Congratulation !, you've got your new rasperry pi camera ! Isn't-it cute ? But after first try, you discover that it's not an usb-webcam. :-( Thus, OpenCV doesn't work natively. (forget cvCaptureFromCAM for example and all your wonderful apps you've thought up !) However, some nice apps (such as raspivid or raspistill) controls the pi…
Mat estimateRigidTransform(const Mat& srcpt, const Mat& dstpt, bool fullAffine)¶ Computes optimal affine transformation between two 2D point sets Parameters: * srcpt – The first input 2D point set * dst – The second input 2D point set of the same size and the same type as A * fullAffine – If true, the function finds the optimal affine transformation with no any additional resrictions (i.e. there are 6 degrees of freedom); otherwise, the class of transformations to choose from is limited to combinations of translation, rotation and uniform scaling (i.e. there are 5 degrees of freedom) The function finds the optimal affine transform [A|b] (a 2 \times 3 floating-point matrix) that approximates best the transformation from \texttt{srcpt}_i to \texttt{dstpt}_i : [A^*|b^*] = arg \min _{[A|b]} \sum _i \| \texttt{dstpt} _i - A { \texttt{srcpt} _i}^T - b \| ^2 where [A|b] can be either arbitrary (when fullAffine=true ) or have form