[−][src]Function opencv::ccalib::stereo_calibrate

pub fn stereo_calibrate(
    object_points: &mut dyn ToInputOutputArray, 
    image_points1: &mut dyn ToInputOutputArray, 
    image_points2: &mut dyn ToInputOutputArray, 
    image_size1: Size, 
    image_size2: Size, 
    k1: &mut dyn ToInputOutputArray, 
    xi1: &mut dyn ToInputOutputArray, 
    d1: &mut dyn ToInputOutputArray, 
    k2: &mut dyn ToInputOutputArray, 
    xi2: &mut dyn ToInputOutputArray, 
    d2: &mut dyn ToInputOutputArray, 
    rvec: &mut dyn ToOutputArray, 
    tvec: &mut dyn ToOutputArray, 
    rvecs_l: &mut dyn ToOutputArray, 
    tvecs_l: &mut dyn ToOutputArray, 
    flags: i32, 
    criteria: TermCriteria, 
    idx: &mut dyn ToOutputArray
) -> Result<f64>

Stereo calibration for omnidirectional camera model. It computes the intrinsic parameters for two cameras and the extrinsic parameters between two cameras. The default depth of outputs is CV_64F.

Parameters

  • objectPoints: Object points in world (pattern) coordinate. Its type is vector<vector >. It also can be vector of Mat with size 1xN/Nx1 and type CV_32FC3. Data with depth of 64_F is also acceptable.
  • imagePoints1: The corresponding image points of the first camera, with type vector<vector >. It must be the same size and the same type as objectPoints.
  • imagePoints2: The corresponding image points of the second camera, with type vector<vector >. It must be the same size and the same type as objectPoints.
  • imageSize1: Image size of calibration images of the first camera.
  • imageSize2: Image size of calibration images of the second camera.
  • K1: Output camera matrix for the first camera.
  • xi1: Output parameter xi of Mei's model for the first camera
  • D1: Output distortion parameters inline formula for the first camera
  • K2: Output camera matrix for the first camera.
  • xi2: Output parameter xi of CMei's model for the second camera
  • D2: Output distortion parameters inline formula for the second camera
  • rvec: Output rotation between the first and second camera
  • tvec: Output translation between the first and second camera
  • rvecsL: Output rotation for each image of the first camera
  • tvecsL: Output translation for each image of the first camera
  • flags: The flags that control stereoCalibrate
  • criteria: Termination criteria for optimization
  • idx: Indices of image pairs 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()