Function opencv::ccalib::calibrate

pub fn calibrate(
    object_points: &dyn ToInputArray, 
    image_points: &dyn ToInputArray, 
    size: Size, 
    k: &mut dyn ToInputOutputArray, 
    xi: &mut dyn ToInputOutputArray, 
    d: &mut dyn ToInputOutputArray, 
    rvecs: &mut dyn ToOutputArray, 
    tvecs: &mut dyn ToOutputArray, 
    flags: i32, 
    criteria: TermCriteria, 
    idx: &mut dyn ToOutputArray
) -> Result<f64>

Perform omnidirectional camera calibration, the default depth of outputs is CV_64F.

Parameters

• objectPoints: Vector of vector of Vec3f object points in world (pattern) coordinate. It also can be vector of Mat with size 1xN/Nx1 and type CV_32FC3. Data with depth of 64_F is also acceptable.
• imagePoints: Vector of vector of Vec2f corresponding image points of objectPoints. It must be the same size and the same type with objectPoints.
• size: Image size of calibration images.
• K: Output calibrated camera matrix.
• xi: Output parameter xi for CMei's model
• D: Output distortion parameters
• rvecs: Output rotations for each calibration images
• tvecs: Output translation for each calibration images
• flags: The flags that control calibrate
• criteria: Termination criteria for optimization
• idx: Indices of images that pass initialization, which are really used in calibration. So the size of rvecs is the same as idx.total().

C++ default parameters

• idx: noArray()