Estimates transformation between the 2 cameras making a stereo pair. If we have a stereo camera, where the relative position and orientatation of the 2 cameras is fixed, and if we computed poses of an object relative to the fist camera and to the second camera, (R1, T1) and (R2, T2), respectively (that can be done with cvFindExtrinsicCameraParams2), obviously, those poses will relate to each other, i.e. given (R1, T1) it should be possible to compute (R2, T2) - we only need to know the position and orientation of the 2nd camera relative to the 1st camera. That's what the described function does. It computes (R, T) such that:
R2=R*R1,
T2=R*T1 + T
Namespace:
Emgu.CV
Assembly:
Emgu.CV (in Emgu.CV.dll) Version: 2.0.1.0 (2.0.1.0)
Syntax
| C# |
|---|
public static void StereoCalibrate(
MCvPoint3D32f[][] objectPoints,
PointF[][] imagePoints1,
PointF[][] imagePoints2,
IntrinsicCameraParameters intrinsicParam1,
IntrinsicCameraParameters intrinsicParam2,
Size imageSize,
CALIB_TYPE flags,
MCvTermCriteria termCrit,
out ExtrinsicCameraParameters extrinsicParams,
out Matrix<double> foundamentalMatrix,
out Matrix<double> essentialMatrix
) |
| Visual Basic (Declaration) |
|---|
Public Shared Sub StereoCalibrate ( _
objectPoints As MCvPoint3D32f()(), _
imagePoints1 As PointF()(), _
imagePoints2 As PointF()(), _
intrinsicParam1 As IntrinsicCameraParameters, _
intrinsicParam2 As IntrinsicCameraParameters, _
imageSize As Size, _
flags As CALIB_TYPE, _
termCrit As MCvTermCriteria, _
<OutAttribute> ByRef extrinsicParams As ExtrinsicCameraParameters, _
<OutAttribute> ByRef foundamentalMatrix As Matrix(Of Double), _
<OutAttribute> ByRef essentialMatrix As Matrix(Of Double) _
) |
| Visual C++ |
|---|
public:
static void StereoCalibrate(
array<array<MCvPoint3D32f>^>^ objectPoints,
array<array<PointF>^>^ imagePoints1,
array<array<PointF>^>^ imagePoints2,
IntrinsicCameraParameters^ intrinsicParam1,
IntrinsicCameraParameters^ intrinsicParam2,
Size imageSize,
CALIB_TYPE flags,
MCvTermCriteria termCrit,
[OutAttribute] ExtrinsicCameraParameters^% extrinsicParams,
[OutAttribute] Matrix<double>^% foundamentalMatrix,
[OutAttribute] Matrix<double>^% essentialMatrix
) |
See Also
