Lines Matching refs:objectPoints
62 void cv::fisheye::projectPoints(InputArray objectPoints, OutputArray imagePoints, const Affine3d& affine,
65 projectPoints(objectPoints, imagePoints, affine.rvec(), affine.translation(), K, D, alpha, jacobian);
68 void cv::fisheye::projectPoints(InputArray objectPoints, OutputArray imagePoints, InputArray _rvec,
72 CV_Assert(objectPoints.type() == CV_32FC3 || objectPoints.type() == CV_64FC3);
73 imagePoints.create(objectPoints.size(), CV_MAKETYPE(objectPoints.depth(), 2));
74 size_t n = objectPoints.total();
115 const Vec3f* Xf = objectPoints.getMat().ptr<Vec3f>();
116 const Vec3d* Xd = objectPoints.getMat().ptr<Vec3d>();
122 Vec3d Xi = objectPoints.depth() == CV_32F ? (Vec3d)Xf[i] : Xd[i];
145 if (objectPoints.depth() == CV_32F)
690 double cv::fisheye::calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, const Size& image_size,
694 CV_Assert(!objectPoints.empty() && !imagePoints.empty() && objectPoints.total() == imagePoints.total());
695 CV_Assert(objectPoints.type() == CV_32FC3 || objectPoints.type() == CV_64FC3);
750 std::vector<Vec3d> omc(objectPoints.total()), Tc(objectPoints.total());
752 CalibrateExtrinsics(objectPoints, imagePoints, finalParam, check_cond, thresh_cond, omc, Tc);
766 ComputeJacobians(objectPoints, imagePoints, finalParam, omc, Tc, check_cond,thresh_cond, JJ2_inv, ex3);
780 CalibrateExtrinsics(objectPoints, imagePoints, finalParam, check_cond,
787 EstimateUncertainties(objectPoints, imagePoints, finalParam, omc, Tc, errors, err_std, thresh_cond,
800 for( i = 0; i < (int)objectPoints.total(); i++ )
818 double cv::fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
822 CV_Assert(!objectPoints.empty() && !imagePoints1.empty() && !imagePoints2.empty());
823 CV_Assert(objectPoints.total() == imagePoints1.total() || imagePoints1.total() == imagePoints2.total());
824 CV_Assert(objectPoints.type() == CV_32FC3 || objectPoints.type() == CV_64FC3);
841 int n_points = (int)objectPoints.getMat(0).total();
842 int n_images = (int)objectPoints.total();
863 calibrate(objectPoints, imagePoints1, imageSize, _K1, _D1, rvecs1, tvecs1, flags, TermCriteria(3, 20, 1e-6));
864 calibrate(objectPoints, imagePoints2, imageSize, _K2, _D2, rvecs2, tvecs2, flags, TermCriteria(3, 20, 1e-6));
875 cv::internal::CalibrateExtrinsics(objectPoints, imagePoints1, intrinsicLeft, check_cond, thresh_cond, rvecs1, tvecs1);
876 cv::internal::CalibrateExtrinsics(objectPoints, imagePoints2, intrinsicRight, check_cond, thresh_cond, rvecs2, tvecs2);
946 cv::Mat object = objectPoints.getMat(image_idx).clone();
1144 void cv::internal::projectPoints(cv::InputArray objectPoints, cv::OutputArray imagePoints,
1148 CV_Assert(!objectPoints.empty() && objectPoints.type() == CV_64FC3);
1152 fisheye::projectPoints(objectPoints, imagePoints, _rvec, _tvec, K, param.k, param.alpha, jacobian);
1155 void cv::internal::ComputeExtrinsicRefine(const Mat& imagePoints, const Mat& objectPoints, Mat& rvec,
1159 CV_Assert(!objectPoints.empty() && objectPoints.type() == CV_64FC3);
1170 projectPoints(objectPoints, x, rvec, tvec, param, jacobians);
1320 Mat objectPoints = Mat(_objectPoints.t()).reshape(1).t();
1324 calcCovarMatrix(objectPoints, covObjectPoints, objectPointsMean, COVAR_NORMAL | COVAR_COLS);
1332 Mat X_new = R * objectPoints + T * Mat::ones(1, Np, CV_64FC1);
1352 void cv::internal::CalibrateExtrinsics(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints,
1356 CV_Assert(!objectPoints.empty() && (objectPoints.type() == CV_32FC3 || objectPoints.type() == CV_64FC3));
1360 if (omc.empty()) omc.create(1, (int)objectPoints.total(), CV_64FC3);
1361 if (Tc.empty()) Tc.create(1, (int)objectPoints.total(), CV_64FC3);
1370 objectPoints.getMat(image_idx).convertTo(object, CV_64FC3);
1387 void cv::internal::ComputeJacobians(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints,
1391 CV_Assert(!objectPoints.empty() && (objectPoints.type() == CV_32FC3 || objectPoints.type() == CV_64FC3));
1397 int n = (int)objectPoints.total();
1405 objectPoints.getMat(image_idx).convertTo(object, CV_64FC3);
1452 void cv::internal::EstimateUncertainties(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints,
1456 CV_Assert(!objectPoints.empty() && (objectPoints.type() == CV_32FC3 || objectPoints.type() == CV_64FC3));
1462 Mat ex((int)(objectPoints.getMat(0).total() * objectPoints.total()), 1, CV_64FC2);
1464 for (int image_idx = 0; image_idx < (int)objectPoints.total(); ++image_idx)
1467 objectPoints.getMat(image_idx).convertTo(object, CV_64FC3);
1486 ComputeJacobians(objectPoints, imagePoints, params, omc, Tc, check_cond, thresh_cond, _JJ2_inv, ex3);
