Method CalibrateCameraRO

Namespace

OpenCvSharp

Assembly

OpenCvSharp.dll

CalibrateCameraRO(IEnumerable<Mat>, IEnumerable<Mat>, Size, int, InputOutputArray, InputOutputArray, out Mat[], out Mat[], OutputArray, CalibrationFlags, TermCriteria?)

Finds intrinsic and extrinsic camera parameters, additionally allowing one point of the calibration pattern object to be optimized ("releasing object" method). Useful when the calibration pattern is not perfectly rigid/planar.

public static double CalibrateCameraRO(IEnumerable<Mat> objectPoints, IEnumerable<Mat> imagePoints, Size imageSize, int iFixedPoint, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, out Mat[] rvecs, out Mat[] tvecs, OutputArray newObjPoints, CalibrationFlags flags = CalibrationFlags.None, TermCriteria? criteria = null)

Parameters

objectPoints IEnumerable<Mat>

Vector of vectors of calibration pattern points, as in CalibrateCamera.

imagePoints IEnumerable<Mat>

Vector of vectors of the projections of calibration pattern points.

imageSize Size

Size of the image used only to initialize the intrinsic camera matrix.

iFixedPoint int

The index of the object point to be fixed. It must be within [1, objectPoints[0].Count - 2]. It is ignored with FixK3 or if the calibration pattern is a non-planar rig.

cameraMatrix InputOutputArray

Output 3x3 floating-point camera matrix.

distCoeffs InputOutputArray

Output vector of distortion coefficients.

rvecs Mat[]

Output vector of rotation vectors estimated for each pattern view.

tvecs Mat[]

Output vector of translation vectors estimated for each pattern view.

newObjPoints OutputArray

The updated output vector of calibration pattern points, where the coordinates of the fixed point (index iFixedPoint) are unchanged.

flags CalibrationFlags

Different flags that may be zero or a combination of the CalibrationFlag values

criteria TermCriteria?

Termination criteria for the iterative optimization algorithm.

Returns

double

Root mean square (RMS) re-projection error.