geometry

Recovers the relative camera rotation and the translation from corresponding points in two images from two different cameras, using chirality check. Returns the number of

recoverPose1function

Recovers the relative camera rotation and the translation from an estimated essential

recoverPose2function

Recovers the relative camera rotation and the translation from an estimated essential

recoverPose3function

Recovers the relative camera rotation and the translation from an estimated essential

RectanglesIntersectTypesclass

types of intersection between rectangles

Rodriguesfunction

Converts a rotation matrix to a rotation vector or vice versa.

rotatedRectangleIntersectionfunction

Finds out if there is any intersection between two rotated rectangles.

RQDecomp3x3function

Computes an RQ decomposition of 3x3 matrices.

SacMethodclass

type of the robust estimation algorithm

SacModelTypeclass

Native enum entries for sac model type. Pass an entry to enum-typed arguments or its .value to numeric arguments.

SamplingMethodclass

Native enum entries for sampling method. Pass an entry to enum-typed arguments or its .value to numeric arguments.

sampsonDistancefunction

Calculates the Sampson Distance between two points.

ScoreMethodclass

Native enum entries for score method. Pass an entry to enum-typed arguments or its .value to numeric arguments.

solveP3Pfunction

Finds an object pose ` {}^{c}\mathbf{T}_o ` from 3 3D-2D point correspondences.

solvePnPfunction

example: samples/cpp/tutorial_code/features/Homography/homography_from_camera_displacement.cpp

solvePnPGenericfunction

Finds an object pose ` {}^{c}\mathbf{T}_o ` from 3D-2D point correspondences.

SolvePnPMethodclass

Native enum entries for solve pn pmethod. Pass an entry to enum-typed arguments or its .value to numeric arguments.

solvePnPRansacfunction

Finds an object pose ` {}^{c}\mathbf{T}_o ` from 3D-2D point correspondences using the RANSAC scheme to deal with bad matches.

solvePnPRansac1function

Finds rotation and translation vector.

solvePnPRefineLMfunction

Refine a pose (the translation and the rotation that transform a 3D point expressed in the object coordinate frame

solvePnPRefineVVSfunction

Refine a pose (the translation and the rotation that transform a 3D point expressed in the object coordinate frame

Subdiv2Dclass

subdiv2 d value in the OpenCV API.

triangulatePointsfunction

This function reconstructs 3-dimensional points (in homogeneous coordinates) by using

undistortImagePointsfunction

Compute undistorted image points position

undistortPointsfunction

Computes the ideal point coordinates from the observed point coordinates.

UsacParamsclass

usac params value in the OpenCV API.

VariableTypeclass

Type of variables used in LevMarq solver

Constants

Use the named constant from cv. In particular, OpenCV 5 matrix type codes differ from OpenCV 4.

INTERSECT_NONE: No intersection
INTERSECT_PARTIAL: There is a partial intersection
INTERSECT_FULL: One of the rectangle is fully enclosed in the other
DIST_USER: User defined distance
DIST_L1: distance = |x1-x2| + |y1-y2|
DIST_L2: the simple euclidean distance
DIST_C: distance = max(|x1-x2|,|y1-y2|)
DIST_L12: L1-L2 metric: distance = 2(sqrt(1+x*x/2) - 1))
DIST_FAIR: distance = c^2(|x|/c-log(1+|x|/c)), c = 1.3998
DIST_WELSCH: distance = c^2/2(1-exp(-(x/c)^2)), c = 2.9846
DIST_HUBER: distance = |x|<c ? x^2/2 : c(|x|-c/2), c=1.345
Subdiv2D_PTLOC_ERROR: Point location error
SUBDIV2D_PTLOC_ERROR: Point location error
Subdiv2D_PTLOC_OUTSIDE_RECT: Point outside the subdivision bounding rect
SUBDIV2D_PTLOC_OUTSIDE_RECT: Point outside the subdivision bounding rect
Subdiv2D_PTLOC_INSIDE: Point inside some facet
SUBDIV2D_PTLOC_INSIDE: Point inside some facet
Subdiv2D_PTLOC_VERTEX: Point coincides with one of the subdivision vertices
SUBDIV2D_PTLOC_VERTEX: Point coincides with one of the subdivision vertices
Subdiv2D_PTLOC_ON_EDGE: Point on some edge
SUBDIV2D_PTLOC_ON_EDGE: Point on some edge
Subdiv2D_NEXT_AROUND_ORG: Subdiv2D edge type navigation (see: getEdge())
SUBDIV2D_NEXT_AROUND_ORG: Subdiv2D edge type navigation (see: getEdge())
Subdiv2D_NEXT_AROUND_DST: subdiv2 d next around dst constant (0x22), defined by OpenCV for cv::Subdiv2D.
SUBDIV2D_NEXT_AROUND_DST: subdiv2 d next around dst constant (0x22), defined by OpenCV for cv::Subdiv2D.
Subdiv2D_PREV_AROUND_ORG: subdiv2 d prev around org constant (0x11), defined by OpenCV for cv::Subdiv2D.
SUBDIV2D_PREV_AROUND_ORG: subdiv2 d prev around org constant (0x11), defined by OpenCV for cv::Subdiv2D.
Subdiv2D_PREV_AROUND_DST: subdiv2 d prev around dst constant (0x33), defined by OpenCV for cv::Subdiv2D.
SUBDIV2D_PREV_AROUND_DST: subdiv2 d prev around dst constant (0x33), defined by OpenCV for cv::Subdiv2D.
Subdiv2D_NEXT_AROUND_LEFT: subdiv2 d next around left constant (0x13), defined by OpenCV for cv::Subdiv2D.
SUBDIV2D_NEXT_AROUND_LEFT: subdiv2 d next around left constant (0x13), defined by OpenCV for cv::Subdiv2D.
Subdiv2D_NEXT_AROUND_RIGHT: subdiv2 d next around right constant (0x31), defined by OpenCV for cv::Subdiv2D.
SUBDIV2D_NEXT_AROUND_RIGHT: subdiv2 d next around right constant (0x31), defined by OpenCV for cv::Subdiv2D.
Subdiv2D_PREV_AROUND_LEFT: subdiv2 d prev around left constant (0x20), defined by OpenCV for cv::Subdiv2D.
SUBDIV2D_PREV_AROUND_LEFT: subdiv2 d prev around left constant (0x20), defined by OpenCV for cv::Subdiv2D.
Subdiv2D_PREV_AROUND_RIGHT: subdiv2 d prev around right constant (0x02), defined by OpenCV for cv::Subdiv2D.
SUBDIV2D_PREV_AROUND_RIGHT: subdiv2 d prev around right constant (0x02), defined by OpenCV for cv::Subdiv2D.
LMEDS: least-median of squares algorithm
RANSAC: RANSAC algorithm
RHO: RHO: RHO algorithm
USAC_DEFAULT: USAC algorithm, default settings
USAC_PARALLEL: USAC, parallel version
USAC_FM_8PTS: USAC, fundamental matrix 8 points
USAC_FAST: USAC, fast settings
USAC_ACCURATE: USAC, accurate settings
USAC_PROSAC: USAC, sorted points, runs PROSAC
USAC_MAGSAC: USAC, runs MAGSAC++
SOLVEPNP_ITERATIVE: Pose refinement using non-linear Levenberg-Marquardt minimization scheme [Madsen04] [Eade13] \n
SOLVEPNP_EPNP: EPnP: Efficient Perspective-n-Point Camera Pose Estimation [lepetit2009epnp]
SOLVEPNP_P3P: Revisiting the P3P Problem [ding2023revisiting]
SOLVEPNP_AP3P: An Efficient Algebraic Solution to the Perspective-Three-Point Problem [Ke17]
SOLVEPNP_IPPE: Infinitesimal Plane-Based Pose Estimation [Collins14] \n
SOLVEPNP_IPPE_SQUARE: Infinitesimal Plane-Based Pose Estimation [Collins14] \n
SOLVEPNP_SQPNP: SQPnP: A Consistently Fast and Globally OptimalSolution to the Perspective-n-Point Problem [Terzakis2020SQPnP]
SOLVEPNP_MAX_COUNT: SOLVEPNP_MAX_COUNT: Used for count
FM_7POINT: 7-point algorithm
FM_8POINT: 8-point algorithm
FM_LMEDS: least-median algorithm. 7-point algorithm is used.
FM_RANSAC: RANSAC algorithm. It needs at least 15 points. 7-point algorithm is used.
SAMPLING_UNIFORM: sampling uniform constant (0), defined by OpenCV for cv.
SAMPLING_PROGRESSIVE_NAPSAC: sampling progressive napsac constant (1), defined by OpenCV for cv.
SAMPLING_NAPSAC: sampling napsac constant (2), defined by OpenCV for cv.
SAMPLING_PROSAC: sampling prosac constant (3), defined by OpenCV for cv.
LOCAL_OPTIM_NULL: local optim null constant (0), defined by OpenCV for cv.
LOCAL_OPTIM_INNER_LO: local optim inner lo constant (1), defined by OpenCV for cv.
LOCAL_OPTIM_INNER_AND_ITER_LO: local optim inner and iter lo constant (2), defined by OpenCV for cv.
LOCAL_OPTIM_GC: local optim gc constant (3), defined by OpenCV for cv.
LOCAL_OPTIM_SIGMA: local optim sigma constant (4), defined by OpenCV for cv.
SCORE_METHOD_RANSAC: score method ransac constant (0), defined by OpenCV for cv.
SCORE_METHOD_MSAC: score method msac constant (1), defined by OpenCV for cv.
SCORE_METHOD_MAGSAC: score method magsac constant (2), defined by OpenCV for cv.
SCORE_METHOD_LMEDS: score method lmeds constant (3), defined by OpenCV for cv.
NEIGH_FLANN_KNN: neigh flann knn constant (0), defined by OpenCV for cv.
NEIGH_GRID: neigh grid constant (1), defined by OpenCV for cv.
NEIGH_FLANN_RADIUS: neigh flann radius constant (2), defined by OpenCV for cv.
NONE_POLISHER: none polisher constant (0), defined by OpenCV for cv.
LSQ_POLISHER: lsq polisher constant (1), defined by OpenCV for cv.
MAGSAC: magsac constant (2), defined by OpenCV for cv.
COV_POLISHER: cov polisher constant (3), defined by OpenCV for cv.
MatrixType_AUTO: matrix type auto constant (0), defined by OpenCV for cv::MatrixType.
MATRIX_TYPE_AUTO: matrix type auto constant (0), defined by OpenCV for cv::MatrixType.
MatrixType_DENSE: matrix type dense constant (1), defined by OpenCV for cv::MatrixType.
MATRIX_TYPE_DENSE: matrix type dense constant (1), defined by OpenCV for cv::MatrixType.
MatrixType_SPARSE: matrix type sparse constant (2), defined by OpenCV for cv::MatrixType.
MATRIX_TYPE_SPARSE: matrix type sparse constant (2), defined by OpenCV for cv::MatrixType.
VariableType_LINEAR: variable type linear constant (0), defined by OpenCV for cv::VariableType.
VARIABLE_TYPE_LINEAR: variable type linear constant (0), defined by OpenCV for cv::VariableType.
VariableType_SO3: variable type so3 constant (1), defined by OpenCV for cv::VariableType.
VARIABLE_TYPE_SO3: variable type so3 constant (1), defined by OpenCV for cv::VariableType.
VariableType_SE3: variable type se3 constant (2), defined by OpenCV for cv::VariableType.
VARIABLE_TYPE_SE3: variable type se3 constant (2), defined by OpenCV for cv::VariableType.
MST_PRIM: mst prim constant (0), defined by OpenCV for cv.
MST_KRUSKAL: mst kruskal constant (1), defined by OpenCV for cv.
SAC_METHOD_RANSAC: The RANSAC algorithm described in [fischler1981random].
SAC_MODEL_PLANE: The 3D PLANE model coefficients in list [a, b, c, d], corresponding to the coefficients of equation ax + by + cz + d = 0.
SAC_MODEL_SPHERE: The 3D SPHERE model coefficients in list [center_x, center_y, center_z, radius], corresponding to the coefficients of equation (x - center\_x)^2 + (y - center\_y)^2 + (z - center\_z)^2 = radius^2.