Classes
class	Affine3DEstimatorCallback

class	EMEstimatorCallback

class	LMeDSPointSetRegistrator

class	LMSolver

class	PnPRansacCallback

class	PointSetRegistrator

class	RANSACPointSetRegistrator

Functions
template<typename T >
int	compressElems (T ptr, const uchar mask, int mstep, int count)

cv::Ptr< PointSetRegistrator >	createLMeDSPointSetRegistrator (const cv::Ptr< PointSetRegistrator::Callback > &cb, int modelPoints, double confidence=0.99, int maxIters=1000)

Ptr< PointSetRegistrator >	createLMeDSPointSetRegistrator (const Ptr< PointSetRegistrator::Callback > &_cb, int _modelPoints, double _confidence, int _maxIters)

cv::Ptr< LMSolver >	createLMSolver (const cv::Ptr< LMSolver::Callback > &cb, int maxIters)

cv::Ptr< PointSetRegistrator >	createRANSACPointSetRegistrator (const cv::Ptr< PointSetRegistrator::Callback > &cb, int modelPoints, double threshold, double confidence=0.99, int maxIters=1000)

Ptr< PointSetRegistrator >	createRANSACPointSetRegistrator (const Ptr< PointSetRegistrator::Callback > &_cb, int _modelPoints, double _threshold, double _confidence, int _maxIters)

void	decomposeEssentialMat (InputArray _E, OutputArray _R1, OutputArray _R2, OutputArray _t)

cv::Mat	findEssentialMat (cv::InputArray _points1, cv::InputArray _points2, cv::InputArray _cameraMatrix, int method, double prob, double threshold, cv::OutputArray _mask=cv::noArray())

cv::Mat	findEssentialMat (InputArray _points1, InputArray _points2, InputArray _cameraMatrix, int method, double prob, double threshold, OutputArray _mask)

int	RANSACUpdateNumIters (double p, double ep, int modelPoints, int maxIters)

int	recoverPose (cv::InputArray E, cv::InputArray _points1, cv::InputArray _points2, cv::InputArray _cameraMatrix, cv::OutputArray _R, cv::OutputArray _t, double distanceThresh, cv::InputOutputArray _mask, cv::OutputArray triangulatedPoints)

int	recoverPose (InputArray E, InputArray _points1, InputArray _points2, InputArray _cameraMatrix, OutputArray _R, OutputArray _t, double distanceThresh, InputOutputArray _mask, OutputArray triangulatedPoints)

bool	solvePnPRansac (cv::InputArray objectPoints, cv::InputArray imagePoints, cv::InputArray cameraMatrix, cv::InputArray distCoeffs, cv::OutputArray rvec, cv::OutputArray tvec, bool useExtrinsicGuess=false, int iterationsCount=100, float reprojectionError=8.0, double confidence=0.99, cv::OutputArray inliers=cv::noArray(), int flags=CV_ITERATIVE)
	Finds an object pose from 3D-2D point correspondences using the RANSAC scheme. More...

bool	solvePnPRansac (InputArray _opoints, InputArray _ipoints, InputArray _cameraMatrix, InputArray _distCoeffs, OutputArray _rvec, OutputArray _tvec, bool useExtrinsicGuess, int iterationsCount, float reprojectionError, double confidence, OutputArray _inliers, int flags)

Function Documentation

template<typename T >

int cv3::compressElems	(	T *	ptr,
		const uchar *	mask,
		int	mstep,
		int	count
	)

inline

Definition at line 141 of file solvepnp.h.

cv::Ptr<PointSetRegistrator> cv3::createLMeDSPointSetRegistrator	(	const cv::Ptr< PointSetRegistrator::Callback > &	cb,
		int	modelPoints,
		double	confidence = `0.99`,
		int	maxIters = `1000`
	)

Ptr<PointSetRegistrator> cv3::createLMeDSPointSetRegistrator	(	const Ptr< PointSetRegistrator::Callback > &	_cb,
		int	_modelPoints,
		double	_confidence,
		int	_maxIters
	)

Definition at line 555 of file solvepnp.cpp.

cv::Ptr<LMSolver> cv3::createLMSolver	(	const cv::Ptr< LMSolver::Callback > &	cb,
		int	maxIters
	)

cv::Ptr<PointSetRegistrator> cv3::createRANSACPointSetRegistrator	(	const cv::Ptr< PointSetRegistrator::Callback > &	cb,
		int	modelPoints,
		double	threshold,
		double	confidence = `0.99`,
		int	maxIters = `1000`
	)

Ptr<PointSetRegistrator> cv3::createRANSACPointSetRegistrator	(	const Ptr< PointSetRegistrator::Callback > &	_cb,
		int	_modelPoints,
		double	_threshold,
		double	_confidence,
		int	_maxIters
	)

Definition at line 546 of file solvepnp.cpp.

void cv3::decomposeEssentialMat	(	InputArray	_E,
		OutputArray	_R1,
		OutputArray	_R2,
		OutputArray	_t
	)

Definition at line 453 of file five-point.cpp.

cv::Mat cv3::findEssentialMat	(	cv::InputArray	_points1,
		cv::InputArray	_points2,
		cv::InputArray	_cameraMatrix,
		int	method,
		double	prob,
		double	threshold,
		cv::OutputArray	_mask = `cv::noArray()`
	)

cv::Mat cv3::findEssentialMat	(	InputArray	_points1,
		InputArray	_points2,
		InputArray	_cameraMatrix,
		int	method,
		double	prob,
		double	threshold,
		OutputArray	_mask
	)

Definition at line 405 of file five-point.cpp.

int cv3::RANSACUpdateNumIters	(	double	p,
		double	ep,
		int	modelPoints,
		int	maxIters
	)

Definition at line 216 of file solvepnp.cpp.

int cv3::recoverPose	(	cv::InputArray	E,
		cv::InputArray	_points1,
		cv::InputArray	_points2,
		cv::InputArray	_cameraMatrix,
		cv::OutputArray	_R,
		cv::OutputArray	_t,
		double	distanceThresh,
		cv::InputOutputArray	_mask,
		cv::OutputArray	triangulatedPoints
	)

int cv3::recoverPose	(	InputArray	E,
		InputArray	_points1,
		InputArray	_points2,
		InputArray	_cameraMatrix,
		OutputArray	_R,
		OutputArray	_t,
		double	distanceThresh,
		InputOutputArray	_mask,
		OutputArray	triangulatedPoints
	)

Definition at line 477 of file five-point.cpp.

bool cv3::solvePnPRansac	(	cv::InputArray	objectPoints,
		cv::InputArray	imagePoints,
		cv::InputArray	cameraMatrix,
		cv::InputArray	distCoeffs,
		cv::OutputArray	rvec,
		cv::OutputArray	tvec,
		bool	useExtrinsicGuess = `false`,
		int	iterationsCount = `100`,
		float	reprojectionError = `8.0`,
		double	confidence = `0.99`,
		cv::OutputArray	inliers = `cv::noArray()`,
		int	flags = `CV_ITERATIVE`
	)

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

Parameters

objectPoints	Array of object points in the object coordinate space, 3xN/Nx3 1-channel or 1xN/Nx1 3-channel, where N is the number of points. vector<Point3f> can be also passed here.
imagePoints	Array of corresponding image points, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel, where N is the number of points. vector<Point2f> can be also passed here.
cameraMatrix	Input camera matrix $A = \vecthreethree{fx}{0}{cx}{0}{fy}{cy}{0}{0}{1}$ .
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.
rvec	Output rotation vector (see 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.
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 solvePnP ).

The function estimates an object pose given a set of object points, their corresponding image projections, as well as the camera 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 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/

bool cv3::solvePnPRansac	(	InputArray	_opoints,
		InputArray	_ipoints,
		InputArray	_cameraMatrix,
		InputArray	_distCoeffs,
		OutputArray	_rvec,
		OutputArray	_tvec,
		bool	useExtrinsicGuess,
		int	iterationsCount,
		float	reprojectionError,
		double	confidence,
		OutputArray	_inliers,
		int	flags
	)

Definition at line 112 of file solvepnp.cpp.

Classes

Functions

Function Documentation