calibrator_script

% Auto-generated by cameraCalibrator app on 09-Feb-2016
%-------------------------------------------------------


% Define images to process
imageFileNames = {'C:\ece564\CV2016-02-08\2016-02-08_19-14-16.JPG',...
    'C:\ece564\CV2016-02-08\2016-02-08_19-14-40.JPG',...
    'C:\ece564\CV2016-02-08\2016-02-08_19-15-14.JPG',...
    'C:\ece564\CV2016-02-08\2016-02-08_19-15-28.JPG',...
    };

% Detect checkerboards in images
[imagePoints, boardSize, imagesUsed] = detectCheckerboardPoints(imageFileNames);
imageFileNames = imageFileNames(imagesUsed);

% Generate world coordinates of the corners of the squares
squareSize = 3;  % in units of 'in'
worldPoints = generateCheckerboardPoints(boardSize, squareSize);

% Calibrate the camera
[cameraParams, imagesUsed, estimationErrors] = estimateCameraParameters(imagePoints, worldPoints, ...
    'EstimateSkew', false, 'EstimateTangentialDistortion', false, ...
    'NumRadialDistortionCoefficients', 2, 'WorldUnits', 'in');

% View reprojection errors
h1=figure; showReprojectionErrors(cameraParams, 'BarGraph');

% Visualize pattern locations
h2=figure; showExtrinsics(cameraParams, 'CameraCentric');

% Display parameter estimation errors
displayErrors(estimationErrors, cameraParams);

% For example, you can use the calibration data to remove effects of lens distortion.
originalImage = imread(imageFileNames{1});
undistortedImage = undistortImage(originalImage, cameraParams);

% See additional examples of how to use the calibration data.  At the prompt type:
% showdemo('MeasuringPlanarObjectsExample')
% showdemo('SparseReconstructionExample')

Warning: The checkerboard must be asymmetric: one side should be
even, and the other should be odd. Otherwise, the orientation of
the board may be detected incorrectly. 

			Standard Errors of Estimated Camera Parameters
			----------------------------------------------

Intrinsics
----------
Focal length (pixels):   [ 6552.5298 +/- 15.1651    6555.8076 +/- 15.0562 ]
Principal point (pixels):[ 2452.9481 +/- 11.1140    1350.7598 +/- 10.3378 ]
Radial distortion:       [   -0.0078 +/- 0.0191        0.0313 +/- 0.2283  ]

Extrinsics
----------
Rotation vectors:
                         [    0.2743 +/- 0.0018       -0.5467 +/- 0.0019       -0.0934 +/- 0.0004  ]
                         [    1.0157 +/- 0.0023        0.5886 +/- 0.0017        1.5666 +/- 0.0008  ]
                         [   -1.2763 +/- 0.0017       -0.0491 +/- 0.0017       -0.0618 +/- 0.0010  ]
                         [    0.0427 +/- 0.0024       -0.0885 +/- 0.0024        1.5634 +/- 0.0002  ]

Translation vectors (in):
                         [  -21.3521 +/- 0.1667      -11.7276 +/- 0.1531       97.5894 +/- 0.2639  ]
                         [   19.5118 +/- 0.1433       -6.1625 +/- 0.1349       85.9157 +/- 0.2412  ]
                         [  -13.5013 +/- 0.1820        9.8203 +/- 0.1688      107.6352 +/- 0.2462  ]
                         [    7.2284 +/- 0.1746      -11.2818 +/- 0.1638      102.9208 +/- 0.2450  ]