displayErrors

Display standard errors of camera parameter estimates

Syntax

displayErrors(estimationErrors,cameraParams)

Description

displayErrors(estimationErrors,cameraParams) displays the camera parameters and corresponding standard errors.

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:    [  875.0746 +/- 0.9451       -0.0003 +/- -0.0000      -0.0000 +/- 0.0000        0.0000 +/- -0.0000 ]
Distortion center (pixels):[ 1005.8175 +/- 0.6871      743.0343 +/- 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):
                         [ -132.9184 +/- 0.1609      -82.6066 +/- 0.1356      195.1098 +/- 0.2311  ]
                         [ -178.9934 +/- 0.1905      -15.7749 +/- 0.1712      241.7116 +/- 0.2795  ]
                         [ -183.7960 +/- 0.2168      -56.7377 +/- 0.1884      269.9729 +/- 0.2790  ]
                         [  -17.6297 +/- 0.1315      -70.2875 +/- 0.1041      157.0820 +/- 0.1933  ]
                         [ -161.9827 +/- 0.1807      -46.9680 +/- 0.1569      228.4052 +/- 0.2302  ]
                         [ -122.4242 +/- 0.1309      -16.0260 +/- 0.1153      162.6239 +/- 0.2072  ]
                         [ -112.4270 +/- 0.1745     -125.5876 +/- 0.1428      212.8047 +/- 0.2156  ]
                         [ -148.7139 +/- 0.1387      -72.5409 +/- 0.1260      173.7608 +/- 0.2086  ]
                         [  -49.5393 +/- 0.0919      -24.8329 +/- 0.0745      104.3536 +/- 0.1506  ]
                         [   -3.4047 +/- 0.1274      -93.4073 +/- 0.1010      155.8242 +/- 0.1693  ]
                         [ -160.7347 +/- 0.1855      -51.9152 +/- 0.1600      234.4066 +/- 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 the estimateCameraParameters function or the Camera Calibrator app.

• To create a fisheyeParameters, use the estimateFisheyeParameters function.

Version History

Introduced in R2017b