:param D:Input vector of distortion coefficients :math:`(k_1, k_2, k_3, k_4)`.
:param alpha:The skew coefficient.
:param imagePoints:Output array of image points, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel, or ``vector<Point2f>`` .
:param jacobian:Optional output 2Nx15 jacobian matrix of derivatives of image points with respect to components of the focal lengths, coordinates of the principal point, distortion coefficients, rotation vector, translation vector, and the skew. In the old interface different components of the jacobian are returned via different output parameters.
The function 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 coordinates (as functions of all the
input parameters) with respect to the particular parameters, intrinsic and/or
:param D:Input vector of distortion coefficients :math:`(k_1, k_2, k_3, k_4)`.
:param R:Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3 1-channel or 1x1 3-channel
:param P:New camera matrix (3x3) or new projection matrix (3x4)
:param undistorted:Output array of image points, 1xN/Nx1 2-channel, or ``vector<Point2f>`` .
Fisheye::initUndistortRectifyMap
-------------------------------------
Computes undistortion and rectification maps for image transform by cv::remap(). If D is empty zero distortion is used, if R or P is empty identity matrixes are used.
:param flags:Operation flags that may be zero or ``CV_CALIB_ZERO_DISPARITY`` . If the flag is set, the function makes the principal points of each camera have the same pixel coordinates in the rectified views. And if the flag is not set, the function may still shift the images in the horizontal or vertical direction (depending on the orientation of epipolar lines) to maximize the useful image area.
:param alpha:Free scaling parameter. If it is -1 or absent, the function performs the default scaling. Otherwise, the parameter should be between 0 and 1. ``alpha=0`` means that the rectified images are zoomed and shifted so that only valid pixels are visible (no black areas after rectification). ``alpha=1`` means that the rectified image is decimated and shifted so that all the pixels from the original images from the cameras are retained in the rectified images (no source image pixels are lost). Obviously, any intermediate value yields an intermediate result between those two extreme cases.
:param newImageSize:New image resolution after rectification. The same size should be passed to :ocv:func:`initUndistortRectifyMap` (see the ``stereo_calib.cpp`` sample in OpenCV samples directory). When (0,0) is passed (default), it is set to the original ``imageSize`` . Setting it to larger value can help you preserve details in the original image, especially when there is a big radial distortion.
:param roi1:Optional output rectangles inside the rectified images where all the pixels are valid. If ``alpha=0`` , the ROIs cover the whole images. Otherwise, they are likely to be smaller (see the picture below).
:param roi2:Optional output rectangles inside the rectified images where all the pixels are valid. If ``alpha=0`` , the ROIs cover the whole images. Otherwise, they are likely to be smaller (see the picture below).
:param objectPoints:vector of vectors of calibration pattern points in the calibration pattern coordinate space. The outer vector contains as many elements as the number of the pattern views. If the same calibration pattern is shown in each view and it is fully visible, all the vectors will be the same. Although, it is possible to use partially occluded patterns, or even different patterns in different views. Then, the vectors will be different. The points are 3D, but since they are in a pattern coordinate system, then, if the rig is planar, it may make sense to put the model to a XY coordinate plane so that Z-coordinate of each input object point is 0.
:param imagePoints:vector of vectors of the projections of calibration pattern points. ``imagePoints.size()`` and ``objectPoints.size()`` and ``imagePoints[i].size()`` must be equal to ``objectPoints[i].size()`` for each ``i``.
:param image_size:Size of the image used only to initialize the intrinsic camera matrix.
:param K:Output 3x3 floating-point camera matrix :math:`A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}` . If ``Fisheye::CALIB_USE_INTRINSIC_GUESS``/ is specified, some or all of ``fx, fy, cx, cy`` must be initialized before calling the function.
:param D:Output vector of distortion coefficients :math:`(k_1, k_2, k_3, k_4)`.
:param rvecs:Output vector of rotation vectors (see :ocv:func:`Rodrigues` ) estimated for each pattern view. That is, each k-th rotation vector together with the corresponding k-th translation vector (see the next output parameter description) brings the calibration pattern from the model coordinate space (in which object points are specified) to the world coordinate space, that is, a real position of the calibration pattern in the k-th pattern view (k=0.. *M* -1).
:param tvecs:Output vector of translation vectors estimated for each pattern view.
:param flags:Different flags that may be zero or a combination of the following values:
* **Fisheye::CALIB_USE_INTRINSIC_GUESS** ``cameraMatrix`` contains valid initial values of ``fx, fy, cx, cy`` that are optimized further. Otherwise, ``(cx, cy)`` is initially set to the image center ( ``imageSize`` is used), and focal distances are computed in a least-squares fashion.
* **Fisheye::CALIB_RECOMPUTE_EXTRINSIC** Extrinsic will be recomputed after each iteration of intrinsic optimization.
* **Fisheye::CALIB_CHECK_COND** The functions will check validity of condition number.
* **Fisheye::CALIB_FIX_SKEW** Skew coefficient (alpha) is set to zero and stay zero.
* **Fisheye::CALIB_FIX_K1..4** Selected distortion coefficients are set to zeros and stay zero.
:param criteria:Termination criteria for the iterative optimization algorithm.
..[BT98] Birchfield, S. and Tomasi, C. A pixel dissimilarity measure that is insensitive to image sampling. IEEE Transactions on Pattern Analysis and Machine Intelligence. 1998.
Ilya Krylov
11 years ago