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CvInvokeStereoCalibrate Method (MCvPoint3D32f, PointF, PointF, IInputOutputArray, IInputOutputArray, IInputOutputArray, IInputOutputArray, Size, IOutputArray, IOutputArray, IOutputArray, IOutputArray, CalibType, MCvTermCriteria)
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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.World (in Emgu.CV.World.dll) Version: 3.1.0.2282 (3.1.0.2282)
Syntax
public static void StereoCalibrate(
	MCvPoint3D32f[][] objectPoints,
	PointF[][] imagePoints1,
	PointF[][] 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.CV.StructureMCvPoint3D32f
The 3D location of the object points. The first index is the index of image, second index is the index of the point
imagePoints1
Type: System.DrawingPointF
The 2D image location of the points for camera 1. The first index is the index of the image, second index is the index of the point
imagePoints2
Type: System.DrawingPointF
The 2D image location of the points for camera 2. The first index is the index of the image, second index is the index of the point
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
See Also