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CalibrateCamera_Deprecated
Header: | AVL.h |
---|---|
Namespace: | avl |
Finds the camera intrinsic and extrinsic parameters from the input arrays of image and real-world coordinates. Uses pinhole camera model (perspective camera).
Syntax
C++
void avl::CalibrateCamera_Deprecated ( const atl::Array<atl::Array<avl::Point3D> >& inObjectPoints, const atl::Array<atl::Array<avl::Point2D> >& inImagePoints, int inImageWidth, int inImageHeight, bool inFixPrincipalPoint, bool inFixAspectRatio, bool inZeroTangentDist, atl::Optional<const avl::Matrix&> inInitialCameraMatrix, bool inUseRationalModel, bool inUseThinPrismModel, avl::Matrix& outCameraMatrix, avl::LensDistortion& outDistortion, atl::Array<float>& outUnitScales, atl::Optional<atl::Array<avl::Position3D>&> outCameraPositions = atl::NIL, atl::Optional<float&> outError = atl::NIL )
Parameters
Name | Type | Range | Default | Description | |
---|---|---|---|---|---|
inObjectPoints | const Array<Array<Point3D> >& | Array, for each view: array of 3D points of the calibration pattern. | |||
inImagePoints | const Array<Array<Point2D> >& | Array, for each view: array of corresponding 2D points in the picture. | |||
inImageWidth | int | 1 - | 640 | Image width, only used to initialize camera matrix, not used when inInitialCameraMatrix present. | |
inImageHeight | int | 1 - | 480 | Image height, only used to initialize camera matrix, not used when inInitialCameraMatrix present. | |
inFixPrincipalPoint | bool | The principal point is not changed during the global optimization. It stays in the center of the image, or as in the initial camera matrix. | |||
inFixAspectRatio | bool | The functions considers only fy as a free parameter. The ratio fx/fy stays 1, or as in the initial camera matrix. | |||
inZeroTangentDist | bool | Tangential distortion coefficients (p_1, p_2) are assumed zero. | |||
inInitialCameraMatrix | Optional<const Matrix&> | NIL | Optional initial camera matrix, required for inFixPrincipalPoint and inFixAspectRatio. | ||
inUseRationalModel | bool | ||||
inUseThinPrismModel | bool | ||||
outCameraMatrix | Matrix& | ||||
outDistortion | LensDistortion& | ||||
outUnitScales | Array<float>& | Image scale: px / mm | |||
outCameraPositions | Optional<Array<Position3D>&> | NIL | Positions of cameras in world coordinate system for the views | ||
outError | Optional<float&> | NIL | Final re-projection error value |
Optional Outputs
The computation of following outputs can be switched off by passing value atl::NIL
to these parameters: outCameraPositions, outError.
Read more about Optional Outputs.
Errors
List of possible exceptions:
Error type | Description |
---|---|
DomainError | Error in CalibrateCamera: Error message |
DomainError | Fixing aspect ratio requested, but no initial camera matrix passed in CalibrateCamera. |
DomainError | Fixing principal point requested, but no initial camera matrix passed in CalibrateCamera. |
DomainError | Inconsistent sizes of inImagePoints and inObjectPoints in CalibrateCamera. |
DomainError | Missing inImagePoints or inObjectPoints in CalibrateCamera. |