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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

The estimateFisheyeParameters function returns the fisheyeCalibrationErrors object.

Properties

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Standard errors of the estimated intrinsics for a fisheye camera, specified as a fisheyeIntrinsicsEstimationErrors 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

displayErrorsDisplay standard errors of camera parameter estimates

Examples

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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 = generateCheckerboardPoints(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:    [  875.1007 +/- 0.9466       -0.0003 +/- -0.0000      -0.0000 +/- 0.0000        0.0000 +/- -0.0000 ]
Distortion center (pixels):[ 1005.7541 +/- 0.6880      743.0216 +/- 0.5587  ]
Stretch matrix parameters:[    1.0000 +/- 0.0000        0.0000 +/- 0.0000        0.0000 +/- 0.0000  ]

Extrinsics
----------
Rotation vectors:
                         [   -0.0699 +/- 0.0010       -0.0266 +/- 0.0009        0.0258 +/- 0.0002  ]
                         [    0.3628 +/- 0.0010        0.2951 +/- 0.0009       -0.1967 +/- 0.0003  ]
                         [   -0.2158 +/- 0.0009        0.3443 +/- 0.0009       -0.1941 +/- 0.0003  ]
                         [    0.0282 +/- 0.0009       -0.3784 +/- 0.0009        0.0829 +/- 0.0003  ]
                         [    0.0146 +/- 0.0008        0.4576 +/- 0.0009       -0.1215 +/- 0.0003  ]
                         [    0.6774 +/- 0.0008        0.1090 +/- 0.0008       -0.0386 +/- 0.0004  ]
                         [   -0.4936 +/- 0.0008        0.0063 +/- 0.0008        0.0487 +/- 0.0003  ]
                         [    0.3823 +/- 0.0008        0.2798 +/- 0.0008        0.1509 +/- 0.0003  ]
                         [    0.5171 +/- 0.0008       -0.3295 +/- 0.0008        0.0540 +/- 0.0003  ]
                         [   -0.1895 +/- 0.0008       -0.3543 +/- 0.0009        0.2636 +/- 0.0003  ]
                         [   -0.2911 +/- 0.0008        0.3681 +/- 0.0008       -0.1329 +/- 0.0003  ]

Translation vectors (mm):
                         [ -132.9043 +/- 0.1611      -82.6032 +/- 0.1358      195.1219 +/- 0.2314  ]
                         [ -178.9764 +/- 0.1907      -15.7689 +/- 0.1715      241.7239 +/- 0.2799  ]
                         [ -183.7782 +/- 0.2171      -56.7321 +/- 0.1887      269.9897 +/- 0.2794  ]
                         [  -17.6166 +/- 0.1317      -70.2850 +/- 0.1043      157.0890 +/- 0.1936  ]
                         [ -161.9663 +/- 0.1810      -46.9641 +/- 0.1572      228.4183 +/- 0.2305  ]
                         [ -122.4140 +/- 0.1311      -16.0209 +/- 0.1155      162.6464 +/- 0.2075  ]
                         [ -112.4108 +/- 0.1748     -125.5861 +/- 0.1430      212.8167 +/- 0.2159  ]
                         [ -148.7019 +/- 0.1389      -72.5386 +/- 0.1262      173.7784 +/- 0.2089  ]
                         [  -49.5314 +/- 0.0921      -24.8302 +/- 0.0746      104.3609 +/- 0.1508  ]
                         [   -3.3961 +/- 0.1276      -93.4024 +/- 0.1012      155.8090 +/- 0.1695  ]
                         [ -160.7181 +/- 0.1857      -51.9100 +/- 0.1603      234.4234 +/- 0.2321  ]

Introduced in R2017b