Calibration and geometry

All modules / calib

calibrateCamerafunction

Finds the camera intrinsic and extrinsic parameters from several views of a calibration

calibrateCameraExtendedfunction

Finds the camera intrinsic and extrinsic parameters from several views of a calibration

calibrateCameraROfunction

Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern.

calibrateCameraROExtendedfunction

Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern.

calibrateMultiviewfunction

Estimates intrinsics and extrinsics (camera pose) for multi-camera system a.k.a multiview calibration.

calibrateMultiviewExtendedfunction

Estimates intrinsics and extrinsics (camera pose) for multi-camera system a.k.a multiview calibration.

CameraModelclass

Maximal size of camera internal parameters (initrinsics) vector

fisheye_calibratefunction

Performs camera calibration

fisheye_stereoCalibratefunction

Performs stereo calibration

fisheye_stereoCalibrate1function

Performs stereo calibration

HandEyeCalibrationMethodclass

Native enum entries for hand eye calibration method. Pass an entry to enum-typed arguments or its .value to numeric arguments.

initCameraMatrix2Dfunction

Finds an initial camera intrinsic matrix from 3D-2D point correspondences.

registerCamerasfunction

Calibrates a camera pair set up. This function finds the extrinsic parameters between the two cameras.

registerCamerasExtendedfunction

Calibrates a camera pair set up. This function finds the extrinsic parameters between the two cameras.

RobotWorldHandEyeCalibrationMethodclass

Native enum entries for robot world hand eye calibration method. Pass an entry to enum-typed arguments or its .value to numeric arguments.

stereoCalibratefunction

Calibrates a stereo camera set up. This function finds the intrinsic parameters

stereoCalibrate1function

Calibrates a stereo camera set up. This function finds the intrinsic parameters

stereoCalibrateExtendedfunction

Calibrates a stereo camera set up. This function finds the intrinsic parameters

Constants

Use the named constant from cv. In particular, OpenCV 5 matrix type codes differ from OpenCV 4.

CALIB_MODEL_PINHOLE: Pinhole camera model
CALIB_MODEL_FISHEYE: Fisheye camera model
CALIB_USE_INTRINSIC_GUESS: For pinhole model only. The tauX and tauY coefficients are not changed during the optimization. 0 value is used, if CALIB_USE_INTRINSIC_GUESS is not set.
CALIB_FIX_ASPECT_RATIO: Use with CALIB_USE_INTRINSIC_GUESS. The ratio fx/fy stays the same as in the input cameraMatrix.
CALIB_FIX_PRINCIPAL_POINT: The principal point (cx, cy) stays the same as in the input camera matrix. Image center is used as principal point, if CALIB_USE_INTRINSIC_GUESS is not set.
CALIB_ZERO_TANGENT_DIST: For pinhole model only. Tangential distortion coefficients (p_1, p_2) are set to zeros and stay zero.
CALIB_FIX_FOCAL_LENGTH: Use with CALIB_USE_INTRINSIC_GUESS. The focal length (fx, fy) stays the same as in the input cameraMatrix.
CALIB_FIX_K1: The corresponding distortion coefficient is not changed during the optimization. 0 value is used, if CALIB_USE_INTRINSIC_GUESS is not set.
CALIB_FIX_K2: The corresponding distortion coefficient is not changed during the optimization. 0 value is used, if CALIB_USE_INTRINSIC_GUESS is not set.
CALIB_FIX_K3: The corresponding distortion coefficient is not changed during the optimization. 0 value is used, if CALIB_USE_INTRINSIC_GUESS is not set.
CALIB_FIX_K4: The corresponding distortion coefficient is not changed during the optimization. 0 value is used, if CALIB_USE_INTRINSIC_GUESS is not set.
CALIB_FIX_K5: For pinhole model only. The corresponding distortion coefficient is not changed during the optimization. 0 value is used, if CALIB_USE_INTRINSIC_GUESS is not set.
CALIB_FIX_K6: For pinhole model only. The corresponding distortion coefficient is not changed during the optimization. 0 value is used, if CALIB_USE_INTRINSIC_GUESS is not set.
CALIB_RATIONAL_MODEL: For pinhole model only. Use rational distortion model with coefficients k4..k6.
CALIB_THIN_PRISM_MODEL: For pinhole model only. Use thin prism distortion model with coefficients s1..s4.
CALIB_FIX_S1_S2_S3_S4: For pinhole model only. The thin prism distortion coefficients are not changed during the optimization. 0 value is used, if CALIB_USE_INTRINSIC_GUESS is not set.
CALIB_TILTED_MODEL: For pinhole model only. Coefficients tauX and tauY are enabled in camera matrix.
CALIB_FIX_TAUX_TAUY: For pinhole model only. The tauX and tauY coefficients are not changed during the optimization. 0 value is used, if CALIB_USE_INTRINSIC_GUESS is not set.
CALIB_USE_QR: Use QR instead of SVD decomposition for solving. Faster but potentially less precise
CALIB_FIX_TANGENT_DIST: For pinhole model only. Tangential distortion coefficients (p1,p2) are set to zeros and stay zero.
CALIB_FIX_INTRINSIC: For stereo and milti-camera calibration only. Do not optimize cameras intrinsics
CALIB_SAME_FOCAL_LENGTH: For stereo calibration only. Use the same focal length for cameras in pair.
CALIB_ZERO_DISPARITY: Deprecated synonim of STEREO_ZERO_DISPARITY. See stereoRectify.
CALIB_USE_LU: use LU instead of SVD decomposition for solving. much faster but potentially less precise
CALIB_DISABLE_SCHUR_COMPLEMENT: disable Schur complement (use Bouguet calibration engine)
CALIB_USE_EXTRINSIC_GUESS: For stereo and multi-view calibration. Use user provided extrinsics (R, T) as initial point for optimization
CALIB_RECOMPUTE_EXTRINSIC: For fisheye model only. Recompute board position on each calibration iteration
CALIB_CHECK_COND: For fisheye model only. Check SVD decomposition quality for each frame during extrinsics estimation
CALIB_FIX_SKEW: For fisheye model only. Skew coefficient (alpha) is set to zero and stay zero.
CALIB_STEREO_REGISTRATION: For multiview calibration only. Use stereo correspondence approach for initial extrinsics guess. Limitation: all cameras should have the same type.
CALIB_HAND_EYE_TSAI: A New Technique for Fully Autonomous and Efficient 3D Robotics Hand/Eye Calibration [Tsai89]
CALIB_HAND_EYE_PARK: Robot Sensor Calibration: Solving AX = XB on the Euclidean Group [Park94]
CALIB_HAND_EYE_HORAUD: Hand-eye Calibration [Horaud95]
CALIB_HAND_EYE_ANDREFF: On-line Hand-Eye Calibration [Andreff99]
CALIB_HAND_EYE_DANIILIDIS: Hand-Eye Calibration Using Dual Quaternions [Daniilidis98]
CALIB_ROBOT_WORLD_HAND_EYE_SHAH: Solving the robot-world/hand-eye calibration problem using the kronecker product [Shah2013SolvingTR]
CALIB_ROBOT_WORLD_HAND_EYE_LI: Simultaneous robot-world and hand-eye calibration using dual-quaternions and kronecker product [Li2010SimultaneousRA]