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

cameraMatrix = cv.initCameraMatrix2D(objectPoints, imagePoints, imageSize)
[...] = cv.initCameraMatrix2D(..., 'OptionName', optionValue, ...)

Input

• objectPoints Vector of vectors of the calibration pattern points in the calibration pattern coordinate space. Cell array of cell array of 3-element vectors are accepted {{[x,y,z],...}, ...}.
• imagePoints Vector of vectors of the projections of the calibration pattern points. Cell array of cell array of 2-element vectors are accepted {{[x,y],...}, ...}.
• imageSize Image size in pixels used to initialize the principal point [w,h].

Output

• cameraMatrix Camera matrix 3x3, A = [fx 0 cx; 0 fy cy; 0 0 1]

Options

• AspectRatio If it is zero or negative, both fx and fy are estimated independently. Otherwise, fx = fy * AspectRatio. default 1.0

The function estimates and returns an initial camera matrix for the camera calibration process. Currently, the function only supports planar calibration patterns, which are patterns where each object point has z-coordinate=0.