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displayErrors

Display standard errors of stereo camera parameter estimation

Description

example

displayErrors(estimationErrors,stereoParams) displays the standard errors of stereo camera parameter estimation, as well as the estimated parameters, from the calibration of a pair of stereo cameras.

Examples

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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 = generateCheckerboardPoints(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):   [ 1038.0286 +/- 0.6533     1037.9145 +/- 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     1492.8672 +/- 1.0127  ]
                         [  368.4409 +/- 0.5228      191.7200 +/- 0.4094     1589.9147 +/- 0.9987  ]
                         [  226.3711 +/- 0.5173      191.1430 +/- 0.4030     1578.4780 +/- 0.9575  ]
                         [   49.5378 +/- 0.5183      196.7495 +/- 0.4030     1580.5404 +/- 0.9493  ]
                         [ -172.4000 +/- 0.7003      150.9910 +/- 0.5406     2119.3254 +/- 1.2532  ]
                         [   10.7778 +/- 0.6784      176.8785 +/- 0.5276     2066.8344 +/- 1.2907  ]
                         [  295.4841 +/- 0.6616      167.8676 +/- 0.5158     2010.7713 +/- 1.2738  ]
                         [  614.2339 +/- 0.6457      166.2016 +/- 0.5153     1968.1799 +/- 1.2722  ]
                         [  767.0157 +/- 0.6106      165.5372 +/- 0.4991     1868.3334 +/- 1.2395  ]
                         [  953.8134 +/- 0.7336      -14.7980 +/- 0.6039     2255.6170 +/- 1.5107  ]

Camera 2 Intrinsics
-------------------
Focal length (pixels):   [ 1042.4817 +/- 0.6644     1042.2692 +/- 0.6534  ]
Principal point (pixels):[  640.5972 +/- 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       -0.0257 +/- 0.1750  ]

Input Arguments

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Estimation errors, specified as a stereoCalibrationErrors object.

Stereo parameters, specified as a stereoParameters object.

Version History

Introduced in R2014b