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Useful function to do simple bundle adjustment tasks

Namespace: Emgu.CV
Assembly: Emgu.CV (in Emgu.CV.dll) Version: 2.4.10.1935 (2.4.10.1935)

Syntax

C#
public static void BundleAdjust(
	MCvPoint3D64f[] points,
	MCvPoint2D64f[][] imagePoints,
	int[][] visibility,
	Matrix<double>[] cameraMatrix,
	Matrix<double>[] R,
	Matrix<double>[] T,
	Matrix<double>[] distCoeffcients,
	MCvTermCriteria termCrit
)
Visual Basic
Public Shared Sub BundleAdjust ( 
	points As MCvPoint3D64f(),
	imagePoints As MCvPoint2D64f()(),
	visibility As Integer()(),
	cameraMatrix As Matrix(Of Double)(),
	R As Matrix(Of Double)(),
	T As Matrix(Of Double)(),
	distCoeffcients As Matrix(Of Double)(),
	termCrit As MCvTermCriteria
)
Visual C++
public:
static void BundleAdjust(
	array<MCvPoint3D64f>^ points, 
	array<array<MCvPoint2D64f>^>^ imagePoints, 
	array<array<int>^>^ visibility, 
	array<Matrix<double>^>^ cameraMatrix, 
	array<Matrix<double>^>^ R, 
	array<Matrix<double>^>^ T, 
	array<Matrix<double>^>^ distCoeffcients, 
	MCvTermCriteria termCrit
)
F#
static member BundleAdjust : 
        points : MCvPoint3D64f[] * 
        imagePoints : MCvPoint2D64f[][] * 
        visibility : int[][] * 
        cameraMatrix : Matrix<float>[] * 
        R : Matrix<float>[] * 
        T : Matrix<float>[] * 
        distCoeffcients : Matrix<float>[] * 
        termCrit : MCvTermCriteria -> unit 

Parameters

points
Type: array<Emgu.CV.Structure..::..MCvPoint3D64f>[]()[][]
Positions of points in global coordinate system (input and output), values will be modified by bundle adjustment
imagePoints
Type: array<array<Emgu.CV.Structure..::..MCvPoint2D64f>[]()[][]>[]()[][]
Projections of 3d points for every camera
visibility
Type: array<array<System..::..Int32>[]()[][]>[]()[][]
Visibility of 3d points for every camera
cameraMatrix
Type: array<Emgu.CV..::..Matrix<(Of <(<'Double>)>)>>[]()[][]
Intrinsic matrices of all cameras (input and output), values will be modified by bundle adjustment
R
Type: array<Emgu.CV..::..Matrix<(Of <(<'Double>)>)>>[]()[][]
rotation matrices of all cameras (input and output), values will be modified by bundle adjustment
T
Type: array<Emgu.CV..::..Matrix<(Of <(<'Double>)>)>>[]()[][]
translation vector of all cameras (input and output), values will be modified by bundle adjustment
distCoeffcients
Type: array<Emgu.CV..::..Matrix<(Of <(<'Double>)>)>>[]()[][]
distortion coefficients of all cameras (input and output), values will be modified by bundle adjustment
termCrit
Type: Emgu.CV.Structure..::..MCvTermCriteria
Termination criteria, a reasonable value will be (30, 1.0e-12)

See Also