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ArucoInvokeCalibrateCameraCharuco Method (IInputArrayOfArrays, IInputArrayOfArrays, CharucoBoard, Size, IInputOutputArray, IInputOutputArray, IOutputArray, IOutputArray, IOutputArray, IOutputArray, IOutputArray, CalibType, MCvTermCriteria)

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Calibrate a camera using Charuco corners.

Namespace:  Emgu.CV.Aruco
Assembly:  Emgu.CV.World (in Emgu.CV.World.dll) Version: 4.1.0.3408 (4.1.0.3408)
Syntax
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public static double CalibrateCameraCharuco(
	IInputArrayOfArrays charucoCorners,
	IInputArrayOfArrays charucoIds,
	CharucoBoard board,
	Size imageSize,
	IInputOutputArray cameraMatrix,
	IInputOutputArray distCoeffs,
	IOutputArray rvecs,
	IOutputArray tvecs,
	IOutputArray stdDeviationsIntrinsics,
	IOutputArray stdDeviationsExtrinsics,
	IOutputArray perViewErrors,
	CalibType flags,
	MCvTermCriteria criteria
)

Parameters

charucoCorners
Type: Emgu.CVIInputArrayOfArrays
Vector of detected charuco corners per frame
charucoIds
Type: Emgu.CVIInputArrayOfArrays
List of identifiers for each corner in charucoCorners per frame
board
Type: Emgu.CV.ArucoCharucoBoard
Marker Board layout
imageSize
Type: System.DrawingSize
Size of the image used only to initialize the intrinsic camera matrix.
cameraMatrix
Type: Emgu.CVIInputOutputArray
Output 3x3 floating-point camera matrix.
distCoeffs
Type: Emgu.CVIInputOutputArray
Output vector of distortion coefficients (k1,k2,p1,p2[,k3[,k4,k5,k6],[s1,s2,s3,s4]]) of 4, 5, 8 or 12 elements
rvecs
Type: Emgu.CVIOutputArray
Output vector of rotation vectors (see Rodrigues ) estimated for each board view (e.g. std::vector<cv::Mat>). That is, each k-th rotation vector together with the corresponding k-th translation vector (see the next output parameter description) brings the board pattern from the model coordinate space (in which object points are specified) to the world coordinate space, that is, a real position of the board pattern in the k-th pattern view (k=0.. M -1).
tvecs
Type: Emgu.CVIOutputArray
Output vector of translation vectors estimated for each pattern view.
stdDeviationsIntrinsics
Type: Emgu.CVIOutputArray
Output vector of standard deviations estimated for intrinsic parameters. Order of deviations values: (fx,fy,cx,cy,k1,k2,p1,p2,k3,k4,k5,k6,s1,s2,s3,s4,τx,τy) If one of parameters is not estimated, it's deviation is equals to zero.
stdDeviationsExtrinsics
Type: Emgu.CVIOutputArray
Output vector of standard deviations estimated for extrinsic parameters. Order of deviations values: (R1,T1,…,RM,TM) where M is number of pattern views, Ri,Ti are concatenated 1x3 vectors.
perViewErrors
Type: Emgu.CVIOutputArray
Output vector of average re-projection errors estimated for each pattern view.
flags
Type: Emgu.CV.CvEnumCalibType
Flags Different flags for the calibration process
criteria
Type: Emgu.CV.StructureMCvTermCriteria
Termination criteria for the iterative optimization algorithm.

Return Value

Type: Double
The final re-projection error.
See Also