displayErrors
Display standard errors of camera parameter estimates
Description
displayErrors(
displays the camera parameters and corresponding standard errors.estimationErrors
,cameraParams
)
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 ]
Input Arguments
estimationErrors
— Standard errors of estimated parameters
cameraCalibrationErrors
object | fisheyeCalibrationErrors
object
Standard errors of estimated parameters, specified as a cameraCalibrationErrors
or fisheyeCalibrationErrors
object.
cameraParams
— Camera parameters
cameraParameters
object | fisheyeParameters
object
Camera parameters, specified as a cameraParameters
or fisheyeParameters
object. These objects contain the intrinsic,
extrinsic, and lens distortion parameters of a camera.
To create a
cameraParameters
, use theestimateCameraParameters
function or the Camera Calibrator app.To create a
fisheyeParameters
, use theestimateFisheyeParameters
function.
Version History
Introduced in R2017b
See Also
Functions
Objects
Apps
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