[−][src]Function opencv::calib3d::calibrate

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

Performs camera calibaration

Parameters

  • objectPoints: vector of vectors of calibration pattern points in the calibration pattern coordinate space.
  • imagePoints: vector of vectors of the projections of calibration pattern points. imagePoints.size() and objectPoints.size() and imagePoints[i].size() must be equal to objectPoints[i].size() for each i.
  • image_size: Size of the image used only to initialize the intrinsic camera matrix.
  • K: Output 3x3 floating-point camera matrix inline formula . If fisheye::CALIB_USE_INTRINSIC_GUESS/ is specified, some or all of fx, fy, cx, cy must be initialized before calling the function.
  • D: Output vector of distortion coefficients inline formula.
  • rvecs: Output vector of rotation vectors (see Rodrigues ) estimated for each pattern view. That is, each k-th rotation vector together with the corresponding k-th translation vector (see the next output parameter description) brings the calibration pattern from the model coordinate space (in which object points are specified) to the world coordinate space, that is, a real position of the calibration pattern in the k-th pattern view (k=0.. M -1).
  • tvecs: Output vector of translation vectors estimated for each pattern view.
  • flags: Different flags that may be zero or a combination of the following values:
  • fisheye::CALIB_USE_INTRINSIC_GUESS cameraMatrix contains valid initial values of fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially set to the image center ( imageSize is used), and focal distances are computed in a least-squares fashion.
  • fisheye::CALIB_RECOMPUTE_EXTRINSIC Extrinsic will be recomputed after each iteration of intrinsic optimization.
  • fisheye::CALIB_CHECK_COND The functions will check validity of condition number.
  • fisheye::CALIB_FIX_SKEW Skew coefficient (alpha) is set to zero and stay zero.
  • fisheye::CALIB_FIX_K1..fisheye::CALIB_FIX_K4 Selected distortion coefficients are set to zeros and stay zero.
  • fisheye::CALIB_FIX_PRINCIPAL_POINT The principal point is not changed during the global optimization. It stays at the center or at a different location specified when CALIB_USE_INTRINSIC_GUESS is set too.
  • criteria: Termination criteria for the iterative optimization algorithm.

C++ default parameters

  • flags: 0
  • criteria: TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON)