Performs camera calibration (fisheye)

[K, D, rms] = cv.fisheyeCalibrate(objectPoints, imagePoints, imageSize)
[K, D, rms, rvecs, tvecs] = cv.fisheyeCalibrate(...)
[...] = cv.fisheyeCalibrate(..., 'OptionName',optionValue, ...)

Input

• objectPoints A cell array of cells of calibration pattern points in the calibration pattern coordinate space {{[x,y,z], ..}, ...}.
• imagePoints A cell array of cells of the projections of calibration pattern points {{[x,y], ..}, ...}. numel(imagePoints) and numel(objectPoints) must be equal, and length(imagePoints{i}) must be equal to length(objectPoints{i}) for each i.
• imageSize Size of the image used only to initialize the intrinsic camera matrix [w,h].

Output

• K Output 3x3 floating-point camera matrix [fx 0 cx; 0 fy cy; 0 0 1].
• D Output vector of distortion coefficients [k1, k2, k3, k4].
• rms the overall RMS re-projection error.
• rvecs Output cell array of rotation vectors (see cv.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=1:M).
• tvecs Output cell array of translation vectors estimated for each pattern view (cell array of 3-element vectors).

Options

• CameraMatrix Input 3x3 camera matrix used as initial value for K. If UseIntrinsicGuess is specified, some or all of fx, fy, cx, cy must be initialized before calling the function.
• DistCoeffs Input 4 elements vector used as an initial values of D.
• UseIntrinsicGuess K 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. default false
• RecomputeExtrinsic Extrinsic will be recomputed after each iteration of intrinsic optimization. default false
• CheckCond The functions will check validity of condition number. default false
• FixSkew Skew coefficient (alpha) is set to zero and stay zero. default false
• FixK1, ..., FixK4 Selected distortion coefficients are set to zeros and stay zero. default false
• FixPrincipalPoint The principal point is not changed during the global optimization. It stays at the center or at a different location specified when UseIntrinsicGuess is set too. default false
• Criteria Termination criteria for the iterative optimization algorithm. default struct('type','Count+EPS', 'maxCount',100, 'epsilon',eps)