Start » Filter Reference » OpenCV » Camera Calibration And 3D Reconstruction » cvStereoCalibrate
Module: | OpenCV |
---|
Performs stereo calibration of two cameras.
Name | Type | Range | Description | |
---|---|---|---|---|
inObjectPoints | Point3DArrayArray | Input object points array | ||
inImagePoints1 | Point2DArrayArray | Input image points observed by the first camera. | ||
inImagePoints2 | Point2DArrayArray | Input image points observed by the second camera. | ||
inImageWidth | Integer | 1 - + | Width of image | |
inImageHeight | Integer | 1 - + | Height of image | |
inPrecisionEpsilon | Real* | Criteria of termination of the iterative optimization. Process stops when either after inMaxIterations iterations or when the corner position moves by less than inPrecisionEpsilon. | ||
inMaxIterations | Integer* | Criteria of termination of the iterative optimization. Process stops when either after inMaxIterations iterations or when the corner position moves by less than inPrecisionEpsilon. | ||
inInitialCameraMatrix1 | Matrix* | Initial first camera matrix, requires inInitialCameraMatrix2. | ||
inInitialCameraMatrix2 | Matrix* | Initial second camera matrix, requires inInitialCameraMatrix1. | ||
inInitialDistCoeffs1 | Matrix* | Initial first camera distortion coefficients, see inFixIntrinsic. | ||
inInitialDistCoeffs2 | Matrix* | Initial second camera distortion coefficients, see inFixIntrinsic. | ||
inFixIntrinsic | Bool | Fix cameraMatrix and distCoeffs to initial values, so that only R, T, E , and F matrices are estimated. | ||
inFixPrincipalPoint | Bool | The principal point is not changed during the global optimization. It stays at the center or at a different location specified in inInitialCameraMatrix1/2. | ||
inFixFocalLength | Bool | Fix f_x and f_y for both cameras. | ||
inFixAspectRatio | Bool | Consider only fy as a free parameter. The ratio fx/fy stays the same as in inInitialCameraMatrix1/2. | ||
inSameFocalLength | Bool | Enforce f_x(1)=f_x(2) and f_y(1)=f_y(2) - same focal lengths for both cameras. | ||
inZeroTangentDist | Bool | Tangential distortion coefficients (p_1, p_2) are set to zeros and stay zero. | ||
inRationalModel | Bool | Enable additional distortion coefficients (k_4, k_5, k_6). | ||
outCameraMatrix1 | Matrix | Matrix with part of intrinsic parameters of first camera. | ||
outDistCoeffs1 | Matrix | Coefficients of distortion of first camera. | ||
outCameraMatrix2 | Matrix | Matrix with part of intrinsic parameters of second camera. | ||
outDistCoeffs2 | Matrix | Coefficients of distortion of second camera. | ||
outR | Matrix | Output rotation matrix between the first and second camera coordinate systems. | ||
outT | Matrix | Output translation vector between the coordinate systems of the cameras. | ||
outE | Matrix | Output essential matrix. | ||
outF | Matrix | Output fundamental matrix. | ||
outError | Real | Final re-projection error value |
Errors
This filter can throw an exception to report error. Read how to deal with errors in Error Handling.
List of possible exceptions:
Error type | Description |
---|---|
DomainError | Inconsistent sizes of inImagePoints1, inImagePoints2 and inObjectPoints in cvStereoCalibrate. |
DomainError | Initial camera matrices not specified with inFixIntrinsic. |
DomainError | Initial distortion coefficients matrices not specified with inFixIntrinsic. |
DomainError | Missing inObjectPoints in cvStereoCalibrate. |
DomainError | Only one initial camera matrix given. Either both or neither initial camera matrices should be specified in cvStereoCalibrate. |
Complexity Level
This filter is available on Basic Complexity Level.