OpenCV3立体视觉接口

1 投影

void cv::projectPoints(
	cv::InputArray  objectPoints,
	cv::InputArray  rvec,
	cv::InputArray  tvec,
	cv::InputArray  cameraMatrix,
	cv::InputArray  distCoeffs,
	cv::OutputArray imagePoints,
	cv::OutputArray jacobian = cv::noArray(),  //Optional
	double          aspectRatio = 0
)

2 仿射变换和透视变换

函数	用法
cv::transform()	仿射变换一系列点
cv::warpAffine()	仿射变换整幅图
cv::getAffineTransform()	从点计算仿射矩阵
cv::getRotationMatrix2D()	计算仿射矩阵获得旋转
cv::perspectiveTransform()	透视变换一系列点
cv::warpPerspective()	透视变换整幅图
cv::getPerspectiveTransform()	填充透视变换矩阵的参数

3 三维姿态估计

3.1 使用cv::solvePnP()计算外参

bool cv::solvePnP(
	cv::InputArray  objectPoints,
	cv::InputArray  imagePoints,
	cv::InputArray  cameraMatrix,
	cv::InputArray  distCoeffs,
	cv::OutputArray rvec,
	cv::OutputArray tvec,
	bool            useExtrinsicGuess = false,
	int             flags = cv::ITERATIVE   //cv::ITERATIVE, cv::P3P, cv::EPNP
)

3.2 使用cv::solvePnPRansac()计算外参

bool cv::solvePnPRansac(
	cv::InputArray  objectPoints,
	cv::InputArray  imagePoints,
	cv::InputArray  cameraMatrix,
	cv::InputArray  distCoeffs,
	cv::OutputArray rvec,
	cv::OutputArray tvec,
	bool            useExtrinsicGuess = false,
	int             iterationsCount = 100,
	float           reprojectionError = 8.0,
	int             minInliersCount   = 100,
	cv::OutputArray inliers = cv::noArray(),
	int             flags = cv::ITERATIVE
)

4 立体成像

4.1 使用cv::findFundamentalMat()求解基本矩阵

cv::Mat cv::findFundamentalMat(
	cv::InputArray  points1,
	cv::InputArray  points2,
	int             method = cv::FM_RANSAC,
	double          param1 = 3.0,
	double          param2 = 0.99,
	cv::OutputArray mask = cv::noArray()
)

方法的值	点数	算法
cv::FM_7POINT	N=7	7点算法
cv::FM_8POINT	N>=8	8点算法
cv::FM_RANSAC	N>=8	RANSAC算法
cv::FM_LMEDS	N>=8	LMedS算法

4.2 计算极线

void cv::computeCorrespondEpilines(
	cv::InputArray  points,
	int             whichImage,
	cv::InputArray  F,
	cv::OutputArray lines
);

4.3 立体标定

double cv::stereoCalibrate(
	cv::InputArrayOfArrays objectPoints,
	cv::InputArrayOfArrays imagePoints1,
	cv::InputArrayOfArrays imagePoints2,
	cv::InputOutputArray   cameraMatrix1,
	cv::InputOutputArray   distCoeffs1,
	cv::InputOutputArray   cameraMatrix2,
	cv::InputOutputArray   distCoeffs2,
	cv::Size               imageSize,
	cv::OutputArray        R,
	cv::OutputArray        T,
	cv::OutputArray        E,
	cv::OutputArray        F,
	cv::TermCriteria       criteria = cv::TermCriteria(
		cv::TermCriteria::COUNT | cv::TermCriteria::EPS,
		30,
		1e-6
	),
	int                   flags = cv::CALIB_FIX_INTRINSIC
);

4.4 立体校正

4.4.1 非标定立体校正: Hartley算法

bool cv::stereoRectifyUncalibrated(
	cv::InputArray  points1,
	cv::InputArray  points2,
	cv::InputArray  F,
	cv::Size        imgSize,
	cv::OutputArray H1,
	cv::OutputArray H2,
	double          threshold = 5.0
)

4.4.2 已标定立体校正: Bouguet算法

void cv::stereoRectify(
	cv::InputArray  cameraMatrix1,
	cv::InputArray  distCoeffs1,
	cv::InputArray  cameraMatrix2,
	cv::InputArray  distCoeffs2,
	cv::Size        imageSize,
	cv::InputArray  R,
	cv::InputArray  T,
	cv::OutputArray R1,
	cv::OutputArray R2,
	cv::OutputArray P1,
	cv::OutputArray P2,
	cv::OutputArray Q,
	int             flags,
	double          alpha = -1,
	cv::Size        newImageSize = cv::Size(),
	cv::Rect*       validPixROI1 = 0,
	cv::Rect*       validPixROI2 = 0
);

4.4.3 校正映射

void cv::initUndistortRectifyMap(
	cv::InputArray  cameraMatrix,
	cv::InputArray  distortCoeffs,
	cv::InputArray  R,
	cv::InputArray  newCameraMatrix,
	cv::Size        size,
	int             m1type,
	cv::OutputArray map1,
	cv::OutputArray map2
)

4.5 立体匹配

class cv::StereoMatcher : public cv::Algorithm {
	
public:
	enum {
		DISP_SHIFT = 4,
		DISP_SCALE = (1 << DISP_SHIFT)
	};
	
	virtual void compute(
		cv::InputArray  left,
		cv::InputArray  right,
		cv::OutputArray disparity
	) = 0;

	virtual int getMinDisparity() const                      = 0;
	virtual void setMinDisparity(int minDisparity)           = 0;

	virtual int getNumDisparity() const                      = 0;
	virtual void setNumDisparities(int numDisparities)       = 0

	virtual int getBlockSize() const                         = 0;
	virtual void setBlockSize(int blockSize)                 = 0;

	virtual int getSpeckleWindowSize() const                 = 0;
	virtual void setSpeckleWindowSize(int speckleWindowSize) = 0;

	virtual int getSpeckleRange() const                      = 0;
	virtual void setSpeckleRange(int speckleRange)           = 0;
	...
}

4.5.1 使用cv::StereoBM计算立体深度(块匹配)

class cv::StereoBM : public cv::StereoMatcher {
	
	enum {
		PREFILTER_NORMALIZED_RESPONSE = 0,
		PREFILTER_XSOBEL = 1
	}

	virtual int getPreFilterType() const                           = 0;
	virtual void setPreFilterType(int preFilterType)               = 0;

	virtual int getPreFilterSize() const                           = 0;
	virtual void setPreFilterSize(int preFilterSize)               = 0;

	virtual int getPreFilterCap() const                            = 0;
	virtual void setPreFilterCap(int preFilterCap)                 = 0;

	virtual int getTextureThreshold() const                        = 0;
	virtual void setTextureThreshold(int textureThreshold)         = 0;

	virtual int getUniquenessRatio() const                         = 0;
	virtual void setUniquenessRatio(int uniquenessRatio)           = 0;

	static cv::Ptr<cv::StereoBM> create(
		int numDisparities = 0,
		int blockSize = 21
	);
};

4.5.2 使用cv::StereoSGBM计算立体深度(半全局块匹配)

class cv::StereoSGBM : public cv::StereoMatcher {
	
	enum {
		MODE_SGBM      = 0,
		MODE_HH        = 1,
		MODE_SGBM_3WAY = 2
	}

	virtual int getPreFilterCap() const                            = 0;
	virtual void setPreFilterCap(int preFilterCap)                 = 0;

	virtual int getUniquenessRatio() const                         = 0;
	virtual void setUniquenessRatio(int uniquenessRatio)           = 0;

	virtual int getP1() const                                      = 0;
	virtual void setP1(int P1)                                     = 0;

	virtual int getP2() const                                      = 0;
	virtual void setP2(int P2)                                     = 0;

	virtual int getMode() const                                    = 0;
	virtual void setMode(int mode)                                 = 0;

	static cv::Ptr<cv::StereoSGBM> create(
		int minDisparities,
		int numDisparities,
		int blockSize,
		int P1              = 0,
		int P2              = 0,
		int disp12MaxDiff   = 0,
		int preFilterCap    = 0,
		int uniquenessRatio = 0,
		int speckleWindowSize = 0,
		int speckleRange      = 0,
		int mode              = StereoSGBM::MODE_SGBM
	);
};

4.6 来自三维重投影的深度映射

void cv::perspectiveTransform(
	cv::InputArray  src,
	cv::OutputArray dst,
	cv::InputArray  Q
)

void cv::reprojectImageTo3D(
	cv::InputArray  disparity,
	cv::OutputArray _3dImage,
	cv::InputArray  Q,
	bool            handleMissingValues = false,
	int             ddepth = -1
);