C# Класс Emgu.CV.CameraCalibration

Camera calibration functions

Показать файл Открыть проект Примеры использования класса

Открытые методы

Метод	Описание
CalibrateCamera ( MCvPoint3D32f objectPoints, PointF imagePoints, Size imageSize, Emgu.CV.IntrinsicCameraParameters intrinsicParam, CvEnum flags, Emgu.CV.ExtrinsicCameraParameters &extrinsicParams ) : double	Estimates intrinsic camera parameters and extrinsic parameters for each of the views
DrawChessboardCorners ( Byte>.Image image, Size patternSize, PointF corners ) : void	Draws the individual chessboard corners detected (as red circles) in case if the board was not found (patternWasFound== false) or the colored corners connected with lines when the board was found (patternWasFound == true).
EstimateRigidTransform ( PointF src, PointF dest, bool fullAffine ) : RotationMatrix2D	Estimate rigid transformation between 2 point sets.
FindChessboardCorners ( Byte>.Image image, Size patternSize, CvEnum flags ) : System.Drawing.PointF[]	Attempts to determine whether the input image is a view of the chessboard pattern and locate internal chessboard corners
FindExtrinsicCameraParams2 ( MCvPoint3D32f objectPoints, PointF imagePoints, Emgu.CV.IntrinsicCameraParameters intrin ) : Emgu.CV.ExtrinsicCameraParameters	Estimates extrinsic camera parameters using known intrinsic parameters and extrinsic parameters for each view. The coordinates of 3D object points and their correspondent 2D projections must be specified. This function also minimizes back-projection error.
FindHomography ( Matrix srcPoints, Matrix dstPoints, CvEnum method, double ransacReprojThreshold ) : HomographyMatrix	Use the specific method to find perspective transformation H=\|\|h_ij\|\| between the source and the destination planes
FindHomography ( PointF srcPoints, PointF dstPoints, CvEnum method, double ransacReprojThreshold ) : HomographyMatrix	Finds perspective transformation H=\|\|h_ij\|\| between the source and the destination planes
GetAffineTransform ( PointF src, PointF dest ) : RotationMatrix2D	Calculates the matrix of an affine transform such that: (x'_i,y'_i)^T=map_matrix (x_i,y_i,1)^T where dst(i)=(x'_i,y'_i), src(i)=(x_i,y_i), i=0..2.
GetPerspectiveTransform ( PointF src, PointF dest ) : HomographyMatrix	calculates matrix of perspective transform such that: (t_i x'_i,t_i y'_i,t_i)^T=map_matrix (x_i,y_i,1)^T where dst(i)=(x'_i,y'_i), src(i)=(x_i,y_i), i=0..3.
ProjectPoints ( MCvPoint3D32f objectPoints, Emgu.CV.ExtrinsicCameraParameters extrin, Emgu.CV.IntrinsicCameraParameters intrin ) : System.Drawing.PointF[]	Computes projections of 3D points to the image plane given intrinsic and extrinsic camera parameters. Optionally, the function computes jacobians - matrices of partial derivatives of image points as functions of all the input parameters w.r.t. the particular parameters, intrinsic and/or extrinsic. The jacobians are used during the global optimization in cvCalibrateCamera2 and cvFindExtrinsicCameraParams2. The function itself is also used to compute back-projection error for with current intrinsic and extrinsic parameters. Note, that with intrinsic and/or extrinsic parameters set to special values, the function can be used to compute just extrinsic transformation or just intrinsic transformation (i.e. distortion of a sparse set of points)
StereoCalibrate ( MCvPoint3D32f objectPoints, PointF imagePoints1, PointF imagePoints2, Emgu.CV.IntrinsicCameraParameters intrinsicParam1, Emgu.CV.IntrinsicCameraParameters intrinsicParam2, Size imageSize, CvEnum flags, MCvTermCriteria termCrit, Emgu.CV.ExtrinsicCameraParameters &extrinsicParams, Matrix &foundamentalMatrix, Matrix &essentialMatrix ) : void	Estimates transformation between the 2 cameras making a stereo pair. If we have a stereo camera, where the relative position and orientatation of the 2 cameras is fixed, and if we computed poses of an object relative to the fist camera and to the second camera, (R1, T1) and (R2, T2), respectively (that can be done with cvFindExtrinsicCameraParams2), obviously, those poses will relate to each other, i.e. given (R1, T1) it should be possible to compute (R2, T2) - we only need to know the position and orientation of the 2nd camera relative to the 1st camera. That's what the described function does. It computes (R, T) such that: R2=RR1, T2=RT1 + T

Приватные методы

Метод	Описание
ToMatrix ( MCvPoint3D32f data ) : Matrix
ToMatrix ( PointF data ) : Matrix

Описание методов

CalibrateCamera() публичный статический Метод

Estimates intrinsic camera parameters and extrinsic parameters for each of the views

public static CalibrateCamera ( MCvPoint3D32f objectPoints, PointF imagePoints, Size imageSize, Emgu.CV.IntrinsicCameraParameters intrinsicParam, CvEnum flags, Emgu.CV.ExtrinsicCameraParameters &extrinsicParams ) : double
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
imagePoints	System.Drawing.PointF	The 2D image location of the points. The first index is the index of the image, second index is the index of the point
imageSize	System.Drawing.Size	The size of the image, used only to initialize intrinsic camera matrix
intrinsicParam	Emgu.CV.IntrinsicCameraParameters	The intrisinc parameters, might contains some initial values. The values will be modified by this function.
flags	CvEnum	Flags
extrinsicParams	Emgu.CV.ExtrinsicCameraParameters	The output array of extrinsic parameters.
Результат	double

DrawChessboardCorners() публичный статический Метод

Draws the individual chessboard corners detected (as red circles) in case if the board was not found (patternWasFound== false) or the colored corners connected with lines when the board was found (patternWasFound == true).

public static DrawChessboardCorners ( Byte>.Image image, Size patternSize, PointF corners ) : void
image	Byte>.Image	The destination image
patternSize	System.Drawing.Size	The number of inner corners per chessboard row and column
corners	System.Drawing.PointF	The array of corners detected. Can be null if no corners were found
Результат	void

EstimateRigidTransform() публичный статический Метод

Estimate rigid transformation between 2 point sets.

public static EstimateRigidTransform ( PointF src, PointF dest, bool fullAffine ) : RotationMatrix2D
src	System.Drawing.PointF	The points from the source image
dest	System.Drawing.PointF	The corresponding points from the destination image
fullAffine	bool	Indicates if full affine should be performed
Результат	RotationMatrix2D

FindChessboardCorners() публичный статический Метод

Attempts to determine whether the input image is a view of the chessboard pattern and locate internal chessboard corners

public static FindChessboardCorners ( Byte>.Image image, Size patternSize, CvEnum flags ) : System.Drawing.PointF[]
image	Byte>.Image	Source chessboard view
patternSize	System.Drawing.Size	The number of inner corners per chessboard row and column
flags	CvEnum	Various operation flags
Результат	System.Drawing.PointF[]

FindExtrinsicCameraParams2() публичный статический Метод

Estimates extrinsic camera parameters using known intrinsic parameters and extrinsic parameters for each view. The coordinates of 3D object points and their correspondent 2D projections must be specified. This function also minimizes back-projection error.

public static FindExtrinsicCameraParams2 ( MCvPoint3D32f objectPoints, PointF imagePoints, Emgu.CV.IntrinsicCameraParameters intrin ) : Emgu.CV.ExtrinsicCameraParameters
objectPoints	MCvPoint3D32f	The array of object points
imagePoints	System.Drawing.PointF	The array of corresponding image points
intrin	Emgu.CV.IntrinsicCameraParameters	The intrinsic parameters
Результат	Emgu.CV.ExtrinsicCameraParameters

FindHomography() публичный статический Метод

Use the specific method to find perspective transformation H=||h_ij|| between the source and the destination planes

public static FindHomography ( Matrix srcPoints, Matrix dstPoints, CvEnum method, double ransacReprojThreshold ) : HomographyMatrix
srcPoints	Matrix	Point coordinates in the original plane, 2xN, Nx2, 3xN or Nx3 array (the latter two are for representation in homogeneous coordinates), where N is the number of points
dstPoints	Matrix	Point coordinates in the destination plane, 2xN, Nx2, 3xN or Nx3 array (the latter two are for representation in homogeneous coordinates)
method	CvEnum	FindHomography method
ransacReprojThreshold	double	The maximum allowed reprojection error to treat a point pair as an inlier. The parameter is only used in RANSAC-based homography estimation. E.g. if dst_points coordinates are measured in pixels with pixel-accurate precision, it makes sense to set this parameter somewhere in the range ~1..3
Результат	HomographyMatrix

FindHomography() публичный статический Метод

Finds perspective transformation H=||h_ij|| between the source and the destination planes

public static FindHomography ( PointF srcPoints, PointF dstPoints, CvEnum method, double ransacReprojThreshold ) : HomographyMatrix
srcPoints	System.Drawing.PointF	Point coordinates in the original plane
dstPoints	System.Drawing.PointF	Point coordinates in the destination plane
method	CvEnum	FindHomography method
ransacReprojThreshold	double	/// The maximum allowed reprojection error to treat a point pair as an inlier. /// The parameter is only used in RANSAC-based homography estimation. /// E.g. if dst_points coordinates are measured in pixels with pixel-accurate precision, it makes sense to set this parameter somewhere in the range ~1..3 ///
Результат	HomographyMatrix

GetAffineTransform() публичный статический Метод

Calculates the matrix of an affine transform such that: (x'_i,y'_i)^T=map_matrix (x_i,y_i,1)^T where dst(i)=(x'_i,y'_i), src(i)=(x_i,y_i), i=0..2.

public static GetAffineTransform ( PointF src, PointF dest ) : RotationMatrix2D
src	System.Drawing.PointF	Coordinates of 3 triangle vertices in the source image. If the array contains more than 3 points, only the first 3 will be used
dest	System.Drawing.PointF	Coordinates of the 3 corresponding triangle vertices in the destination image. If the array contains more than 3 points, only the first 3 will be used
Результат	RotationMatrix2D

GetPerspectiveTransform() публичный статический Метод

calculates matrix of perspective transform such that: (t_i x'_i,t_i y'_i,t_i)^T=map_matrix (x_i,y_i,1)^T where dst(i)=(x'_i,y'_i), src(i)=(x_i,y_i), i=0..3.

public static GetPerspectiveTransform ( PointF src, PointF dest ) : HomographyMatrix
src	System.Drawing.PointF	Coordinates of 4 quadrangle vertices in the source image
dest	System.Drawing.PointF	Coordinates of the 4 corresponding quadrangle vertices in the destination image
Результат	HomographyMatrix

ProjectPoints() публичный статический Метод

Computes projections of 3D points to the image plane given intrinsic and extrinsic camera parameters. Optionally, the function computes jacobians - matrices of partial derivatives of image points as functions of all the input parameters w.r.t. the particular parameters, intrinsic and/or extrinsic. The jacobians are used during the global optimization in cvCalibrateCamera2 and cvFindExtrinsicCameraParams2. The function itself is also used to compute back-projection error for with current intrinsic and extrinsic parameters.

Note, that with intrinsic and/or extrinsic parameters set to special values, the function can be used to compute just extrinsic transformation or just intrinsic transformation (i.e. distortion of a sparse set of points)

public static ProjectPoints ( MCvPoint3D32f objectPoints, Emgu.CV.ExtrinsicCameraParameters extrin, Emgu.CV.IntrinsicCameraParameters intrin ) : System.Drawing.PointF[]
objectPoints	MCvPoint3D32f	The array of object points.
extrin	Emgu.CV.ExtrinsicCameraParameters	Extrinsic parameters
intrin	Emgu.CV.IntrinsicCameraParameters	Intrinsic parameters
Результат	System.Drawing.PointF[]

StereoCalibrate() публичный статический Метод

Estimates transformation between the 2 cameras making a stereo pair. If we have a stereo camera, where the relative position and orientatation of the 2 cameras is fixed, and if we computed poses of an object relative to the fist camera and to the second camera, (R1, T1) and (R2, T2), respectively (that can be done with cvFindExtrinsicCameraParams2), obviously, those poses will relate to each other, i.e. given (R1, T1) it should be possible to compute (R2, T2) - we only need to know the position and orientation of the 2nd camera relative to the 1st camera. That's what the described function does. It computes (R, T) such that: R2=R*R1, T2=R*T1 + T

public static StereoCalibrate ( MCvPoint3D32f objectPoints, PointF imagePoints1, PointF imagePoints2, Emgu.CV.IntrinsicCameraParameters intrinsicParam1, Emgu.CV.IntrinsicCameraParameters intrinsicParam2, Size imageSize, CvEnum flags, MCvTermCriteria termCrit, Emgu.CV.ExtrinsicCameraParameters &extrinsicParams, Matrix &foundamentalMatrix, Matrix &essentialMatrix ) : void
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	System.Drawing.PointF	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	System.Drawing.PointF	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	System.Drawing.Size	Size of the image, used only to initialize intrinsic camera matrix
flags	CvEnum	Different flags
termCrit	Emgu.CV.Structure.MCvTermCriteria	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