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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: 2.4.10.1935 (2.4.10.1935)

Syntax

C#
public static double cvStereoCalibrate(
	IntPtr objectPoints,
	IntPtr imagePoints1,
	IntPtr imagePoints2,
	IntPtr pointCounts,
	IntPtr cameraMatrix1,
	IntPtr distCoeffs1,
	IntPtr cameraMatrix2,
	IntPtr distCoeffs2,
	Size imageSize,
	IntPtr R,
	IntPtr T,
	IntPtr E,
	IntPtr F,
	MCvTermCriteria termCrit,
	CALIB_TYPE flags
)
Visual Basic
Public Shared Function cvStereoCalibrate ( 
	objectPoints As IntPtr,
	imagePoints1 As IntPtr,
	imagePoints2 As IntPtr,
	pointCounts As IntPtr,
	cameraMatrix1 As IntPtr,
	distCoeffs1 As IntPtr,
	cameraMatrix2 As IntPtr,
	distCoeffs2 As IntPtr,
	imageSize As Size,
	R As IntPtr,
	T As IntPtr,
	E As IntPtr,
	F As IntPtr,
	termCrit As MCvTermCriteria,
	flags As CALIB_TYPE
) As Double
Visual C++
public:
static double cvStereoCalibrate(
	IntPtr objectPoints, 
	IntPtr imagePoints1, 
	IntPtr imagePoints2, 
	IntPtr pointCounts, 
	IntPtr cameraMatrix1, 
	IntPtr distCoeffs1, 
	IntPtr cameraMatrix2, 
	IntPtr distCoeffs2, 
	Size imageSize, 
	IntPtr R, 
	IntPtr T, 
	IntPtr E, 
	IntPtr F, 
	MCvTermCriteria termCrit, 
	CALIB_TYPE flags
)
F#
static member cvStereoCalibrate : 
        objectPoints : IntPtr * 
        imagePoints1 : IntPtr * 
        imagePoints2 : IntPtr * 
        pointCounts : IntPtr * 
        cameraMatrix1 : IntPtr * 
        distCoeffs1 : IntPtr * 
        cameraMatrix2 : IntPtr * 
        distCoeffs2 : IntPtr * 
        imageSize : Size * 
        R : IntPtr * 
        T : IntPtr * 
        E : IntPtr * 
        F : IntPtr * 
        termCrit : MCvTermCriteria * 
        flags : CALIB_TYPE -> float 

Parameters

objectPoints
Type: System..::..IntPtr
The joint matrix of object points, 3xN or Nx3, where N is the total number of points in all views
imagePoints1
Type: System..::..IntPtr
The joint matrix of corresponding image points in the views from the 1st camera, 2xN or Nx2, where N is the total number of points in all views
imagePoints2
Type: System..::..IntPtr
The joint matrix of corresponding image points in the views from the 2nd camera, 2xN or Nx2, where N is the total number of points in all views
pointCounts
Type: System..::..IntPtr
Vector containing numbers of points in each view, 1xM or Mx1, where M is the number of views
cameraMatrix1
Type: System..::..IntPtr
The input/output camera matrices [fxk 0 cxk; 0 fyk cyk; 0 0 1]. If CV_CALIB_USE_INTRINSIC_GUESS or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of the elements of the matrices must be initialized
distCoeffs1
Type: System..::..IntPtr
The input/output vectors of distortion coefficients for each camera, 4x1, 1x4, 5x1 or 1x5
cameraMatrix2
Type: System..::..IntPtr
The input/output camera matrices [fxk 0 cxk; 0 fyk cyk; 0 0 1]. If CV_CALIB_USE_INTRINSIC_GUESS or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of the elements of the matrices must be initialized
distCoeffs2
Type: System..::..IntPtr
The input/output vectors of distortion coefficients for each camera, 4x1, 1x4, 5x1 or 1x5
imageSize
Type: System.Drawing..::..Size
Size of the image, used only to initialize intrinsic camera matrix
R
Type: System..::..IntPtr
The rotation matrix between the 1st and the 2nd cameras' coordinate systems
T
Type: System..::..IntPtr
The translation vector between the cameras' coordinate systems
E
Type: System..::..IntPtr
The optional output essential matrix
F
Type: System..::..IntPtr
The optional output fundamental matrix
termCrit
Type: Emgu.CV.Structure..::..MCvTermCriteria
Termination criteria for the iterative optimiziation algorithm
flags
Type: Emgu.CV.CvEnum..::..CALIB_TYPE
The calibration flags

Return Value

Type: Double

[Missing <returns> documentation for "M:Emgu.CV.CvInvoke.cvStereoCalibrate(System.IntPtr,System.IntPtr,System.IntPtr,System.IntPtr,System.IntPtr,System.IntPtr,System.IntPtr,System.IntPtr,System.Drawing.Size,System.IntPtr,System.IntPtr,System.IntPtr,System.IntPtr,Emgu.CV.Structure.MCvTermCriteria,Emgu.CV.CvEnum.CALIB_TYPE)"]

See Also