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public static StereoCalibrate ( MCvPoint3D32f objectPoints, |
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| objectPoints | MCvPoint3D32f | The 3D location of the object points. The first index is the index of image, second index is the index of the point |
| imagePoints1 | The 2D image location of the points for camera 1. The first index is the index of the image, second index is the index of the point | |
| imagePoints2 | The 2D image location of the points for camera 2. The first index is the index of the image, second index is the index of the point | |
| intrinsicParam1 | Emgu.CV.IntrinsicCameraParameters | The intrisinc parameters for camera 1, might contains some initial values. The values will be modified by this function. |
| intrinsicParam2 | Emgu.CV.IntrinsicCameraParameters | The intrisinc parameters for camera 2, might contains some initial values. The values will be modified by this function. |
| imageSize | Size of the image, used only to initialize intrinsic camera matrix | |
| flags | CvEnum | Different flags |
| termCrit | Termination criteria for the iterative optimiziation algorithm | |
| extrinsicParams | Emgu.CV.ExtrinsicCameraParameters | The extrinsic parameters which contains: /// R - The rotation matrix between the 1st and the 2nd cameras' coordinate systems; /// T - The translation vector between the cameras' coordinate systems. |
| foundamentalMatrix | Matrix |
The fundamental matrix |
| essentialMatrix | Matrix |
The essential matrix |
| Результат | void | |
public static void StereoCalibrate(
MCvPoint3D32f[][] objectPoints,
PointF[][] imagePoints1,
PointF[][] imagePoints2,
IntrinsicCameraParameters intrinsicParam1,
IntrinsicCameraParameters intrinsicParam2,
Size imageSize,
CvEnum.CALIB_TYPE flags,
MCvTermCriteria termCrit,
out ExtrinsicCameraParameters extrinsicParams,
out Matrix<double> foundamentalMatrix,
out Matrix<double> essentialMatrix)
{
Debug.Assert(objectPoints.Length == imagePoints1.Length && objectPoints.Length == imagePoints2.Length, "The number of images for objects points should be equal to the number of images for image points");
#region get the matrix that represent the point counts
int[,] pointCounts = new int[objectPoints.Length, 1];
for (int i = 0; i < objectPoints.Length; i++)
{
Debug.Assert(objectPoints[i].Length == imagePoints1[i].Length && objectPoints[i].Length == imagePoints2[i].Length, String.Format("Number of 3D points and image points should be equal in the {0}th image", i));
pointCounts[i, 0] = objectPoints[i].Length;
}
#endregion
using (Matrix<float> objectPointMatrix = ToMatrix(objectPoints))
using (Matrix<float> imagePointMatrix1 = ToMatrix(imagePoints1))
using (Matrix<float> imagePointMatrix2 = ToMatrix(imagePoints2))
using (Matrix<int> pointCountsMatrix = new Matrix<int>(pointCounts))
{
extrinsicParams = new ExtrinsicCameraParameters();
essentialMatrix = new Matrix<double>(3, 3);
foundamentalMatrix = new Matrix<double>(3, 3);
CvInvoke.cvStereoCalibrate(
objectPointMatrix.Ptr,
imagePointMatrix1.Ptr,
imagePointMatrix2.Ptr,
pointCountsMatrix.Ptr,
intrinsicParam1.IntrinsicMatrix,
intrinsicParam1.DistortionCoeffs,
intrinsicParam2.IntrinsicMatrix,
intrinsicParam2.DistortionCoeffs,
imageSize,
extrinsicParams.RotationVector,
extrinsicParams.TranslationVector,
essentialMatrix.Ptr,
foundamentalMatrix.Ptr,
termCrit,
flags);
}
}
