Display standard errors of camera parameter estimates
displayErrors(
displays the camera parameters and corresponding standard errors.estimationErrors,cameraParams)
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: [ 875.0783 +/- 0.9451 -0.0003 +/- -0.0000 -0.0000 +/- 0.0000 0.0000 +/- -0.0000 ]
Distortion center (pixels):[ 1005.8164 +/- 0.6871 743.0346 +/- 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):
[ -132.9182 +/- 0.1609 -82.6066 +/- 0.1356 195.1106 +/- 0.2311 ]
[ -178.9931 +/- 0.1905 -15.7750 +/- 0.1712 241.7127 +/- 0.2795 ]
[ -183.7957 +/- 0.2168 -56.7378 +/- 0.1884 269.9740 +/- 0.2790 ]
[ -17.6295 +/- 0.1315 -70.2875 +/- 0.1041 157.0827 +/- 0.1933 ]
[ -161.9824 +/- 0.1808 -46.9681 +/- 0.1569 228.4061 +/- 0.2302 ]
[ -122.4240 +/- 0.1309 -16.0260 +/- 0.1153 162.6247 +/- 0.2072 ]
[ -112.4268 +/- 0.1745 -125.5876 +/- 0.1428 212.8055 +/- 0.2156 ]
[ -148.7137 +/- 0.1387 -72.5409 +/- 0.1260 173.7615 +/- 0.2086 ]
[ -49.5392 +/- 0.0919 -24.8329 +/- 0.0745 104.3541 +/- 0.1506 ]
[ -3.4045 +/- 0.1274 -93.4074 +/- 0.1010 155.8247 +/- 0.1693 ]
[ -160.7344 +/- 0.1855 -51.9152 +/- 0.1600 234.4075 +/- 0.2318 ]
estimationErrors — Standard errors of estimated parameterscameraCalibrationErrors object | fisheyeCalibrationErrors objectStandard errors of estimated parameters, specified as a cameraCalibrationErrors or fisheyeCalibrationErrors object.
cameraParams — Camera parameterscameraParameters object | fisheyeParameters objectCamera 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.
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