displayErrors
Display standard errors of stereo camera parameter estimation
Description
displayErrors(
displays the standard errors of stereo camera parameter estimation, as well as the estimated
parameters, from the calibration of a pair of stereo cameras.estimationErrors
,stereoParams
)
Examples
Estimate and Display Stereo Calibration Standard Errors
Specify two sets of calibration images.
imageDir = fullfile(toolboxdir("vision"),"visiondata", ... "calibration","stereo"); leftImages = imageDatastore(fullfile(imageDir,"left")); rightImages = imageDatastore(fullfile(imageDir,"right"));
Detect the checkerboards.
[imagePoints,boardSize] = detectCheckerboardPoints( ...
leftImages.Files,rightImages.Files);
Generate the world coordinates of the corners of the squares. Square size is in millimeters.
squareSize = 108;
worldPoints = patternWorldPoints("checkerboard",boardSize,squareSize);
Calibrate the stereo camera system. Here, both cameras have the same resolution.
I = readimage(leftImages,1);
imageSize = [size(I,1) size(I,2)];
[params, ~, errors] = estimateCameraParameters(imagePoints,worldPoints, ...
ImageSize=imageSize);
Display standard stereo calibration errors.
displayErrors(errors,params);
Standard Errors of Estimated Stereo Camera Parameters ----------------------------------------------------- Camera 1 Intrinsics ------------------- Focal length (pixels): [ 1038.0285 +/- 0.6533 1037.9143 +/- 0.6389 ] Principal point (pixels):[ 656.0840 +/- 0.3408 485.5485 +/- 0.2639 ] Radial distortion: [ -0.3617 +/- 0.0008 0.1866 +/- 0.0026 ] Camera 1 Extrinsics ------------------- Rotation vectors: [ 0.1680 +/- 0.0007 -0.0271 +/- 0.0006 3.1125 +/- 0.0001 ] [ 0.1995 +/- 0.0006 -0.0523 +/- 0.0005 -3.0991 +/- 0.0000 ] [ 0.4187 +/- 0.0005 -0.1061 +/- 0.0004 -3.1113 +/- 0.0001 ] [ 0.5239 +/- 0.0005 -0.0604 +/- 0.0004 -3.0552 +/- 0.0001 ] [ 0.6807 +/- 0.0006 -0.0306 +/- 0.0005 -3.0331 +/- 0.0001 ] [ 0.3513 +/- 0.0007 -0.0993 +/- 0.0006 -3.0334 +/- 0.0001 ] [ 0.0212 +/- 0.0007 -0.1179 +/- 0.0007 -3.0833 +/- 0.0000 ] [ -0.2765 +/- 0.0008 -0.0847 +/- 0.0007 -3.0943 +/- 0.0001 ] [ -0.4407 +/- 0.0007 -0.1119 +/- 0.0006 -3.0652 +/- 0.0001 ] [ -0.2537 +/- 0.0008 -0.1334 +/- 0.0007 -3.1039 +/- 0.0001 ] Translation vectors (mm): [ 708.4193 +/- 0.4914 227.0500 +/- 0.4002 1492.8669 +/- 1.0127 ] [ 368.4410 +/- 0.5228 191.7200 +/- 0.4094 1589.9144 +/- 0.9987 ] [ 226.3712 +/- 0.5173 191.1430 +/- 0.4030 1578.4777 +/- 0.9575 ] [ 49.5378 +/- 0.5183 196.7496 +/- 0.4030 1580.5402 +/- 0.9493 ] [ -172.4000 +/- 0.7003 150.9911 +/- 0.5406 2119.3251 +/- 1.2532 ] [ 10.7779 +/- 0.6784 176.8786 +/- 0.5276 2066.8341 +/- 1.2907 ] [ 295.4842 +/- 0.6616 167.8676 +/- 0.5158 2010.7710 +/- 1.2738 ] [ 614.2340 +/- 0.6457 166.2017 +/- 0.5153 1968.1796 +/- 1.2722 ] [ 767.0158 +/- 0.6106 165.5373 +/- 0.4991 1868.3331 +/- 1.2395 ] [ 953.8135 +/- 0.7336 -14.7980 +/- 0.6039 2255.6166 +/- 1.5106 ] Camera 2 Intrinsics ------------------- Focal length (pixels): [ 1042.4815 +/- 0.6644 1042.2690 +/- 0.6534 ] Principal point (pixels):[ 640.5974 +/- 0.3305 479.0652 +/- 0.2633 ] Radial distortion: [ -0.3614 +/- 0.0007 0.1822 +/- 0.0022 ] Position And Orientation of Camera 2 Relative to Camera 1 --------------------------------------------------------- Rotation of camera 2: [ -0.0037 +/- 0.0002 0.0050 +/- 0.0004 -0.0002 +/- 0.0000 ] Translation of camera 2 (mm): [ -119.8720 +/- 0.0401 -0.4005 +/- 0.0414 -0.0258 +/- 0.1750 ]
Input Arguments
estimationErrors
— Estimation errors
stereoCalibrationErrors
object
Estimation errors, specified as a stereoCalibrationErrors
object.
stereoParams
— Stereo parameters
stereoParameters
object
Stereo parameters, specified as a stereoParameters
object.
Version History
Introduced in R2014b
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