fisheyeCalibrationErrors
Object for storing standard errors of estimated fisheye camera parameters
Description
fisheyeCalibrationErrors
contains the standard errors of estimated
camera parameters. You can access the standard errors of the intrinsics and extrinsics
by using the object properties. To display the standard errors, use the displayErrors
function.
Creation
Create a fisheyeCalibrationErrors
object by calling the estimateFisheyeParameters
,
Properties
IntrinsicsErrors
— Standard errors of estimated intrinsics
fisheyeIntrinsicsEstimationErrors
object
Standard errors of the estimated intrinsics for a fisheye camera,
specified as a fisheyeIntrinsicsEstimationErrors
object.
ExtrinsicsErrors
— Standard errors of estimated rotations and translations
extrinsicsEstimationErrors
object
Standard errors of the estimated rotations and translations for a fisheye
camera relative to the calibration pattern, specified as a extrinsicsEstimationErrors
object.
Object Functions
displayErrors | Display standard errors of camera parameter estimates |
Examples
Display Fisheye Camera Calibration Errors
Gather a set of checkerboard calibration images.
images = imageDatastore(fullfile(toolboxdir('vision'),'visiondata',... 'calibration','gopro'));
Detect the calibration pattern from the images.
[imagePoints,boardSize] = detectCheckerboardPoints(images.Files);
Generate world coordinates for the corners of the checkerboard squares.
squareSize = 29; % millimeters worldPoints = patternWorldPoints('checkerboard',boardSize,squareSize);
Estimate the fisheye parameters using image and world points. Use the first image to get the image size. Also, store the errors from the calibration.
I = readimage(images,1);
imageSize = [size(I,1) size(I,2)];
[params,~,errors] = estimateFisheyeParameters(imagePoints, ...
worldPoints,imageSize);
Display the standard errors of the estimated camera parameters.
displayErrors(errors,params);
Standard Errors of Estimated Camera Parameters ---------------------------------------------- Intrinsics ---------- Mapping coefficients: [ 875.0748 +/- 0.9451 -0.0003 +/- -0.0000 -0.0000 +/- 0.0000 0.0000 +/- -0.0000 ] Distortion center (pixels):[ 1005.8177 +/- 0.6871 743.0347 +/- 0.5578 ] Stretch matrix parameters:[ 1.0000 +/- 0.0000 0.0000 +/- 0.0000 0.0000 +/- 0.0000 ] Extrinsics ---------- Rotation vectors: [ -0.0699 +/- 0.0010 -0.0267 +/- 0.0009 0.0258 +/- 0.0002 ] [ 0.3628 +/- 0.0010 0.2950 +/- 0.0009 -0.1967 +/- 0.0003 ] [ -0.2159 +/- 0.0009 0.3442 +/- 0.0009 -0.1941 +/- 0.0003 ] [ 0.0282 +/- 0.0009 -0.3784 +/- 0.0009 0.0829 +/- 0.0003 ] [ 0.0146 +/- 0.0008 0.4575 +/- 0.0009 -0.1215 +/- 0.0003 ] [ 0.6775 +/- 0.0008 0.1089 +/- 0.0008 -0.0386 +/- 0.0004 ] [ -0.4936 +/- 0.0008 0.0063 +/- 0.0008 0.0486 +/- 0.0003 ] [ 0.3823 +/- 0.0008 0.2797 +/- 0.0008 0.1509 +/- 0.0003 ] [ 0.5171 +/- 0.0008 -0.3295 +/- 0.0008 0.0541 +/- 0.0003 ] [ -0.1896 +/- 0.0008 -0.3543 +/- 0.0009 0.2637 +/- 0.0003 ] [ -0.2911 +/- 0.0008 0.3680 +/- 0.0008 -0.1329 +/- 0.0003 ] Translation vectors (mm): [ -132.9185 +/- 0.1609 -82.6067 +/- 0.1356 195.1098 +/- 0.2311 ] [ -178.9935 +/- 0.1905 -15.7751 +/- 0.1712 241.7116 +/- 0.2795 ] [ -183.7961 +/- 0.2168 -56.7379 +/- 0.1884 269.9729 +/- 0.2790 ] [ -17.6298 +/- 0.1315 -70.2875 +/- 0.1041 157.0820 +/- 0.1933 ] [ -161.9828 +/- 0.1807 -46.9682 +/- 0.1569 228.4052 +/- 0.2302 ] [ -122.4242 +/- 0.1309 -16.0260 +/- 0.1153 162.6239 +/- 0.2072 ] [ -112.4271 +/- 0.1745 -125.5877 +/- 0.1428 212.8047 +/- 0.2156 ] [ -148.7139 +/- 0.1387 -72.5410 +/- 0.1260 173.7608 +/- 0.2086 ] [ -49.5394 +/- 0.0919 -24.8329 +/- 0.0745 104.3536 +/- 0.1506 ] [ -3.4047 +/- 0.1274 -93.4074 +/- 0.1010 155.8242 +/- 0.1693 ] [ -160.7348 +/- 0.1855 -51.9153 +/- 0.1600 234.4067 +/- 0.2318 ]
Version History
Introduced in R2017b
See Also
fisheyeParameters
| estimateFisheyeParameters
| fisheyeIntrinsicsEstimationErrors
| extrinsicsEstimationErrors
Topics
- Fisheye Calibration Basics
- Configure Monocular Fisheye Camera (Automated Driving Toolbox)
MATLAB 명령
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