CvInvoke.StereoCalibrate Method (IInputArray, IInputArray, IInputArray, IInputOutputArray, IInputOutputArray, IInputOutputArray, IInputOutputArray, Size, IOutputArray, IOutputArray, IOutputArray, IOutputArray, CalibType, MCvTermCriteria)

StereoCalibrate Method (IInputArray, IInputArray, IInputArray, IInputOutputArray, IInputOutputArray, IInputOutputArray, IInputOutputArray, Size, IOutputArray, IOutputArray, IOutputArray, IOutputArray, CalibType, MCvTermCriteria)

StereoCalibrate Method (MCvPoint3D32f[][], PointF[][], PointF[][], IInputOutputArray, IInputOutputArray, IInputOutputArray, IInputOutputArray, Size, IOutputArray, IOutputArray, IOutputArray, IOutputArray, CalibType, MCvTermCriteria)

CvInvokeStereoCalibrate Method (IInputArray, IInputArray, IInputArray, IInputOutputArray, IInputOutputArray, IInputOutputArray, IInputOutputArray, Size, IOutputArray, IOutputArray, IOutputArray, IOutputArray, CalibType, MCvTermCriteria)

http://www.emgu.com

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: 3.2.0.2682 (3.2.0.2682)

Syntax

C++

Copy

public static double StereoCalibrate(
	IInputArray objectPoints,
	IInputArray imagePoints1,
	IInputArray imagePoints2,
	IInputOutputArray cameraMatrix1,
	IInputOutputArray distCoeffs1,
	IInputOutputArray cameraMatrix2,
	IInputOutputArray distCoeffs2,
	Size imageSize,
	IOutputArray r,
	IOutputArray t,
	IOutputArray e,
	IOutputArray f,
	CalibType flags,
	MCvTermCriteria termCrit
)

Public Shared Function StereoCalibrate ( 
	objectPoints As IInputArray,
	imagePoints1 As IInputArray,
	imagePoints2 As IInputArray,
	cameraMatrix1 As IInputOutputArray,
	distCoeffs1 As IInputOutputArray,
	cameraMatrix2 As IInputOutputArray,
	distCoeffs2 As IInputOutputArray,
	imageSize As Size,
	r As IOutputArray,
	t As IOutputArray,
	e As IOutputArray,
	f As IOutputArray,
	flags As CalibType,
	termCrit As MCvTermCriteria
) As Double

public:
static double StereoCalibrate(
	IInputArray^ objectPoints, 
	IInputArray^ imagePoints1, 
	IInputArray^ imagePoints2, 
	IInputOutputArray^ cameraMatrix1, 
	IInputOutputArray^ distCoeffs1, 
	IInputOutputArray^ cameraMatrix2, 
	IInputOutputArray^ distCoeffs2, 
	Size imageSize, 
	IOutputArray^ r, 
	IOutputArray^ t, 
	IOutputArray^ e, 
	IOutputArray^ f, 
	CalibType flags, 
	MCvTermCriteria termCrit
)

static member StereoCalibrate : 
        objectPoints : IInputArray * 
        imagePoints1 : IInputArray * 
        imagePoints2 : IInputArray * 
        cameraMatrix1 : IInputOutputArray * 
        distCoeffs1 : IInputOutputArray * 
        cameraMatrix2 : IInputOutputArray * 
        distCoeffs2 : IInputOutputArray * 
        imageSize : Size * 
        r : IOutputArray * 
        t : IOutputArray * 
        e : IOutputArray * 
        f : IOutputArray * 
        flags : CalibType * 
        termCrit : MCvTermCriteria -> float

Parameters

objectPoints: Type: Emgu.CVIInputArray
The joint matrix of object points, 3xN or Nx3, where N is the total number of points in all views
imagePoints1: Type: Emgu.CVIInputArray
The joint matrix of corresponding image points in the views from the 1st camera, 2xN or Nx2, where N is the total number of points in all views
imagePoints2: Type: Emgu.CVIInputArray
The joint matrix of corresponding image points in the views from the 2nd camera, 2xN or Nx2, where N is the total number of points in all views
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

Return Value

Type: Double

[Missing <returns> documentation for "M:Emgu.CV.CvInvoke.StereoCalibrate(Emgu.CV.IInputArray,Emgu.CV.IInputArray,Emgu.CV.IInputArray,Emgu.CV.IInputOutputArray,Emgu.CV.IInputOutputArray,Emgu.CV.IInputOutputArray,Emgu.CV.IInputOutputArray,System.Drawing.Size,Emgu.CV.IOutputArray,Emgu.CV.IOutputArray,Emgu.CV.IOutputArray,Emgu.CV.IOutputArray,Emgu.CV.CvEnum.CalibType,Emgu.CV.Structure.MCvTermCriteria)"]

Reference

CvInvoke Class

StereoCalibrate Overload

Emgu.CV Namespace