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intrinsicsEstimationErrors

Object for storing standard errors of estimated camera intrinsics and distortion coefficients

Description

The intrinsicsEstimationErrors object contains the standard errors of estimated camera intrinsics and distortion coefficients. You can access the intrinsics and distortion standard errors using the object properties. You can display the standard errors using the displayErrors object function.

Creation

Syntax

[params,imgsUsed,Errors] = estimateCameraParameters(imagePoints,worldPoints)

Description

[params,imgsUsed,Errors] = estimateCameraParameters(imagePoints,worldPoints) creates an intrinsicsEstimationErrors object by calling the estimateCameraParameters function with image points and world points. The function returns a stereoCalibrationErrors or cameraCalibrationErrors object as the third output argument, which contains the intrinsicsEstimationErrors as a read-only property.

Properties

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This property is read-only.

Standard error of the camera axes skew estimate, specified as a scalar.

Standard error of the focal length estimate, specified as a scalar.

This property is read-only.

Standard error of the principal point estimate, specified as a scalar.

This property is read-only.

Standard error of the radial distortion estimate, specified as a scalar.

This property is read-only.

Standard error of the tangential distortion estimate, specified as a scalar.

Examples

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Create a set of calibration images.

images = imageDatastore(fullfile(toolboxdir("vision"),"visiondata", ...
 "calibration","mono"));

Detect the calibration pattern.

[imagePoints,boardSize] = detectCheckerboardPoints(images.Files);

Generate the world coordinates of the corners of the squares. The units of the square are in millimeters.

squareSize = 29;
worldPoints = generateCheckerboardPoints(boardSize,squareSize);

Calibrate the camera.

I = readimage(images,1); 
imageSize = [size(I,1) size(I,2)];
[params,~,errors] = estimateCameraParameters(imagePoints,worldPoints, ...
                                  ImageSize=imageSize);

Display the standard intrinsics errors.

displayErrors(errors.IntrinsicsErrors,params);
Focal length (pixels):   [  714.1885 +/- 3.3219      710.3785 +/- 4.0578  ]
Principal point (pixels):[  563.6481 +/- 5.3966      355.7254 +/- 3.3036  ]
Radial distortion:       [   -0.3536 +/- 0.0091        0.1730 +/- 0.0488  ]
Introduced in R2013b