ArucoInvokeCalibrateCameraAruco Method (IInputArrayOfArrays, IInputArray, IInputArray, IBoard, Size, IInputOutputArray, IInputOutputArray, IOutputArray, IOutputArray, CalibType, MCvTermCriteria)

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Calibrate a camera using aruco markers.

Namespace: Emgu.CV.Aruco
Assembly: Emgu.CV.World (in Emgu.CV.World.dll) Version: 4.1.0.3408 (4.1.0.3408)

Syntax

C++

Copy

public static double CalibrateCameraAruco(
	IInputArrayOfArrays corners,
	IInputArray ids,
	IInputArray counter,
	IBoard board,
	Size imageSize,
	IInputOutputArray cameraMatrix,
	IInputOutputArray distCoeffs,
	IOutputArray rvecs,
	IOutputArray tvecs,
	CalibType flags,
	MCvTermCriteria criteria
)

Public Shared Function CalibrateCameraAruco ( 
	corners As IInputArrayOfArrays,
	ids As IInputArray,
	counter As IInputArray,
	board As IBoard,
	imageSize As Size,
	cameraMatrix As IInputOutputArray,
	distCoeffs As IInputOutputArray,
	rvecs As IOutputArray,
	tvecs As IOutputArray,
	flags As CalibType,
	criteria As MCvTermCriteria
) As Double

public:
static double CalibrateCameraAruco(
	IInputArrayOfArrays^ corners, 
	IInputArray^ ids, 
	IInputArray^ counter, 
	IBoard^ board, 
	Size imageSize, 
	IInputOutputArray^ cameraMatrix, 
	IInputOutputArray^ distCoeffs, 
	IOutputArray^ rvecs, 
	IOutputArray^ tvecs, 
	CalibType flags, 
	MCvTermCriteria criteria
)

static member CalibrateCameraAruco : 
        corners : IInputArrayOfArrays * 
        ids : IInputArray * 
        counter : IInputArray * 
        board : IBoard * 
        imageSize : Size * 
        cameraMatrix : IInputOutputArray * 
        distCoeffs : IInputOutputArray * 
        rvecs : IOutputArray * 
        tvecs : IOutputArray * 
        flags : CalibType * 
        criteria : MCvTermCriteria -> float

Parameters

corners: Type: Emgu.CVIInputArrayOfArrays
Vector of detected marker corners in all frames. The corners should have the same format returned by detectMarkers
ids: Type: Emgu.CVIInputArray
List of identifiers for each marker in corners
counter: Type: Emgu.CVIInputArray
Number of markers in each frame so that corners and ids can be split
board: Type: Emgu.CV.ArucoIBoard
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.
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.

Reference

ArucoInvoke Class

CalibrateCameraAruco Overload

Emgu.CV.Aruco Namespace

ArucoInvokeAddLanguageSpecificTextSet("LSTDBBFD8CB_0?cpp=::|nu=.");CalibrateCameraAruco Method (IInputArrayOfArrays, IInputArray, IInputArray, IBoard, Size, IInputOutputArray, IInputOutputArray, IOutputArray, IOutputArray, CalibType, MCvTermCriteria)

Parameters

Return Value

Reference

ArucoInvokeCalibrateCameraAruco Method (IInputArrayOfArrays, IInputArray, IInputArray, IBoard, Size, IInputOutputArray, IInputOutputArray, IOutputArray, IOutputArray, CalibType, MCvTermCriteria)