You are here: Start » AVL.NET » AVL.CalibrateCamera(AvlNet.Point3D[][], AvlNet.Point2D[][], int, int, bool, bool, bool, AvlNet.Matrix, bool, bool, AvlNet.Matrix, AvlNet.LensDistortion, float[], AvlNet.Position3D[], float)

AVL.CalibrateCamera(AvlNet.Point3D[][], AvlNet.Point2D[][], int, int, bool, bool, bool, AvlNet.Matrix, bool, bool, AvlNet.Matrix, AvlNet.LensDistortion, float[], AvlNet.Position3D[], float)

Namespace:	AvlNet
Assembly:	AVL.NET.dll

Syntax


public static void CalibrateCamera(
	AvlNet.Point3D[][] inObjectPoints,
	AvlNet.Point2D[][] inImagePoints,
	int inImageWidth,
	int inImageHeight,
	bool inFixPrincipalPoint,
	bool inFixAspectRatio,
	bool inZeroTangentDist,
	AvlNet.Matrix inInitialCameraMatrix,
	bool inUseRationalModel,
	bool inUseThinPrismModel,
	out AvlNet.Matrix outCameraMatrix,
	out AvlNet.LensDistortion outDistortion,
	out float[] outUnitScales,
	out AvlNet.Position3D[] outCameraPositions,
	out float outError
)

Parameters

inObjectPoints: Type: AvlNet.Point3D
inImagePoints: Type: AvlNet.Point2D
inImageWidth: Type: System.Int32
inImageHeight: Type: System.Int32
inFixPrincipalPoint: Type: System.Boolean
inFixAspectRatio: Type: System.Boolean
inZeroTangentDist: Type: System.Boolean
inInitialCameraMatrix: Type: AvlNet.Matrix
inUseRationalModel: Type: System.Boolean
inUseThinPrismModel: Type: System.Boolean
outCameraMatrix: Type: AvlNet.Matrix
outDistortion: Type: AvlNet.LensDistortion
outUnitScales: Type: System.Single
outCameraPositions: Type: AvlNet.Position3D
outError: Type: System.Single

Description

The coordinates of 3D object points and their corresponding 2D projections in each view must be specified. That may be achieved by using an object with a known geometry and easily detectable feature points. Such an object is called a calibration rig or calibration pattern. One example is a chessboard (see DetectChessboardGrid).

When camera matrix and distortion coefficients are calculated, one can create undistortion maps using CreateUndistortionMap function. These maps can be applied to images using RemapImage.

Remarks

Currently, automatic initialization of intrinsic parameters (when inInitialCameraMatrix is not specified) is only implemented for planar calibration patterns (where Z-coordinates of the object points must be all zeros). 3D calibration rigs can also be used as long as initial camera matrix is provided.

Providing inImageWidth and inImageHeight is important, when inInitialCameraMatrix is not specified. This is used to determine the principal point (part of the initial camera matrix). If this point is assumed to be far from the actual image center, false tangential distortion can be determined by the calibration algorithm. This manifests itself especially when the number of point correspondences is relatively small.

Errors