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a lot of small corrections to bring down the number of undocumented functions, reported by the script; added em.cpp sample

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Vadim Pisarevsky
2011-06-09 01:16:45 +00:00
parent 3b9e752be7
commit 20aca7440f
30 changed files with 474 additions and 746 deletions
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modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
+35 -25
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@@ -345,9 +345,7 @@ The function converts 2D or 3D points from/to homogeneous coordinates by calling
decomposeProjectionMatrix
-----------------------------
.. cpp:function:: void decomposeProjectionMatrix( InputArray projMatrix, OutputArray cameraMatrix, OutputArray rotMatrix, OutputArray transVect )
.. cpp:function:: void decomposeProjectionMatrix( InputArray projMatrix, OutputArray cameraMatrix, OutputArray rotMatrix, OutputArray transVect, OutputArray rotMatrixX, OutputArray rotMatrixY, OutputArray rotMatrixZ, Vec3d& eulerAngles )
.. cpp:function:: void decomposeProjectionMatrix( InputArray projMatrix, OutputArray cameraMatrix, OutputArray rotMatrix, OutputArray transVect, OutputArray rotMatrixX=noArray(), OutputArray rotMatrixY=noArray(), OutputArray rotMatrixZ=noArray(), OutputArray eulerAngles=noArray() )
Decomposes a projection matrix into a rotation matrix and a camera matrix.
@@ -365,7 +363,7 @@ decomposeProjectionMatrix
:param rotMatrZ: Optional 3x3 rotation matrix around z-axis.
:param eulerAngles: Optional 3 points containing the three Euler angles of rotation.
:param eulerAngles: Optional 3-element vector containing the three Euler angles of rotation.
The function computes a decomposition of a projection matrix into a calibration and a rotation matrix and the position of a camera.
@@ -628,8 +626,6 @@ corresponding to the specified points. It can also be passed to
.. index:: findHomography
.. _findHomography:
findHomography
------------------
.. cpp:function:: Mat findHomography( InputArray srcPoints, InputArray dstPoints, int method=0, double ransacReprojThreshold=3, OutputArray mask=noArray() )
@@ -707,9 +703,30 @@ See Also:
:ref:`PerspectiveTransform`
.. index:: getOptimalNewCameraMatrix
.. index:: estimateAffine3D
.. _getOptimalNewCameraMatrix:
estimateAffine3D
--------------------
.. cpp:function:: int estimateAffine3D(InputArray srcpt, InputArray dstpt, OutputArray out, OutputArray outliers, double ransacThreshold = 3.0, double confidence = 0.99)
Computes an optimal affine transformation between two 3D point sets.
:param srcpt: The first input 3D point set.
:param dstpt: The second input 3D point set.
:param out: Output 3D affine transformation matrix :math:`3 \times 4` .
:param outliers: Output vector indicating which points are outliers.
:param ransacThreshold: Maximum reprojection error in the RANSAC algorithm to consider a point as an inlier.
:param confidence: The confidence level, between 0 and 1, that the estimated transformation will have. Anything between 0.95 and 0.99 is usually good enough. Too close to 1 values can slow down the estimation too much, lower than 0.8-0.9 confidence values can result in an incorrectly estimated transformation.
The function estimates an optimal 3D affine transformation between two 3D point sets using the RANSAC algorithm.
.. index:: getOptimalNewCameraMatrix
getOptimalNewCameraMatrix
-----------------------------
@@ -787,7 +804,7 @@ The function computes partial derivatives of the elements of the matrix product
projectPoints
-----------------
.. cpp:function:: void projectPoints( InputArray objectPoints, InputArray rvec, InputArray tvec, InputArray cameraMatrix, InputArray distCoeffs, OutputArray imagePoints, OutputArray dpdrot=noArray(), OutputArray dpdt=noArray(), OutputArray dpdf=noArray(), OutputArray dpdc=noArray(), OutputArray dpddist=noArray(), double aspectRatio=0 )
.. cpp:function:: void projectPoints( InputArray objectPoints, InputArray rvec, InputArray tvec, InputArray cameraMatrix, InputArray distCoeffs, OutputArray imagePoints, OutputArray jacobian=noArray(), double aspectRatio=0 )
Projects 3D points to an image plane.
@@ -803,15 +820,9 @@ projectPoints
:param imagePoints: Output array of image points, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel, or ``vector<Point2f>`` .
:param dpdrot: Optional 2Nx3 matrix of derivatives of image points with respect to components of the rotation vector.
:param jacobian: Optional output 2Nx(10+<numDistCoeffs>) 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.
:param dpdt: Optional 2Nx3 matrix of derivatives of image points with respect to components of the translation vector.
:param dpdf: Optional 2Nx2 matrix of derivatives of image points with respect to :math:`f_x` and :math:`f_y` .
:param dpdc: Optional 2Nx2 matrix of derivatives of image points with respect to :math:`c_x` and :math:`c_y` .
:param dpddist: Optional 2Nx4 matrix of derivatives of image points with respect to distortion coefficients.
:param aspectRatio: Optional "fixed aspect ratio" parameter. If the parameter is not 0, the function assumes that the aspect ratio (*fx/fy*) is fixed and correspondingly adjusts the jacobian matrix.
The function computes projections of 3D
points to the image plane given intrinsic and extrinsic camera
@@ -837,7 +848,7 @@ By setting ``rvec=tvec=(0,0,0)`` or by setting ``cameraMatrix`` to a 3x3 identi
reprojectImageTo3D
----------------------
.. cpp:function:: void reprojectImageTo3D( InputArray disparity, OutputArray _3dImage, InputArray Q, bool handleMissingValues=false )
.. cpp:function:: void reprojectImageTo3D( InputArray disparity, OutputArray _3dImage, InputArray Q, bool handleMissingValues=false, int depth=-1 )
Reprojects a disparity image to 3D space.
@@ -849,6 +860,8 @@ reprojectImageTo3D
:param 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 :ref:`StereoBM::operator ()` ) are transformed to 3D points with a very large Z value (currently set to 10000).
:param 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)`` andthe corresponding disparity ``d=disparity(x,y)`` , it computes:
.. math::
@@ -862,13 +875,10 @@ The matrix ``Q`` can be an arbitrary
.. index:: RQDecomp3x3
.. _RQDecomp3x3:
RQDecomp3x3
---------------
.. cpp:function:: void RQDecomp3x3( InputArray M, OutputArray R, OutputArray Q )
.. cpp:function:: Vec3d RQDecomp3x3( InputArray M, OutputArray R, OutputArray Q, OutputArray Qx, OutputArray Qy, OutputArray Qz )
.. cpp:function:: Vec3d RQDecomp3x3( InputArray M, OutputArray R, OutputArray Q, OutputArray Qx=noArray(), OutputArray Qy=noArray(), OutputArray Qz=noArray() )
Computes an RQ decomposition of 3x3 matrices.
@@ -878,11 +888,11 @@ RQDecomp3x3
:param Q: Output 3x3 orthogonal matrix.
:param Qx: Optional 3x3 rotation matrix around x-axis.
:param Qx: Optional output 3x3 rotation matrix around x-axis.
:param Qy: Optional 3x3 rotation matrix around y-axis.
:param Qy: Optional output 3x3 rotation matrix around y-axis.
:param Qz: Optional 3x3 rotation matrix around z-axis.
:param Qz: Optional output 3x3 rotation matrix around z-axis.
The function computes a RQ decomposition using the given rotations. This function is used in
:ref:`DecomposeProjectionMatrix` to decompose the left 3x3 submatrix of a projection matrix into a camera and a rotation matrix.