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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"><html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"><title>Zhang: zhang2dcalib.h File Reference</title><link href="doxygen.css" rel="stylesheet" type="text/css"><link href="tabs.css" rel="stylesheet" type="text/css"></head><body><!-- Generated by Doxygen 1.4.7 --><div class="tabs"> <ul> <li><a href="index.html"><span>Main Page</span></a></li> <li id="current"><a href="files.html"><span>Files</span></a></li> </ul></div><div class="tabs"> <ul> <li><a href="files.html"><span>File List</span></a></li> <li><a href="globals.html"><span>Globals</span></a></li> </ul></div><h1>zhang2dcalib.h File Reference</h1>Zhang's camera calibration 2D. <a href="#_details">More...</a><p><table border="0" cellpadding="0" cellspacing="0"><tr><td></td></tr><tr><td colspan="2"><br><h2>Functions</h2></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="zhang2dcalib_8h.html#1994114724f8ba38e898a14c48e694ef">homography</a> (int nPoints, double *modelPoints, double *imagePoints, double *H)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the homography [H]3x3 given nPoints pairs of Model <br> and Image Points, i.e, computes [H]. <a href="#1994114724f8ba38e898a14c48e694ef"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="zhang2dcalib_8h.html#4f3a58a0f55b313e554d004a544f1b0c">hTransform</a> (double *H, double X, double Y, double W, double *u, double *v)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the projective transformation of the point (X,Y,W) according with the homography [H] <br>. <a href="#4f3a58a0f55b313e554d004a544f1b0c"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="zhang2dcalib_8h.html#3f0f306e783c3f134d55e2f14b873df4">normalizeImagePoints</a> (double w, double h, int n, int views, double *imagePoints, double *N)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Normalizes the points in the image. <a href="#3f0f306e783c3f134d55e2f14b873df4"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="zhang2dcalib_8h.html#606107c66c8b5a4d9114e802ab14a160">Zhang2DInternal</a> (int nHomographies, double *H, double N[9], double A[9])</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the internal camera Matrix [A] (see eq. <a href="#606107c66c8b5a4d9114e802ab14a160"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="zhang2dcalib_8h.html#46e40320a605a82aa7bc5dcb189f53a1">Zhang2DInternal_UoVo_Know</a> (int nHomographies, double *H, double N[9], double A[9])</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the internal camera Matrix [A] (see eq. <a href="#46e40320a605a82aa7bc5dcb189f53a1"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="zhang2dcalib_8h.html#8e822579d9c47370b49ddfb02848f0a3">Zhang2DExternal</a> (double H[9], double A[9], double K[12], double N[9])</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the external camera matrix [Kt] given [A] and a homography. <a href="#8e822579d9c47370b49ddfb02848f0a3"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="zhang2dcalib_8h.html#23109c98fd7086e32f6c50efa68b3fb4">Zhang2D_get_distortion</a> (int nPts, double *imgPts, double *imgPtsNormalized, double *imgPtsProjected, double A[9], double *k)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the radial distortion camera parameters [ k1, k2 ] (see eq. <a href="#23109c98fd7086e32f6c50efa68b3fb4"></a><br></td></tr></table><hr><a name="_details"></a><h2>Detailed Description</h2>Zhang's camera calibration 2D. <p><dl compact><dt><b>Author:</b></dt><dd>Lucas Teixeira <p>Marcelo Gattass <p>Manuel E. L. Fernandez </dd></dl><dl compact><dt><b>Date:</b></dt><dd>july 06,2006 </dd></dl><hr><h2>Function Documentation</h2><a class="anchor" name="1994114724f8ba38e898a14c48e694ef"></a><!-- doxytag: member="zhang2dcalib.h::homography" ref="1994114724f8ba38e898a14c48e694ef" args="(int nPoints, double *modelPoints, double *imagePoints, double *H)" --><div class="memitem"><div class="memproto"> <table class="memname"> <tr> <td class="memname">int homography </td> <td>(</td> <td class="paramtype">int </td> <td class="paramname"> <em>nPoints</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">double * </td> <td class="paramname"> <em>modelPoints</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">double * </td> <td class="paramname"> <em>imagePoints</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">double * </td> <td class="paramname"> <em>H</em></td><td> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td><td width="100%"></td> </tr> </table></div><div class="memdoc"><p>Computes the homography [H]3x3 given nPoints pairs of Model <br> and Image Points, i.e, computes [H]. <p>Model point k is obtained in: <br> double X=modelPoints[3*k+0]; X coord of model point k <br> double Y=modelPoints[3*k+1]; Y coord of model point k <br> double W=modelPoints[3*k+2]; W coord of model point k <br> Image point k is obtained in: <br> double u=imagePoints[2*k+0]; u coord of image point k <br> double v=imagePoints[2*k+1]; v coord of image point k <br> <dl compact><dt><b>Parameters:</b></dt><dd> <table border="0" cellspacing="2" cellpadding="0"> <tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>nPoints</em> </td><td>number of points pairs </td></tr> <tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>modelPoints</em> </td><td>points model array </td></tr> <tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>imagePoints</em> </td><td>points image array </td></tr> <tr><td valign="top"><tt>[out]</tt> </td><td valign="top"><em>H</em> </td><td>homography </td></tr> </table></dl><dl compact><dt><b>Returns:</b></dt><dd>0 = no-error or 1 = error </dd></dl></div></div><p><a class="anchor" name="4f3a58a0f55b313e554d004a544f1b0c"></a><!-- doxytag: member="zhang2dcalib.h::hTransform" ref="4f3a58a0f55b313e554d004a544f1b0c" args="(double *H, double X, double Y, double W, double *u, double *v)" --><div class="memitem"><div class="memproto"> <table class="memname"> <tr> <td class="memname">double hTransform </td> <td>(</td> <td class="paramtype">double * </td> <td class="paramname"> <em>H</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">double </td> <td class="paramname"> <em>X</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">double </td> <td class="paramname"> <em>Y</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">double </td> <td class="paramname"> <em>W</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">double * </td> <td class="paramname"> <em>u</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">double * </td> <td class="paramname"> <em>v</em></td><td> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td><td width="100%"></td> </tr> </table></div><div class="memdoc"><p>Computes the projective transformation of the point (X,Y,W) according with the homography [H] <br>. <p><dl compact><dt><b>Parameters:</b></dt><dd> <table border="0" cellspacing="2" cellpadding="0"> <tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>H</em> </td><td>homography </td></tr> <tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>X</em> </td><td>x model points </td></tr> <tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>Y</em> </td><td>y model points </td></tr> <tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>W</em> </td><td>w model points </td></tr> <tr><td valign="top"><tt>[out]</tt> </td><td valign="top"><em>u</em> </td><td>u image points </td></tr> <tr><td valign="top"><tt>[out]</tt> </td><td valign="top"><em>v</em> </td><td>v image points </td></tr> </table></dl><dl compact><dt><b>Returns:</b></dt><dd>the w componente </dd></dl></div></div><p><a class="anchor" name="3f0f306e783c3f134d55e2f14b873df4"></a><!-- doxytag: member="zhang2dcalib.h::normalizeImagePoints" ref="3f0f306e783c3f134d55e2f14b873df4" args="(double w, double h, int n, int views, double *imagePoints, double *N)" --><div class="memitem"><div class="memproto"> <table class="memname"> <tr> <td class="memname">void normalizeImagePoints </td> <td>(</td> <td class="paramtype">double </td> <td class="paramname"> <em>w</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">double </td> <td class="paramname"> <em>h</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">int </td> <td class="paramname"> <em>n</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">int </td> <td class="paramname"> <em>views</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">double * </td> <td class="paramname"> <em>imagePoints</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">double * </td> <td class="paramname"> <em>N</em></td><td> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td><td width="100%"></td> </tr> </table></div><div class="memdoc"><p>Normalizes the points in the image. <p>I.e., maps from [0,w]x[0,h]->[-1,1]x[-1,1].<p>Also computes the inverse of this transformation to be obtain the internal Camera matrix in the original image system. <br> imagePoints[2*i+0] - u coordinate of image point i. imagePoints[2*i+1] - v coordinate of image point i. <dl compact><dt><b>Parameters:</b></dt><dd> <table border="0" cellspacing="2" cellpadding="0"> <tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>w</em> </td><td>width image resolutions. </td></tr> <tr><td valign="top"><tt>[in]</tt> </td><td valign="top"><em>h</em> </td><td>height image resolutions. </td></tr>⌨️ 快捷键说明
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