showExtrinsics

Visualize extrinsic camera parameters

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Syntax

showExtrinsics(cameraParams)
showExtrinsics(cameraParams,view)
showExtrinsics(___,Name,Value)
ax = showExtrinsics(___)

Description

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showExtrinsics(cameraParams) renders a 3-D visualization of extrinsic parameters of a single calibrated camera or a calibrated stereo pair. The function plots a 3-D view of the calibration patterns with respect to the camera. The cameraParams input contains either a cameraParameters, fisheyeParameters, or a stereoParameters object, which the estimateCameraParameters or estimateFisheyeParameters function returns.

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showExtrinsics(cameraParams,view) displays visualization of the camera extrinsic parameters using the style specified by the view input.

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showExtrinsics(___,Name,Value) uses additional options specified by one or more Name,Value pair arguments, using any of the preceding syntaxes.

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ax = showExtrinsics(___) returns the plot axis, using any of the preceding syntaxes.

Examples

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Open Live Script

Create a set of calibration images.

images = imageDatastore(fullfile(toolboxdir('vision'),'visiondata', ...
  'calibration','webcam'));
imageFileNames = images.Files(1:5);

Detect calibration pattern.

[imagePoints,boardSize] = detectCheckerboardPoints(imageFileNames);

Generate world coordinates of the corners of the squares. The square size is in millimeters.

squareSide = 25;
worldPoints = generateCheckerboardPoints(boardSize,squareSide);

Calibrate the camera.

I = readimage(images,1); 
imageSize = [size(I, 1), size(I, 2)];
cameraParams = estimateCameraParameters(imagePoints,worldPoints, ...
                                  'ImageSize',imageSize);

Visualize pattern locations.

figure
showExtrinsics(cameraParams);

Visualize camera locations.

figure
showExtrinsics(cameraParams,'patternCentric');

Open Live Script

Specify 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);

Specify world coordinates of checkerboard keypoints. Square size is in millimeters.

squareSize = 108;
worldPoints = generateCheckerboardPoints(boardSize,squareSize);

Calibrate the stereo camera system. Both cameras have the same resolution.

I = readimage(leftImages,1); 
imageSize = [size(I, 1), size(I, 2)];
cameraParams = estimateCameraParameters(imagePoints,worldPoints, ...
                                  'ImageSize',imageSize);

Visualize pattern locations.

figure; 
showExtrinsics(cameraParams);

Visualize camera locations.

figure; 
showExtrinsics(cameraParams,'patternCentric');

Input Arguments

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Object containing parameters of single camera or stereo pair, specified as either a cameraParameters, fisheyeParameters, or stereoParameters object. You can create the single camera or stereo pair input object using the estimateCameraParameters function. The fisheye parameters input object is created using estimateFisheyeParameters.

You can also use the Camera Calibrator app to create the cameraParameters input object, or use Stereo Camera Calibrator app to create the stereoParameters input object. See Single Camera Calibrator App and Stereo Camera Calibrator App.

Camera or pattern-centric view, specified as 'CameraCentric' or 'PatternCentric'. The view input sets the visualization for the camera extrinsic parameters. If you keep your camera stationary while moving the calibration pattern, set view to 'CameraCentric'. If the pattern is stationary while you move your camera, set it to 'PatternCentric'.

Name-Value Pair Arguments

Specify optional comma-separated pairs of Name,Value arguments. Name is the argument name and Value is the corresponding value. Name must appear inside quotes. You can specify several name and value pair arguments in any order as Name1,Value1,...,NameN,ValueN.

Example: 'HighlightIndex', [1, 4] sets the 'HighlightIndex' to patterns 1 and 4.

Highlight selection index, specified as a scalar or a vector of integers. For example, if you want to highlight patterns 1 and 4, use [1, 4]. Doing so increases the opacity of patterns 1 and 4 in contrast to the rest of the patterns.

Output axes, specified as the comma-separated pair consisting of 'Parent' and an axes. You can obtain the current axes handle by returning the function to an output variable:

ax = showExtrinsics(cameraParams)

You can also use the gca function to get the current axes handle.

Example: showExtrinsics(cameraParams,'Parent',ax)

Output Arguments

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Current axes handle, returned as a scalar value. The function returns the handle to the current axes for the current figure.

Example: ax = showExtrinsics(cameraParams)

See Also

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Topics

Introduced in R2014a

Computer Vision Toolbox Documentation

Support