1.通道变换

void cvtColor(InputArray src, OutputArray dst, int code, int dstCn=0 );

2.二值化

double cv::threshold(InputArray src, OutputArray dst, double thres, double maxval, int type)

3.形态学操作

void morphologyEx(InputArray src, OutputArray dst, int op, InputArray kernel, Point anchor=Point(-1,-1), intiterations=1, int borderType=BORDER_CONSTANT, const Scalar& borderValue=morphologyDefaultBorderValue());

4.滤波器

//均值滤波
void blur(InputArray src, OutputArray dst, Size ksizem Point anchor=Point(-1, -1), int borderType=BORDER_DEFAULT);
//高斯滤波
void GaussianBlur(InputArray src, OutputArray dst, Size ksize, double sigmaX, double sigmaY=0, int borderType=BORDER_DEFAULT);
//中值滤波
void medianBlur(InputArray src, OutputArray dst, int ksize);
//双边滤波
void bilateralFilter(InputArray src, OutputArray dst, int d, double sigmaColor, double sigmaSpace, int borderType=BORDER_DEFAULT);

5.边缘检测

//canny算子
void Canny(InputArray image,OutputArray edges, double threshold1, double threshold2, int apertureSize=3,bool L2gradient=false);
//sobel算子
void Sobel(InputArray src, OutputArray dst, int ddepth, int dx, int dy, int ksize=3, double scale=1, double delta=0, int borderType=BORDER_DEFAULT);
//Laplacian算子
void Laplacian( InputArray src, OutputArray dst, int ddepth,int ksize = 1, double scale =1, double delta = 0, int borderType = BORDER_DEFAULT);

6.轮廓提取

//轮廓提取
findContours( InputOutputArray image, OutputArrayOfArrays contours,OutputArray hierarchy,
int mode,int method, Point offset=Point());
//绘制轮廓
drawContours(InputOutputArray image, InputArrayOfArrays contours, int contourIdx, const Scalar& color, int thickness=1, int lineType=8, InputArray hierarchy=noArray(), int maxLevel=INT_MAX, Point offset=Point());
//连通域分析
int connectedComponentsWithStats (InputArrayn image, OutputArray labels, OutputArray stats,
OutputArray centroids,int connectivity = 8, int ltype = CV_32S);

7.直线提取、多边形拟合

//直线检测
void HoughLines(InputArray image, OutputArray lines, double rho, double theta, int threshold, double srn=0, double stn=0);
//线段检测
void HoughLinesP(InputArray image, OutputArray lines, double rho, double theta, int threshold,double minLineLength=0, double maxLineGap=0);
//多边形拟合
void approxPolyDP(InputArray curve, OutputArray approxCurve, double epsilon, bool closed);
//椭圆拟合
void ellipse(Mat& img, Point center, Size axes, double angle, double startAngle, double endAngle, const Scalar& color, int thickness=1, int lineType=8, int shift=0);
void ellipse(Mat& img, const RotatedRect& box, const Scalar& color, int thickness=1, int lineType=8);
//直线拟合
void fitLine(InputArray points,OutputArray line, int distType,double param,double reps,double aeps);

8.角点检测

//Harris角点检测
void cornerHarris(InputArray src,OutputArray dst,int blockSize,int ksize,double k,intborderType=BORDER_DEFAULT);
//Shi-Tomasi 角点检测
void goodFeaturesToTrack(InputArray image,OutputArray corners,int maxCorners,double qualityLevel,double minDistance,InputArray mask = noArray(),int blockSize = 3,bool useHarrisDetector = false,double k = 0.04);

9.特征点匹配

//FAST算法
ptr<FastFeatureDetector> create(int threshold=10, bool nonmaxSuppression=true,int type=FastFeatureDetector::TYPE_9_16);
//SURF算法
typedef SURF cv::xfeatures2d::SurfDescriptorExtractor
typedef SURF cv::xfeatures2d::SurfFeatureDetector
//sift算法
cv::xfeatures2d::SIFT::create( int nfeatures = 0, int nOctaveLayers = 3,double constrastThreshold = 0.04, double edgeThreshold = 10,double sigma = 1.5);

10.标定

//棋盘格角点提取
int cvFindChessboardCorners( const void* image, CvSize pattern_size, CvPoint2D32f* corners, int* corner_count=NULL, int flags=CV_CALIB_CB_ADAPTIVE_THRESH );
//亚像素提取
void cornerSubPix( InputArray image, InputOutputArray corners, Size winSize, Size zeroZone, TermCriteria criteria);
//角点绘制
drawChessboardCorners(image, patternSize, corners, patternWasFound);
//内外参求取
double cv::calibrateCamera(InputArrayOfArrays objectPoints,
InputArrayOfArrays imagePoints,
Size imageSize,
InputOutputArray cameraMatrix,
InputOutputArray distCoeffs,
OutputArrayOfArrays rvecs,
OutputArrayOfArrays tvecs,
OutputArray stdDeviationsIntrinsics,
OutputArray stdDeviationsExtrinsics,
OutputArray perViewErrors,
int flags = 0,
TermCriteria criteria = TermCriteria(TermCriteria::COUNT+TermCriteria::EPS,30,DBL_EPSILON));
//畸变矫正
void undistort(InputArray src, OutputArray dst, InputArray cameraMatrix, InputArray distCoeffs, InputArray newCameraMatrix=noArray());
void initUndistortRectifyMap(InputArray cameraMatrix, InputArray distCoeffs, InputArray R, InputArray newCameraMatrix, Size size, int m1type, OutputArray map1,OutputArray map2);
void remap(InputArray src, OutputArray dst, InputArray map1, InputArray map2, int interpolation, int borderMode=BORDER_CONSTANT, const Scalar& borderValue=Scalar());

//九点法标定
Mat estimateRigidTransform(InputArraysrc,InputArraydst,boolfullAffine);
//手眼标定
void cv::calibrateHandEye(InputArrayOfArrays R_gripper2base,
						  InputArrayOfArrays t_gripper2base,
						  InputArrayOfArrays R_target2cam,
						  InputArrayOfArrays t_target2cam,
						  OutputArray R_cam2gripper,
						  OutputArray t_cam2gripper,
						  HandEyeCalibrationMethod method = CALIB_HAND_EYE_TSAI);