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CalibrateCamera_Pinhole_Deprecated
Header: | AVL.h |
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Namespace: | avl |
Module: | Calibration |
Finds the camera intrinsic parameters from the input arrays of image and real-world coordinates. Uses pinhole camera model (perspective camera).
Applications: Camera calibration, image to world coordinates transformations.
Syntax
void avl::CalibrateCamera_Pinhole_Deprecated ( const atl::Array<atl::Array<avl::Point2D> >& inImagePoints, const atl::Array<atl::Array<avl::Point2D> >& inWorldPlanePoints, int inImageWidth, int inImageHeight, avl::LensDistortionModelType::Type inDistortionType, float inImagePointsStandardDeviation, atl::Optional<float> inFocalLength, avl::PinholeCameraModel& outCameraModel, atl::Optional<avl::PinholeCameraModel&> outCameraModelStdDev = atl::NIL, atl::Optional<float&> outRmsError = atl::NIL, atl::Optional<atl::Array<float>&> outMaxReprojectionErrors = atl::NIL, atl::Optional<atl::Array<atl::Array<avl::Segment2D>>&> outReprojectionErrorSegments = atl::NIL )
Parameters
Name | Type | Range | Default | Description | |
---|---|---|---|---|---|
inImagePoints | const Array<Array<Point2D> >& | Array, for each view: array of 2D points of the calibration pattern, in the picture. | |||
inWorldPlanePoints | const Array<Array<Point2D> >& | Array, for each view: array of 2D points of the calibration pattern, in a world coordinate plane. | |||
inImageWidth | int | 1 - | Image width, used for initial estimation of principal point. | ||
inImageHeight | int | 1 - | Image height, used for initial estimation of principal point. | ||
inDistortionType | LensDistortionModelType::Type | Polynomial | Lens distortion model | ||
inImagePointsStandardDeviation | float | 0.0 - | 0.1f | Assumed uncertainty of inImagePoints. Used for robust optimization and outCameraModelStdDev estimation. | |
inFocalLength | Optional<float> | NIL | Specify a fixed focal length (do not estimate), in pixels. In order to calculate the inFocalLength from camera parameters one needs to divide the lens focal length [mm] by sensor pitch [mm/pix]. | ||
outCameraModel | PinholeCameraModel& | ||||
outCameraModelStdDev | Optional<PinholeCameraModel&> | NIL | Standard deviations of all model parameters, assuming that inImagePoints positions have a standard deviation equal to inImagePointsStandardDeviation. | ||
outRmsError | Optional<float&> | NIL | Final reprojection RMS error, in pixels. | ||
outMaxReprojectionErrors | Optional<Array<float>&> | NIL | For each view: the maximum reprojection error among all points. | ||
outReprojectionErrorSegments | Optional<Array<Array<Segment2D>>&> | NIL | For each view: array of segments connecting input image points to reprojected world points. |
Optional Outputs
The computation of following outputs can be switched off by passing value atl::NIL
to these parameters: outCameraModelStdDev, outRmsError, outMaxReprojectionErrors, outReprojectionErrorSegments.
Read more about Optional Outputs.
Errors
List of possible exceptions:
Error type | Description |
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DomainError | Empty input array |
DomainError | Input array sizes differ |