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

public static double CalibrateCameraAruco(
	IInputArrayOfArrays corners,
	IInputArray ids,
	IInputArray counter,
	IBoard board,
	Size imageSize,
	IInputOutputArray cameraMatrix,
	IInputOutputArray distCoeffs,
	IOutputArray rvecs,
	IOutputArray tvecs,
	IOutputArray stdDeviationsIntrinsics,
	IOutputArray stdDeviationsExtrinsics,
	IOutputArray perViewErrors,
	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,
	stdDeviationsIntrinsics As IOutputArray,
	stdDeviationsExtrinsics As IOutputArray,
	perViewErrors 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, 
	IOutputArray^ stdDeviationsIntrinsics, 
	IOutputArray^ stdDeviationsExtrinsics, 
	IOutputArray^ perViewErrors, 
	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 * 
        stdDeviationsIntrinsics : IOutputArray * 
        stdDeviationsExtrinsics : IOutputArray * 
        perViewErrors : 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.

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

Reference