Class Cv2.FishEye

The methods in this class use a so-called fisheye camera model.

Inheritance

System.Object

Cv2.FishEye

Inherited Members

System.Object.Equals(System.Object)

System.Object.Equals(System.Object, System.Object)

System.Object.GetHashCode()

System.Object.GetType()

System.Object.MemberwiseClone()

System.Object.ReferenceEquals(System.Object, System.Object)

System.Object.ToString()

Namespace: OpenCvSharp

Assembly: OpenCvSharp.dll

Syntax

public static class FishEye

Methods

Calibrate(IEnumerable<Mat>, IEnumerable<Mat>, Size, InputOutputArray, InputOutputArray, out IEnumerable<Mat>, out IEnumerable<Mat>, FishEyeCalibrationFlags, Nullable<TermCriteria>)

Performs camera calibaration

Declaration

public static double Calibrate(IEnumerable<Mat> objectPoints, IEnumerable<Mat> imagePoints, Size imageSize, InputOutputArray k, InputOutputArray d, out IEnumerable<Mat> rvecs, out IEnumerable<Mat> tvecs, FishEyeCalibrationFlags flags = FishEyeCalibrationFlags.None, TermCriteria? criteria = null)

Parameters

Type	Name	Description
IEnumerable<Mat>	objectPoints	vector of vectors of calibration pattern points in the calibration pattern coordinate space.
IEnumerable<Mat>	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.
OpenCvSharp.Size	imageSize	Size of the image used only to initialize the intrinsic camera matrix.
InputOutputArray	k	Output 3x3 floating-point camera matrix
InputOutputArray	d	Output vector of distortion coefficients (k_1, k_2, k_3, k_4).
IEnumerable<Mat>	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).
IEnumerable<Mat>	tvecs	Output vector of translation vectors estimated for each pattern view.
FishEyeCalibrationFlags	flags	Different flags that may be zero or a combination of flag values
System.Nullable<OpenCvSharp.TermCriteria>	criteria	Termination criteria for the iterative optimization algorithm.

Returns

Type	Description
System.Double

DistortPoints(InputArray, OutputArray, InputArray, InputArray, Double)

Distorts 2D points using fisheye model.

Declaration

public static void DistortPoints(InputArray undistorted, OutputArray distorted, InputArray k, InputArray d, double alpha = 0)

Parameters

Type	Name	Description
InputArray	undistorted	Array of object points, 1xN/Nx1 2-channel (or vector<Point2f> ), where N is the number of points in the view.
OutputArray	distorted	Output array of image points, 1xN/Nx1 2-channel, or vector<Point2f> .
InputArray	k	Camera matrix
InputArray	d	Input vector of distortion coefficients
System.Double	alpha	The skew coefficient.

EstimateNewCameraMatrixForUndistortRectify(InputArray, InputArray, Size, InputArray, OutputArray, Double, Size, Double)

Estimates new camera matrix for undistortion or rectification.

Declaration

public static void EstimateNewCameraMatrixForUndistortRectify(InputArray k, InputArray d, Size imageSize, InputArray r, OutputArray p, double balance = 0, Size newSize = default(Size), double fovScale = 1)

Parameters

Type	Name	Description
InputArray	k	Camera matrix
InputArray	d	Input vector of distortion coefficients (k_1, k_2, k_3, k_4).
OpenCvSharp.Size	imageSize
InputArray	r	Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3 1-channel or 1x1 3-channel
OutputArray	p	New camera matrix (3x3) or new projection matrix (3x4)
System.Double	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].
OpenCvSharp.Size	newSize
System.Double	fovScale	Divisor for new focal length.

InitUndistortRectifyMap(InputArray, InputArray, InputArray, InputArray, Size, Int32, OutputArray, OutputArray)

Computes undistortion and rectification maps for image transform by cv::remap(). If D is empty zero distortion is used, if R or P is empty identity matrixes are used.

Declaration

public static void InitUndistortRectifyMap(InputArray k, InputArray d, InputArray r, InputArray p, Size size, int m1type, OutputArray map1, OutputArray map2)

Parameters

Type	Name	Description
InputArray	k	Camera matrix
InputArray	d	Input vector of distortion coefficients (k_1, k_2, k_3, k_4).
InputArray	r	Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3 1-channel or 1x1 3-channel
InputArray	p	New camera matrix (3x3) or new projection matrix (3x4)
OpenCvSharp.Size	size	Undistorted image size.
System.Int32	m1type	Type of the first output map that can be CV_32FC1 or CV_16SC2 . See convertMaps() for details.
OutputArray	map1	The first output map.
OutputArray	map2	The second output map.

ProjectPoints(InputArray, OutputArray, InputArray, InputArray, InputArray, InputArray, Double, OutputArray)

Projects points using fisheye model.

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.

Declaration

public static void ProjectPoints(InputArray objectPoints, OutputArray imagePoints, InputArray rvec, InputArray tvec, InputArray k, InputArray d, double alpha = 0, OutputArray jacobian = null)

Parameters

Type	Name	Description
InputArray	objectPoints	Array of object points, 1xN/Nx1 3-channel (or vector<Point3f> ), where N is the number of points in the view.
OutputArray	imagePoints	Output array of image points, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel, or vector<Point2f>.
InputArray	rvec
InputArray	tvec
InputArray	k	Camera matrix
InputArray	d	Input vector of distortion coefficients
System.Double	alpha	The skew coefficient.
OutputArray	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.

StereoCalibrate(IEnumerable<Mat>, IEnumerable<Mat>, IEnumerable<Mat>, InputOutputArray, InputOutputArray, InputOutputArray, InputOutputArray, Size, OutputArray, OutputArray, FishEyeCalibrationFlags, Nullable<TermCriteria>)

Performs stereo calibration

Declaration

public static double StereoCalibrate(IEnumerable<Mat> objectPoints, IEnumerable<Mat> imagePoints1, IEnumerable<Mat> imagePoints2, InputOutputArray k1, InputOutputArray d1, InputOutputArray k2, InputOutputArray d2, Size imageSize, OutputArray r, OutputArray t, FishEyeCalibrationFlags flags = FishEyeCalibrationFlags.FixIntrinsic, TermCriteria? criteria = null)

Parameters

Type	Name	Description
IEnumerable<Mat>	objectPoints	Vector of vectors of the calibration pattern points.
IEnumerable<Mat>	imagePoints1	Vector of vectors of the projections of the calibration pattern points, observed by the first camera.
IEnumerable<Mat>	imagePoints2	Vector of vectors of the projections of the calibration pattern points, observed by the second camera.
InputOutputArray	k1	Input/output first camera matrix
InputOutputArray	d1	Input/output vector of distortion coefficients (k_1, k_2, k_3, k_4) of 4 elements.
InputOutputArray	k2	Input/output second camera matrix. The parameter is similar to K1 .
InputOutputArray	d2	Input/output lens distortion coefficients for the second camera. The parameter is similar to D1.
OpenCvSharp.Size	imageSize	Size of the image used only to initialize intrinsic camera matrix.
OutputArray	r	Output rotation matrix between the 1st and the 2nd camera coordinate systems.
OutputArray	t	Output translation vector between the coordinate systems of the cameras.
FishEyeCalibrationFlags	flags	Different flags that may be zero or a combination of the FishEyeCalibrationFlags values
System.Nullable<OpenCvSharp.TermCriteria>	criteria	Termination criteria for the iterative optimization algorithm.

Returns

Type	Description
System.Double

StereoRectify(InputArray, InputArray, InputArray, InputArray, Size, InputArray, InputArray, OutputArray, OutputArray, OutputArray, OutputArray, OutputArray, FishEyeCalibrationFlags, Size, Double, Double)

Stereo rectification for fisheye camera model

Declaration

public static void StereoRectify(InputArray k1, InputArray d1, InputArray k2, InputArray d2, Size imageSize, InputArray r, InputArray tvec, OutputArray r1, OutputArray r2, OutputArray p1, OutputArray p2, OutputArray q, FishEyeCalibrationFlags flags, Size newImageSize = default(Size), double balance = 0, double fovScale = 1)

Parameters

Type	Name	Description
InputArray	k1	First camera matrix.
InputArray	d1	First camera distortion parameters.
InputArray	k2	Second camera matrix.
InputArray	d2	Second camera distortion parameters.
OpenCvSharp.Size	imageSize	Size of the image used for stereo calibration.
InputArray	r	Rotation matrix between the coordinate systems of the first and the second cameras.
InputArray	tvec	Translation vector between coordinate systems of the cameras.
OutputArray	r1	Output 3x3 rectification transform (rotation matrix) for the first camera.
OutputArray	r2	Output 3x3 rectification transform (rotation matrix) for the second camera.
OutputArray	p1	Output 3x4 projection matrix in the new (rectified) coordinate systems for the first camera.
OutputArray	p2	Output 3x4 projection matrix in the new (rectified) coordinate systems for the second camera.
OutputArray	q	Output 4x4 disparity-to-depth mapping matrix (see reprojectImageTo3D ).
FishEyeCalibrationFlags	flags	Operation flags that may be zero or 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.
OpenCvSharp.Size	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.
System.Double	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].
System.Double	fovScale	Divisor for new focal length.

UndistortImage(InputArray, OutputArray, InputArray, InputArray, InputArray, Size)

Transforms an image to compensate for fisheye lens distortion.

Declaration

public static void UndistortImage(InputArray distorted, OutputArray undistorted, InputArray k, InputArray d, InputArray knew = null, Size newSize = default(Size))

Parameters

Type	Name	Description
InputArray	distorted	image with fisheye lens distortion.
OutputArray	undistorted	Output image with compensated fisheye lens distortion.
InputArray	k	Camera matrix
InputArray	d	Input vector of distortion coefficients (k_1, k_2, k_3, k_4).
InputArray	knew	Camera 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.
OpenCvSharp.Size	newSize

UndistortPoints(InputArray, OutputArray, InputArray, InputArray, InputArray, InputArray)

Undistorts 2D points using fisheye model

Declaration

public static void UndistortPoints(InputArray distorted, OutputArray undistorted, InputArray k, InputArray d, InputArray r = null, InputArray p = null)

Parameters

Type	Name	Description
InputArray	distorted	Array of object points, 1xN/Nx1 2-channel (or vector<Point2f> ), where N is the number of points in the view.
OutputArray	undistorted	Output array of image points, 1xN/Nx1 2-channel, or vector>Point2f> .
InputArray	k	Camera matrix
InputArray	d	Input vector of distortion coefficients (k_1, k_2, k_3, k_4).
InputArray	r	Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3 1-channel or 1x1 3-channel
InputArray	p	New camera matrix (3x3) or new projection matrix (3x4)