homography_8h.html

中科院张的摄像机内外参数标定的源码和例子

    <tr><td valign="top"><tt>[in]</tt>&nbsp;</td><td valign="top"><em>n</em>&nbsp;</td><td>number of image points. </td></tr>
    <tr><td valign="top"><tt>[in]</tt>&nbsp;</td><td valign="top"><em>views</em>&nbsp;</td><td>number of views . </td></tr>
    <tr><td valign="top"><tt>[in]</tt>&nbsp;</td><td valign="top"><em>imagePoints</em>&nbsp;</td><td>points </td></tr>
    <tr><td valign="top"><tt>[out]</tt>&nbsp;</td><td valign="top"><em>N</em>&nbsp;</td><td>matrix that transforms [-1,1]x[-1,1]-&gt;[0,w]x[0,h] stored by rows. </td></tr>
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<a class="anchor" name="23109c98fd7086e32f6c50efa68b3fb4"></a><!-- doxytag: member="homography.h::Zhang2D_get_distortion" ref="23109c98fd7086e32f6c50efa68b3fb4" args="(int nPts, double *imgPts, double *imgPtsNormalized, double *imgPtsProjected, double A[9], double *k)" -->
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          <td class="memname">void Zhang2D_get_distortion           </td>
          <td>(</td>
          <td class="paramtype">int&nbsp;</td>
          <td class="paramname"> <em>nPts</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">double *&nbsp;</td>
          <td class="paramname"> <em>imgPts</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double *&nbsp;</td>
          <td class="paramname"> <em>imgPtsNormalized</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double *&nbsp;</td>
          <td class="paramname"> <em>imgPtsProjected</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>A</em>[9], </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double *&nbsp;</td>
          <td class="paramname"> <em>k</em></td><td>&nbsp;</td>
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<p>
Computes the radial distortion camera parameters [ k1, k2 ] (see eq. 
<p>
1 from Zhang 1998 paper) from a set of image and image reprojected points.<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"><tt>[in]</tt>&nbsp;</td><td valign="top"><em>nPts</em>&nbsp;</td><td>Number of points </td></tr>
    <tr><td valign="top"><tt>[in]</tt>&nbsp;</td><td valign="top"><em>imgPts</em>&nbsp;</td><td>Image coordinates of points </td></tr>
    <tr><td valign="top"><tt>[in]</tt>&nbsp;</td><td valign="top"><em>imgPtsNormalized</em>&nbsp;</td><td>Image coordinates normalized </td></tr>
    <tr><td valign="top"><tt>[in]</tt>&nbsp;</td><td valign="top"><em>imgPtsProjected</em>&nbsp;</td><td>Image coordinates of points after reprojected model points using Intrinsic and Extrinsic matrix found </td></tr>
    <tr><td valign="top"><tt>[in]</tt>&nbsp;</td><td valign="top"><em>A</em>&nbsp;</td><td>Intrinsic parameters matrix </td></tr>
    <tr><td valign="top"><tt>[out]</tt>&nbsp;</td><td valign="top"><em>k</em>&nbsp;</td><td>2x1 matrix of radial distortion parameters. </td></tr>
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<a class="anchor" name="8e822579d9c47370b49ddfb02848f0a3"></a><!-- doxytag: member="homography.h::Zhang2DExternal" ref="8e822579d9c47370b49ddfb02848f0a3" args="(double H[9], double A[9], double K[12], double N[9])" -->
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          <td class="memname">int Zhang2DExternal           </td>
          <td>(</td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>H</em>[9], </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>A</em>[9], </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>K</em>[12], </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>N</em>[9]</td><td>&nbsp;</td>
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          <td>)</td>
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<p>
Computes the external camera matrix [Kt] given [A] and a homography. 
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<dl compact><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"><tt>[in]</tt>&nbsp;</td><td valign="top"><em>H</em>&nbsp;</td><td>3x3 homography matrix stores row by row. </td></tr>
    <tr><td valign="top"><tt>[in]</tt>&nbsp;</td><td valign="top"><em>A</em>&nbsp;</td><td>3x3 matrix of internal camera parameters stored by rows. </td></tr>
    <tr><td valign="top"><tt>[in]</tt>&nbsp;</td><td valign="top"><em>N</em>&nbsp;</td><td>- matrix that transforms [-1,1]x[-1,1]-&gt;[0,w]x[0,h] stored by rows. </td></tr>
    <tr><td valign="top"><tt>[out]</tt>&nbsp;</td><td valign="top"><em>K</em>&nbsp;</td><td>3x4 matrix of external camera parameters stored by rows. </td></tr>
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</dl>
<dl compact><dt><b>Returns:</b></dt><dd>0 (zero) means fail to compute [A] and {kt]. 1 (one) means ok. </dd></dl>

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<a class="anchor" name="606107c66c8b5a4d9114e802ab14a160"></a><!-- doxytag: member="homography.h::Zhang2DInternal" ref="606107c66c8b5a4d9114e802ab14a160" args="(int nHomographies, double *H, double N[9], double A[9])" -->
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          <td class="memname">int Zhang2DInternal           </td>
          <td>(</td>
          <td class="paramtype">int&nbsp;</td>
          <td class="paramname"> <em>nHomographies</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double *&nbsp;</td>
          <td class="paramname"> <em>H</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>N</em>[9], </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>A</em>[9]</td><td>&nbsp;</td>
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          <td></td>
          <td>)</td>
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<p>
Computes the internal camera Matrix [A] (see eq. 
<p>
1 from Zhang 1998 paper) from a set of homographies.<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"><tt>[in]</tt>&nbsp;</td><td valign="top"><em>nHomographies</em>&nbsp;</td><td>- Number of Homographies. </td></tr>
    <tr><td valign="top"><tt>[in]</tt>&nbsp;</td><td valign="top"><em>H</em>&nbsp;</td><td>homographies. </td></tr>
    <tr><td valign="top"><tt>[in]</tt>&nbsp;</td><td valign="top"><em>N</em>&nbsp;</td><td>- matrix that transforms [-1,1]x[-1,1]-&gt;[0,w]x[0,h] stored by rows.</td></tr>
    <tr><td valign="top"><tt>[out]</tt>&nbsp;</td><td valign="top"><em>A</em>&nbsp;</td><td>- 3x3 matrix of internal camera parameters stored by rows. </td></tr>
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</dl>
<dl compact><dt><b>Returns:</b></dt><dd>0 (zero) means fail to compute [A] and {kt]. 1 (one) means ok. </dd></dl>

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<a class="anchor" name="46e40320a605a82aa7bc5dcb189f53a1"></a><!-- doxytag: member="homography.h::Zhang2DInternal_UoVo_Know" ref="46e40320a605a82aa7bc5dcb189f53a1" args="(int nHomographies, double *H, double N[9], double A[9])" -->
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          <td class="memname">int Zhang2DInternal_UoVo_Know           </td>
          <td>(</td>
          <td class="paramtype">int&nbsp;</td>
          <td class="paramname"> <em>nHomographies</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double *&nbsp;</td>
          <td class="paramname"> <em>H</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>N</em>[9], </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&nbsp;</td>
          <td class="paramname"> <em>A</em>[9]</td><td>&nbsp;</td>
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          <td></td>
          <td>)</td>
          <td></td><td></td><td width="100%"></td>
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<p>
Computes the internal camera Matrix [A] (see eq. 
<p>
1 from Zhang 1998 paper) from a set of homographies.<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"><tt>[in]</tt>&nbsp;</td><td valign="top"><em>nHomographies</em>&nbsp;</td><td>- Number of Homographies. </td></tr>
    <tr><td valign="top"><tt>[in]</tt>&nbsp;</td><td valign="top"><em>H</em>&nbsp;</td><td>homographies. </td></tr>
    <tr><td valign="top"><tt>[in]</tt>&nbsp;</td><td valign="top"><em>N</em>&nbsp;</td><td>- matrix that transforms [-1,1]x[-1,1]-&gt;[0,w]x[0,h] stored by rows.</td></tr>
    <tr><td valign="top"><tt>[in,out]</tt>&nbsp;</td><td valign="top"><em>A</em>&nbsp;</td><td>- 3x3 matrix of internal camera parameters stored by rows. </td></tr>
  </table>
</dl>
<dl compact><dt><b>Returns:</b></dt><dd>0 (zero) means fail to compute [A] and {kt]. 1 (one) means ok. </dd></dl>

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