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CvInvokeStereoCalibrate Method (IInputArray, IInputArray, IInputArray, IInputOutputArray, IInputOutputArray, IInputOutputArray, IInputOutputArray, Size, IOutputArray, IOutputArray, IOutputArray, IOutputArray, CalibType, MCvTermCriteria)
http://www.emgu.com
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.World (in Emgu.CV.World.dll) Version: 3.1.0.2282 (3.1.0.2282)
Syntax
public static double StereoCalibrate(
	IInputArray objectPoints,
	IInputArray imagePoints1,
	IInputArray imagePoints2,
	IInputOutputArray cameraMatrix1,
	IInputOutputArray distCoeffs1,
	IInputOutputArray cameraMatrix2,
	IInputOutputArray distCoeffs2,
	Size imageSize,
	IOutputArray r,
	IOutputArray t,
	IOutputArray e,
	IOutputArray f,
	CalibType flags,
	MCvTermCriteria termCrit
)

Parameters

objectPoints
Type: Emgu.CVIInputArray
The joint matrix of object points, 3xN or Nx3, where N is the total number of points in all views
imagePoints1
Type: Emgu.CVIInputArray
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: Emgu.CVIInputArray
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
cameraMatrix1
Type: Emgu.CVIInputOutputArray
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: Emgu.CVIInputOutputArray
The input/output vectors of distortion coefficients for each camera, 4x1, 1x4, 5x1 or 1x5
cameraMatrix2
Type: Emgu.CVIInputOutputArray
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: Emgu.CVIInputOutputArray
The input/output vectors of distortion coefficients for each camera, 4x1, 1x4, 5x1 or 1x5
imageSize
Type: System.DrawingSize
Size of the image, used only to initialize intrinsic camera matrix
r
Type: Emgu.CVIOutputArray
The rotation matrix between the 1st and the 2nd cameras' coordinate systems
t
Type: Emgu.CVIOutputArray
The translation vector between the cameras' coordinate systems
e
Type: Emgu.CVIOutputArray
The optional output essential matrix
f
Type: Emgu.CVIOutputArray
The optional output fundamental matrix
flags
Type: Emgu.CV.CvEnumCalibType
The calibration flags
termCrit
Type: Emgu.CV.StructureMCvTermCriteria
Termination criteria for the iterative optimization algorithm

Return Value

Type: Double

[Missing <returns> documentation for "M:Emgu.CV.CvInvoke.StereoCalibrate(Emgu.CV.IInputArray,Emgu.CV.IInputArray,Emgu.CV.IInputArray,Emgu.CV.IInputOutputArray,Emgu.CV.IInputOutputArray,Emgu.CV.IInputOutputArray,Emgu.CV.IInputOutputArray,System.Drawing.Size,Emgu.CV.IOutputArray,Emgu.CV.IOutputArray,Emgu.CV.IOutputArray,Emgu.CV.IOutputArray,Emgu.CV.CvEnum.CalibType,Emgu.CV.Structure.MCvTermCriteria)"]

See Also