Classes
struct	BoundingBox

class	Calibration
	Main interface to specify the calibration structure and run optimization. More...

class	Camera
	Class representing a single camera. More...

class	CameraModelBase

class	CameraModelBrownConrady

class	CameraModelCentralBSpline

class	CameraModelCentralBSplineFast

class	CameraModelCRT

class	CameraModelDoubleSphere

class	CameraModelEnhancedUnified

class	CameraModelFactory

class	CameraModelFOV

class	CameraModelHalconDivision

class	CameraModelMatlab

class	CameraModelOCamCalib

class	CameraModelOpenCV

class	CameraModelOpenCVFisheye

class	CameraModelThinPrism

struct	CovarianceResult

struct	Detection

struct	DetectionResiduals

struct	DistanceConstraint

struct	FeaturePoint

class	Image

struct	ImageSize

struct	InitializationResult

struct	InitializationSettings

struct	IntrinsicsComparison

class	Matrix

struct	OptimizationResult

struct	OptimizationSettings

union	OptionalSetting

struct	ParameterConstReference

struct	ParameterName

struct	ParameterReference

struct	Parameters

struct	PatternSize

struct	PixelCovariance

struct	Point2

struct	Point3

struct	PointCovariance

class	Pose

struct	Residual

class	Rotation

class	RotoTranslation

struct	RPEStatistics

struct	Statistic

class	Target

class	Translation

Typedefs
using	CameraModelTypeList = TypeList< CameraModelOpenCV, CameraModelOpenCVFisheye, CameraModelDoubleSphere, CameraModelEnhancedUnified, CameraModelCentralBSpline, CameraModelThinPrism, CameraModelMatlab, CameraModelFOV, CameraModelHalconDivision, CameraModelBrownConrady >

typedef std::map< std::string, OptionalSetting >	OptionalSettings

typedef Image< uint8_t >	Image1b

typedef Image< std::array< uint8_t, 3 > >	Image3b

typedef Image< float >	Image1f

typedef Image< double >	Image1d

Enumerations
enum class	InitializationMethod { ZHANG , VANISHING_POINTS , FISHEYE , TSAI }

enum class	RobustifierType { NONE , HUBER_NORM }

enum class	TargetGeometry { STATIC , DATUMPOINTS , BESTFIT }

enum class	ParameterState { FREE , FIXED , DISABLED }

enum class	CameraModelType { FOV , HalconDivision , OpenCV , OpenCVFisheye , ThinPrism , Matlab , CentralBSpline , CentralBSplineFast , DoubleSphere , EnhancedUnified , OCamCalib , BrownConrady }

enum class	CircleContrast { DARK , BRIGHT }

enum class	ArucoDictionary { DICT_4X4 , DICT_5X5 , DICT_6X6 , DICT_7X7 , DICT_ARUCO_ORIGINAL , DICT_APRILTAG_16h5 , DICT_APRILTAG_25h9 , DICT_APRILTAG_36h10 , DICT_APRILTAG_36h11 }

Functions
LIBCALIB_API RPEStatistics	residualStatistics (const std::vector< DetectionResiduals > &detectionResiduals)

LIBCALIB_API Image3b	errorDirectionsMap (const std::vector< Point2 > featurePoints, const std::vector< Point2 > residuals, const ImageSize &imageSize)

LIBCALIB_API Image3b	errorMagnitudesMap (const std::vector< Point2 > featurePoints, const std::vector< Point2 > residuals, const ImageSize &imageSize)

LIBCALIB_API std::vector< std::pair< Image3b, Image3b > >	errorMaps (const std::vector< DetectionResiduals > &detectionResiduals, const std::vector< ImageSize > imageDimensions)

LIBCALIB_API std::pair< Image< double >, double >	kernelDensityEstimate (const std::vector< DetectionResiduals > &detectionResiduals)

LIBCALIB_API Image3b	errorScatterPlot (const std::vector< Point2 > residuals, const ImageSize &imageSize)

LIBCALIB_API IntrinsicsComparison	compareIntrinsics (const Camera &cameraA, const Camera &cameraB)

LIBCALIB_API void	covarSaddlePoint (const Image< uint8_t > &image, const std::vector< Point2 > &saddlePoints, std::vector< PixelCovariance > &covars)

LIBCALIB_API bool	findSymmetricCirclesGrid (const Image< uint8_t > &image, const PatternSize &size, const CircleContrast contrast, std::vector< Point2 > &circleCenters, std::vector< double > &circleRadii)

LIBCALIB_API bool	findAsymmetricCirclesGrid (const Image< uint8_t > &image, const PatternSize &size, const CircleContrast contrast, std::vector< Point2 > &circleCenters, std::vector< double > &circleRadii)

LIBCALIB_API bool	findPartialCirclesGrid (const Image< uint8_t > &image, const CircleContrast contrast, const double circleSpacing, std::vector< Point2 > &q, std::vector< Point3 > &Q, std::vector< double > &circleRadii)

LIBCALIB_API bool	findCheckerBoard (const Image< uint8_t > &image, const PatternSize &size, std::vector< Point2 > &saddlePoints)

LIBCALIB_API bool	findCheckerBoardMarker (const Image< uint8_t > &image, const PatternSize &size, const int markerRow, const int markerCol, std::vector< Point2 > &saddlePoints, std::vector< size_t > &ids)

LIBCALIB_API bool	findChAruCoBoard (const Image< uint8_t > &image, const PatternSize &size, std::vector< Point2 > &saddlePoints, std::vector< size_t > &ids, const ArucoDictionary dictionary=ArucoDictionary::DICT_5X5, const int firstId=0, const double markerSize=7.0/9.0, const std::map< std::string, OptionalSetting > &optSettings=OptionalSettings())

LIBCALIB_API bool	findChAruCoBoards (const Image< uint8_t > &image, const PatternSize &size, std::vector< std::vector< Point2 > > &saddlePoints, std::vector< std::vector< size_t > > &ids, const ArucoDictionary dictionary=ArucoDictionary::DICT_5X5, const std::vector< int > firstIds=std::vector< int >(), const double markerSize=7.0/9.0, const std::map< std::string, OptionalSetting > &optSettings=OptionalSettings())

LIBCALIB_API bool	findAruCoTargets (const Image< uint8_t > &image, std::vector< std::vector< Point2 > > &saddlePoints, std::vector< size_t > &ids, const ArucoDictionary dictionary=ArucoDictionary::DICT_5X5, const OptionalSettings &optSettings=OptionalSettings())

LIBCALIB_API bool	findAruCoMarkers (const Image< uint8_t > &image, std::vector< std::vector< Point2 > > &corners, std::vector< size_t > &ids, const ArucoDictionary dictionary=ArucoDictionary::DICT_5X5, const OptionalSettings &optSettings=OptionalSettings())

LIBCALIB_API std::vector< Point3 >	createAprilGridObjectPoints (const int rows, const int cols, const double tagSize, const double tagSpacing)

bool	findAprilGrid (const Image< uint8_t > &image, const PatternSize &size, std::vector< Point2 > &corners, std::vector< size_t > &ids, const int firstId=0)

LIBCALIB_API bool	find3DCirclesTarget (const Image< uint8_t > &image, const std::vector< Point3 > &objectPoints, const std::vector< size_t > &markerIds, const double &focalLength, std::vector< Point2 > &featurePoints, std::vector< size_t > &featureIds, RotoTranslation &pose)

LIBCALIB_API bool	pointsCollinear (const std::vector< Point3 > &Q)

LIBCALIB_API bool	constrainHomography (const std::vector< Point2 > &a, const std::vector< Point2 > &b)

LIBCALIB_API bool	initializeCameraParametersZhang (const std::vector< std::vector< Point3 > > &worldPoints, const std::vector< std::vector< Point2 > > &imagePoints, double &f, double &ar, double &cx, double &cy, std::vector< Rotation > &Rw, std::vector< Translation > &Tw)

bool	initializeCameraParametersVanishingPoints (const std::vector< std::vector< Point3 > > &worldPoints, const std::vector< std::vector< Point2 > > &imagePoints, const size_t imageWidth, const size_t imageHeight, double &f, double &ar, std::vector< Rotation > &Rw, std::vector< Translation > &Tw, const bool estimateAspectRatio=false)

LIBCALIB_API bool	initializeCameraParametersFisheye (const std::vector< std::vector< Point3 > > &worldPoints, const std::vector< std::vector< Point2 > > &imagePoints, const size_t imageWidth, const size_t imageHeight, double &f, double &ar, double &cx, double &cy, std::vector< Rotation > &Rw, std::vector< Translation > &Tw)

LIBCALIB_API bool	initializeCameraParametersTsai (const std::vector< Point3 > &worldPoints, const std::vector< Point2 > &imagePoints, const int imageWidth, const int imageHeight, double &f, double &ar, double &Cx, double &Cy, double &kappa1, Rotation &Rw, Translation &Tw)

LIBCALIB_API void	meanRelativeRotoTranslation (const std::vector< Rotation > &Rwc1, const std::vector< Translation > &Twc1, const std::vector< Rotation > &Rwc2, const std::vector< Translation > &Twc2, Rotation &R, Translation &T)

LIBCALIB_API void	medianRotoTranslation (const std::vector< RotoTranslation > &Twc, RotoTranslation &T)

LIBCALIB_API void	medianRelativeRotoTranslation (const std::vector< Rotation > &Rwc1, const std::vector< Translation > &Twc1, const std::vector< Rotation > &Rwc2, const std::vector< Translation > &Twc2, Rotation &R, Translation &T)

LIBCALIB_API bool	checkLicense ()

LIBCALIB_API bool	activateMachineLicense ()

LIBCALIB_API bool	activateMachineLicense (const std::string &key)

LIBCALIB_API bool	deactivateMachineLicense ()

LIBCALIB_API void	subpixSaddlePointFoerstner (const Image< uint8_t > &image, const int windowHalfWidth, std::vector< Point2 > &saddlePoints, const int maxIterations=100)

LIBCALIB_API void	subpixSaddlePointCrossing (const Image< uint8_t > &image, const int windowHalfWidth, std::vector< Point2 > &saddlePoints)

LIBCALIB_API void	subpixSaddlePointPolynomium (const Image< uint8_t > &image, const int windowHalfWidth, std::vector< Point2 > &saddlePoints, const int maxIterations=100)

LIBCALIB_API bool	subpixSaddlePointSymmetry (const Image< uint8_t > &image, const int windowHalfWidth, const std::vector< Point3 > &objectPoints, std::vector< Point2 > &saddlePoints, const int maxIterations=100)

LIBCALIB_API bool	subpixCircleEllipseFit (const Image< uint8_t > &image, const std::vector< Point3 > &objectPoints, std::vector< Point2 > &circleCenters, const std::vector< double > &circleRadii, const bool perspectiveBiasCorrection=true)

LIBCALIB_API void	subpixCircleNonLinear (const Image< uint8_t > &image, const CircleContrast contrast, std::vector< Point2 > &circleCenters, std::vector< double > &circleRadii, const int maxIterations=100, const double maxRotationRad=M_PI/2, const double maxRadiusChageFactor=std::numeric_limits< double >::infinity())

template<typename T >
void	saveToDisk (const T &object, const std::string &filePath, const bool binary=false)

template<typename T >
void	loadFromDisk (T &object, const std::string &filePath, const bool binary=false)

Detailed Description

Declares functions for analysis of reprojection errors.

(c) Calib.io ApS

Declares the Calibrator class which is the main interface in libCalib.

(c) Calib.io ApS

Camera.h – Declares the data type representing a physical camera.

(c) Calib.io ApS

Base classes for all camera model classes.

(c) Calib.io ApS

Factory class for camera models.

(c) Calib.io ApS

Fisheye camera model with parameters exactly corresponding to OpenCV's and Buguet's fisheye model. Implements Brandt/Kannala's fisheye model with equidistance projection.

Should usually be initialized using initializeCameraParametersFisheye().

J. Kannala, and S. Brandt, A Generic Camera Model and Calibration Method for Conventional, Wide-Angle, and Fish-Eye Lenses, PAMI 2006

Declares functions for target detection in images.

(c) Calib.io ApS

Declares linear initialization routines for camera calibration. Users would normally don't have to call these but use the Calibrator class instead.

(c) Calib.io ApS

Defines common, simple types based on pure C++ which are used throughout libCalib.

(c) Calib.io ApS

Function Documentation

◆ activateMachineLicense() [1/2]

LIBCALIB_API bool libCalib::activateMachineLicense ( )

Will try to activate the current machine online with key found in global environment variable LIBCALIB_LICENSE_KEY.

◆ activateMachineLicense() [2/2]

LIBCALIB_API bool libCalib::activateMachineLicense ( const std::string & key )

Will try to activate the current machine online.

◆ checkLicense()

LIBCALIB_API bool libCalib::checkLicense ( )

Performs a check of whether the executing machine is registered.

If not will try to activate the current machine online with key found in global environment variable LIBCALIB_LICENSE_KEY.

◆ constrainHomography()

LIBCALIB_API bool libCalib::constrainHomography	(	const std::vector< Point2 > &	a,
		const std::vector< Point2 > &	b
	)

Tests whether a set of 2d to 2d correspondences constrain a unique homography. This is generally a requirement for partial observations to be initialized with Zhang's method. Can also be used with a == b on the object points only.

◆ createAprilGridObjectPoints()

LIBCALIB_API std::vector< Point3 > libCalib::createAprilGridObjectPoints	(	const int	rows,
		const int	cols,
		const double	tagSize,
		const double	tagSpacing
	)

Create the object points for a Kalibr-style Aprilgrid

tagSize refers to the size of the coded Apriltag square itself. tagSpacing is the ratio of small black square to tagSize.

point ordering: (e.g. 2x2 grid) 12--—13 14--—15 | TAG 3 | | TAG 4 | 8----—9 10--—11 4----—5 6----—7 y | TAG 1 | | TAG 2 | ^ 0----—1 2----—3 |-->x

◆ deactivateMachineLicense()

LIBCALIB_API bool libCalib::deactivateMachineLicense ( )

Will deactive the current machine online (e.g. when changing hardware parts). Subject to limitations according to license agreement.

◆ find3DCirclesTarget()

LIBCALIB_API bool libCalib::find3DCirclesTarget	(	const Image< uint8_t > &	image,
		const std::vector< Point3 > &	objectPoints,
		const std::vector< size_t > &	markerIds,
		const double &	focalLength,
		std::vector< Point2 > &	featurePoints,
		std::vector< size_t > &	featureIds,
		RotoTranslation &	pose
	)

Find 3D circles targets such as a OneShot target or a step-target. Assumes white circles on dark background and dark marker circles.

◆ findAprilGrid()

bool libCalib::findAprilGrid	(	const Image< uint8_t > &	image,
		const PatternSize &	size,
		std::vector< Point2 > &	corners,
		std::vector< size_t > &	ids,
		const int	firstId = `0`
	)

Find a Kalibr-style Aprilgrid. size refers to the number of tags in x and y. Each tag has four feature points/corners.

◆ findAruCoMarkers()

LIBCALIB_API bool libCalib::findAruCoMarkers	(	const Image< uint8_t > &	image,
		std::vector< std::vector< Point2 > > &	corners,
		std::vector< size_t > &	ids,
		const ArucoDictionary	dictionary = `ArucoDictionary::DICT_5X5`,
		const OptionalSettings &	optSettings = `OptionalSettings()`
	)

Find standard AruCo based markers. No saddle-point subpixel refinement is performed.

◆ findAruCoTargets()

LIBCALIB_API bool libCalib::findAruCoTargets	(	const Image< uint8_t > &	image,
		std::vector< std::vector< Point2 > > &	saddlePoints,
		std::vector< size_t > &	ids,
		const ArucoDictionary	dictionary = `ArucoDictionary::DICT_5X5`,
		const OptionalSettings &	optSettings = `OptionalSettings()`
	)

Find Calib.io AruCo based coded targets (with 4 saddle points surrounding a regular AruCo marker). No saddle-point subpixel refinement is performed.

◆ findAsymmetricCirclesGrid()

LIBCALIB_API bool libCalib::findAsymmetricCirclesGrid	(	const Image< uint8_t > &	image,
		const PatternSize &	size,
		const CircleContrast	contrast,
		std::vector< Point2 > &	circleCenters,
		std::vector< double > &	circleRadii
	)

Find an asymmetric circles grid. No subpixel circle fitting is performed.

◆ findChAruCoBoard()

LIBCALIB_API bool libCalib::findChAruCoBoard	(	const Image< uint8_t > &	image,
		const PatternSize &	size,
		std::vector< Point2 > &	saddlePoints,
		std::vector< size_t > &	ids,
		const ArucoDictionary	dictionary = `ArucoDictionary::DICT_5X5`,
		const int	firstId = `0`,
		const double	markerSize = `7.0/9.0`,
		const std::map< std::string, OptionalSetting > &	optSettings = `OptionalSettings()`
	)

Find ChAruCo board. No saddle-point subpixel refinement is performed. Calib.io ChAruCo boards have dictionary DICT_5X5_1000 by default.

Parameters

firstId	The first ArUco id on the board to be detected.
markerSize	The relative size of the ArUco marker relative to the checker size. Default 7.0/9.0.

Examples: stereo_calibration/main.cpp.

◆ findChAruCoBoards()

LIBCALIB_API bool libCalib::findChAruCoBoards	(	const Image< uint8_t > &	image,
		const PatternSize &	size,
		std::vector< std::vector< Point2 > > &	saddlePoints,
		std::vector< std::vector< size_t > > &	ids,
		const ArucoDictionary	dictionary = `ArucoDictionary::DICT_5X5`,
		const std::vector< int >	firstIds = `std::vector< int >()`,
		const double	markerSize = `7.0/9.0`,
		const std::map< std::string, OptionalSetting > &	optSettings = `OptionalSettings()`
	)

Find multiple ChAruCo board in the same image. No saddle-point subpixel refinement is performed. Calib.io ChAruCo boards have dictionary DICT_5X5_1000 by default. This function is faster and more accurate than calling findChAruCoBoard() multiple times.

Parameters

firstIds	The first ArUco ids on the boards to be detected.
markerSize	The relative size of the ArUco marker relative to the checker size. Default 7.0/9.0.

◆ findCheckerBoard()

LIBCALIB_API bool libCalib::findCheckerBoard	(	const Image< uint8_t > &	image,
		const PatternSize &	size,
		std::vector< Point2 > &	saddlePoints
	)

Find checkerboard. No saddle-point subpixel refinement is performed. Input must be 8bit grayscale.

Examples: feature_detect/main.cpp, and single_camera/main.cpp.

◆ findCheckerBoardMarker()

LIBCALIB_API bool libCalib::findCheckerBoardMarker	(	const Image< uint8_t > &	image,
		const PatternSize &	size,
		const int	markerRow,
		const int	markerCol,
		std::vector< Point2 > &	saddlePoints,
		std::vector< size_t > &	ids
	)

Find checkerboard with central marker. No saddle-point subpixel refinement is performed. Input must be 8bit grayscale.

◆ findPartialCirclesGrid()

LIBCALIB_API bool libCalib::findPartialCirclesGrid	(	const Image< uint8_t > &	image,
		const CircleContrast	contrast,
		const double	circleSpacing,
		std::vector< Point2 > &	q,
		std::vector< Point3 > &	Q,
		std::vector< double > &	circleRadii
	)

Find a partial circles grid. The grid has to be regular, but parts of it may be obscured or outside the FOV. No subpixel circle fitting is performed.

◆ findSymmetricCirclesGrid()

LIBCALIB_API bool libCalib::findSymmetricCirclesGrid	(	const Image< uint8_t > &	image,
		const PatternSize &	size,
		const CircleContrast	contrast,
		std::vector< Point2 > &	circleCenters,
		std::vector< double > &	circleRadii
	)

Find a symmetric circles grid. No subpixel circle fitting is performed.

◆ initializeCameraParametersFisheye()

LIBCALIB_API bool libCalib::initializeCameraParametersFisheye	(	const std::vector< std::vector< Point3 > > &	worldPoints,
		const std::vector< std::vector< Point2 > > &	imagePoints,
		const size_t	imageWidth,
		const size_t	imageHeight,
		double &	f,
		double &	ar,
		double &	cx,
		double &	cy,
		std::vector< Rotation > &	Rw,
		std::vector< Translation > &	Tw
	)

Initialize camera intrinsics and extrinsics for a planar calibration target for a fisheye camera. Based on Bouguet's method for initializing the Brandt/Kannala model. Reference: A Generic Camera Model and Calibration Method for Conventional, Wide-Angle, and Fish-Eye Lenses. Reference: Jean-Yves Bouguet, Camera Calibration Toolbox for Matlab

◆ initializeCameraParametersTsai()

LIBCALIB_API bool libCalib::initializeCameraParametersTsai	(	const std::vector< Point3 > &	worldPoints,
		const std::vector< Point2 > &	imagePoints,
		const int	imageWidth,
		const int	imageHeight,
		double &	f,
		double &	ar,
		double &	Cx,
		double &	Cy,
		double &	kappa1,
		Rotation &	Rw,
		Translation &	Tw
	)

Initialize camera intrinsics and extrinsics for a 3D calibration target by means of Tsai's method. Reference: R.Y. Tsai, An Efficient and Accurate Camera Calibration Technique for 3D Machine Vision (1986). A very intuitive analysis if given in: B.K.P. Horn, Tsai's camera calibration method revisited (2000).

Note that the function makes a few iterations of non-linear optimization.

Examples: step_target/main.cpp.

◆ initializeCameraParametersVanishingPoints()

bool libCalib::initializeCameraParametersVanishingPoints	(	const std::vector< std::vector< Point3 > > &	worldPoints,
		const std::vector< std::vector< Point2 > > &	imagePoints,
		const size_t	imageWidth,
		const size_t	imageHeight,
		double &	f,
		double &	ar,
		std::vector< Rotation > &	Rw,
		std::vector< Translation > &	Tw,
		const bool	estimateAspectRatio = `false`
	)

Initialize camera intrinsics and extrinsics for a planar calibration target by means of Bouguet's method. This is identical to Zhang's for extrinsics estimation, but uses vanishing points for focal length estimation. Central point coordinates are assumed to be in the image center. Reference: Jean-Yves Bouguet, Camera Calibration Toolbox for Matlab http://www.vision.caltech.edu/bouguetj/calib_doc/.

◆ initializeCameraParametersZhang()

LIBCALIB_API bool libCalib::initializeCameraParametersZhang	(	const std::vector< std::vector< Point3 > > &	worldPoints,
		const std::vector< std::vector< Point2 > > &	imagePoints,
		double &	f,
		double &	ar,
		double &	cx,
		double &	cy,
		std::vector< Rotation > &	Rw,
		std::vector< Translation > &	Tw
	)

Initialize camera intrinsics and extrinsics for a planar calibration target by means of Zhang's method. Reference: Zhang, Z., A Flexible New Technique for Camera Calibration (2002).

◆ meanRelativeRotoTranslation()

LIBCALIB_API void libCalib::meanRelativeRotoTranslation	(	const std::vector< Rotation > &	Rwc1,
		const std::vector< Translation > &	Twc1,
		const std::vector< Rotation > &	Rwc2,
		const std::vector< Translation > &	Twc2,
		Rotation &	R,
		Translation &	T
	)

Determine the mean rotation and translation between two cameras from corresponding target extrinsics.

◆ medianRelativeRotoTranslation()

LIBCALIB_API void libCalib::medianRelativeRotoTranslation	(	const std::vector< Rotation > &	Rwc1,
		const std::vector< Translation > &	Twc1,
		const std::vector< Rotation > &	Rwc2,
		const std::vector< Translation > &	Twc2,
		Rotation &	R,
		Translation &	T
	)

Determine the "median" rotation and translation between two cameras from corresponding target extrinsics.

◆ medianRotoTranslation()

LIBCALIB_API void libCalib::medianRotoTranslation	(	const std::vector< RotoTranslation > &	Twc,
		RotoTranslation &	T
	)

Determine a "median" rototranslation.

◆ pointsCollinear()

LIBCALIB_API bool libCalib::pointsCollinear ( const std::vector< Point3 > & Q )

Tests whether a set of 3d points are colinear. This is useful for removing partial views of calibration targets which cannot be used for initialization and optimization anyways.

Classes

Typedefs

Enumerations

Functions

Detailed Description

Function Documentation

◆ activateMachineLicense() [1/2]

◆ activateMachineLicense() [2/2]

◆ checkLicense()

◆ constrainHomography()

◆ createAprilGridObjectPoints()

◆ deactivateMachineLicense()

◆ find3DCirclesTarget()

◆ findAprilGrid()

◆ findAruCoMarkers()

◆ findAruCoTargets()

◆ findAsymmetricCirclesGrid()

◆ findChAruCoBoard()

◆ findChAruCoBoards()

◆ findCheckerBoard()

◆ findCheckerBoardMarker()

◆ findPartialCirclesGrid()

◆ findSymmetricCirclesGrid()

◆ initializeCameraParametersFisheye()

◆ initializeCameraParametersTsai()

◆ initializeCameraParametersVanishingPoints()

◆ initializeCameraParametersZhang()

◆ meanRelativeRotoTranslation()

◆ medianRelativeRotoTranslation()

◆ medianRotoTranslation()

◆ pointsCollinear()