Landmark-Based Calibration Code Snippet

This code snippet shows how to perform a landmark-based calibration.

C++

#include <eVision/Easy/ECameraCalibration.h>
#include <eVision/Easy/ECalibrationMode.h>

using namespace eVision;
// ECameraCalibration constructor
ECameraCalibration calib;
// ...
int numLandmarks(20);
// Reset the calibration context
calib.EmptyLandmarks();
// Loop on the landmarks
for (int index = 0; index < numLandmarks; index++)
{
  // Get the I-th landmark as a pair of EPoint(x, y)
  EPoint sensorPoint, worldPoint;

  // Retrieve and store the relevant data into worldPoint and sensorPoint
  // ...
  // Add the I-th pair
  calib.AddLandmark(sensorPoint, worldPoint);
}
// Perform the calibration
calib.Calibrate(ECalibrationMode_Skewed);

C#

using eVision;

// ECameraCalibration constructor
ECameraCalibration calib = new ECameraCalibration();
// ...
// Reset the calibration context
calib.EmptyLandmarks();
int numLandmarks = 20;
// Loop on the landmarks
for (int index = 0; index < numLandmarks; index++)
{
  // Get the I-th landmark as a pair of EPoint(x, y)
  EPoint sensorPoint = new EPoint(), worldPoint = new EPoint();
  // Retrieve and store the relevant data into worldPoint and sensorPoint
  // ...
  // Add the I-th pair
  calib.AddLandmark(sensorPoint, worldPoint);
}
// Perform the calibration
calib.Calibrate((int)ECalibrationMode.Skewed);

Python

import eVision
# ECameraCalibration constructor
calib = eVision.ECameraCalibration()
# ...
# Reset the calibration context
calib.EmptyLandmarks()
num_landmarks = 20
# Loop on the landmarks
for index in range(num_landmarks):
    # Get the I-th landmark as a pair of EPoint(x, y)
    sensorPoint = eVision.EPoint()
    worldPoint = eVision.EPoint()
    # Retrieve and store the relevant data into worldPoint and sensorPoint
    # ...
    # Add the I-th pair
    calib.AddLandmark(sensorPoint, worldPoint)
# Perform the calibration
calib.Calibrate(eVision.ECalibrationMode.Skewed)