ArucoInvokeCalibrateCameraCharuco Method (IInputArrayOfArrays, IInputArrayOfArrays, CharucoBoard, Size, IInputOutputArray, IInputOutputArray, 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

C++

Copy

public static double CalibrateCameraCharuco(
	IInputArrayOfArrays charucoCorners,
	IInputArrayOfArrays charucoIds,
	CharucoBoard board,
	Size imageSize,
	IInputOutputArray cameraMatrix,
	IInputOutputArray distCoeffs,
	IOutputArray rvecs,
	IOutputArray tvecs,
	CalibType flags,
	MCvTermCriteria criteria
)

Public Shared Function CalibrateCameraCharuco ( 
	charucoCorners As IInputArrayOfArrays,
	charucoIds As IInputArrayOfArrays,
	board As CharucoBoard,
	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 CalibrateCameraCharuco(
	IInputArrayOfArrays^ charucoCorners, 
	IInputArrayOfArrays^ charucoIds, 
	CharucoBoard^ board, 
	Size imageSize, 
	IInputOutputArray^ cameraMatrix, 
	IInputOutputArray^ distCoeffs, 
	IOutputArray^ rvecs, 
	IOutputArray^ tvecs, 
	CalibType flags, 
	MCvTermCriteria criteria
)

static member CalibrateCameraCharuco : 
        charucoCorners : IInputArrayOfArrays * 
        charucoIds : IInputArrayOfArrays * 
        board : CharucoBoard * 
        imageSize : Size * 
        cameraMatrix : IInputOutputArray * 
        distCoeffs : IInputOutputArray * 
        rvecs : IOutputArray * 
        tvecs : IOutputArray * 
        flags : CalibType * 
        criteria : MCvTermCriteria -> float

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.
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

CalibrateCameraCharuco Overload

Emgu.CV.Aruco Namespace

ArucoInvokeAddLanguageSpecificTextSet("LST32138271_0?cpp=::|nu=.");CalibrateCameraCharuco Method (IInputArrayOfArrays, IInputArrayOfArrays, CharucoBoard, Size, IInputOutputArray, IInputOutputArray, IOutputArray, IOutputArray, CalibType, MCvTermCriteria)

Parameters

Return Value

Reference

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