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cvStereoCalibrateAVL

Performs stereo calibration of two cameras.

Name	Type	Range	Description
inObjectPoints	Point3D Array Array		Input object points array
inImagePoints1	Point2D Array Array		Input image points observed by the first camera.
inImagePoints2	Point2D Array Array		Input image points observed by the second camera.
inImageWidth	Integer	1 - +	Width of image
inImageHeight	Integer	1 - +	Height of image
inPrecisionEpsilon	Real *		Criteria termination of the iterative optimization. Process stops when either after inTcMaxCount iterations or when the corner position moves by less than inTcEpsilon.
inMaxIterations	Integer *		Criteria termination of the iterative optimization. Process stops when either after inTcMaxCount iterations or when the corner position moves by less than inTcEpsilon.
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 cvStereoCalibrateAVL.
DomainError	Initial camera matrices not specified with inFixIntrinsic.
DomainError	Initial distortion coefficients matrices not specified with inFixIntrinsic.
DomainError	Missing inObjectPoints in cvStereoCalibrateAVL.
DomainError	Only one initial camera matrix given. Either both or neither initial camera matrices should be specified in cvStereoCalibrateAVL.

Complexity Level

This filter is available on Basic Complexity Level.