,
                                                                 @ByVal
                                                                 UMat R1,
                                                                 @ByVal
                                                                 UMat R2,
                                                                 @ByVal
                                                                 UMat P1,
                                                                 @ByVal
                                                                 UMat P2,
                                                                 @ByVal
                                                                 UMat Q,
                                                                 int flags)

stereoRectify

@Namespace(value="cv::fisheye")
public static void stereoRectify(@ByVal
                                                                 GpuMat K1,
                                                                 @ByVal
                                                                 GpuMat D1,
                                                                 @ByVal
                                                                 GpuMat K2,
                                                                 @ByVal
                                                                 GpuMat D2,
                                                                 @Const @ByRef
                                                                 Size imageSize,
                                                                 @ByVal
                                                                 GpuMat R,
                                                                 @ByVal
                                                                 GpuMat tvec,
                                                                 @ByVal
                                                                 GpuMat R1,
                                                                 @ByVal
                                                                 GpuMat R2,
                                                                 @ByVal
                                                                 GpuMat P1,
                                                                 @ByVal
                                                                 GpuMat P2,
                                                                 @ByVal
                                                                 GpuMat Q,
                                                                 int flags,
                                                                 @Const @ByRef(nullValue="cv::Size()")
                                                                 Size newImageSize,
                                                                 double balance,
                                                                 double fov_scale)

stereoRectify

@Namespace(value="cv::fisheye")
public static void stereoRectify(@ByVal
                                                                 GpuMat K1,
                                                                 @ByVal
                                                                 GpuMat D1,
                                                                 @ByVal
                                                                 GpuMat K2,
                                                                 @ByVal
                                                                 GpuMat D2,
                                                                 @Const @ByRef
                                                                 Size imageSize,
                                                                 @ByVal
                                                                 GpuMat R,
                                                                 @ByVal
                                                                 GpuMat tvec,
                                                                 @ByVal
                                                                 GpuMat R1,
                                                                 @ByVal
                                                                 GpuMat R2,
                                                                 @ByVal
                                                                 GpuMat P1,
                                                                 @ByVal
                                                                 GpuMat P2,
                                                                 @ByVal
                                                                 GpuMat Q,
                                                                 int flags)

Class opencv_calib3d

Field Summary

Constructor Summary

Method Summary

Methods inherited from class org.bytedeco.opencv.presets.opencv_calib3d

Methods inherited from class java.lang.Object

Field Detail

CV_FM_7POINT

CV_FM_8POINT

CV_LMEDS

CV_RANSAC

CV_FM_LMEDS_ONLY

CV_FM_RANSAC_ONLY

CV_FM_LMEDS

CV_FM_RANSAC

CV_ITERATIVE

CV_EPNP

CV_P3P

CV_DLS

CV_CALIB_CB_ADAPTIVE_THRESH

CV_CALIB_CB_NORMALIZE_IMAGE

CV_CALIB_CB_FILTER_QUADS

CV_CALIB_CB_FAST_CHECK

CV_CALIB_USE_INTRINSIC_GUESS

CV_CALIB_FIX_ASPECT_RATIO

CV_CALIB_FIX_PRINCIPAL_POINT

CV_CALIB_ZERO_TANGENT_DIST

CV_CALIB_FIX_FOCAL_LENGTH

CV_CALIB_FIX_K1

CV_CALIB_FIX_K2

CV_CALIB_FIX_K3

CV_CALIB_FIX_K4

CV_CALIB_FIX_K5

CV_CALIB_FIX_K6

CV_CALIB_RATIONAL_MODEL

CV_CALIB_THIN_PRISM_MODEL

CV_CALIB_FIX_S1_S2_S3_S4

CV_CALIB_TILTED_MODEL

CV_CALIB_FIX_TAUX_TAUY

CV_CALIB_FIX_TANGENT_DIST

CV_CALIB_NINTRINSIC

CV_CALIB_FIX_INTRINSIC

CV_CALIB_SAME_FOCAL_LENGTH

CV_CALIB_ZERO_DISPARITY

CV_STEREO_BM_NORMALIZED_RESPONSE

CV_STEREO_BM_XSOBEL

LMEDS

RANSAC

RHO

USAC_DEFAULT

USAC_PARALLEL

USAC_FM_8PTS

USAC_FAST

USAC_ACCURATE

USAC_PROSAC

USAC_MAGSAC

SOLVEPNP_ITERATIVE

SOLVEPNP_EPNP

SOLVEPNP_P3P

SOLVEPNP_DLS

SOLVEPNP_UPNP

SOLVEPNP_AP3P

SOLVEPNP_IPPE

SOLVEPNP_IPPE_SQUARE

SOLVEPNP_SQPNP

SOLVEPNP_MAX_COUNT

CALIB_CB_ADAPTIVE_THRESH

CALIB_CB_NORMALIZE_IMAGE

CALIB_CB_FILTER_QUADS

CALIB_CB_FAST_CHECK

CALIB_CB_EXHAUSTIVE

CALIB_CB_ACCURACY

CALIB_CB_LARGER

CALIB_CB_MARKER

CALIB_CB_SYMMETRIC_GRID

CALIB_CB_ASYMMETRIC_GRID

CALIB_CB_CLUSTERING

CALIB_NINTRINSIC

CALIB_USE_INTRINSIC_GUESS

CALIB_FIX_ASPECT_RATIO