script6
test Bouguet calibration routines
Contents
clear close all load Calib_Results ima_numbers = 1:4; load_images; dont_ask = 1; % suppress queries
calibration results
show_calib_results;
Calibration results (with uncertainties): Focal Length: fc = [ 5983.36269 5901.31652 ] ± [ 177.20378 164.99192 ] Principal point: cc = [ 3062.40267 874.70833 ] ± [ 287.08660 179.29381 ] Skew: alpha_c = [ 0.00000 ] ± [ 0.00000 ] => angle of pixel axes = 90.00000 ± 0.00000 degrees Distortion: kc = [ -0.31183 0.82956 -0.00141 0.01528 0.00000 ] ± [ 0.09733 0.64439 0.00625 0.01040 0.00000 ] Pixel error: err = [ 3.60275 2.10215 ] Note: The numerical errors are approximately three times the standard deviations (for reference).
reproject_calib
reproject_calib;
Pixel error: [1.95365 3.28618] (Image 1) Pixel error: [1.32083 1.56940] (Image 2) Pixel error: [5.68218 1.66049] (Image 3) Pixel error: [3.83260 1.36648] (Image 4) Warning: Image is too big to fit on screen; displaying at 25% Warning: Image is too big to fit on screen; displaying at 25% Warning: Image is too big to fit on screen; displaying at 25% Warning: Image is too big to fit on screen; displaying at 25% Pixel error: err = [3.60275 2.10215] (all active images)
close all % X,om,T,f,c,k,alpha kk = 2; cs = num2str(kk); eval(['X = X_' cs ';']); eval(['om = omc_' cs ';']); eval(['T = Tc_' cs ';']); eval(['y_kk = y_' cs ';']); project_points_small; % max(abs(xp-y_kk)')
maximum diff from Bouguet: 0 0
filename = [calib_name num2str(kk) '.jpg']; rgb = imread(filename); imshow(rgb); hold on delta = 20; xd = x_2; plot(xp(1,:),xp(2,:),'yo','LineWidth',2); plot(xd(1,:),xd(2,:),'m+','LineWidth',2); plot(cc(1),cc(2),'bx','MarkerSize',11,'LineWidth',2); text(cc(1)+delta,cc(2)+delta,'CC'); hold off
Warning: Image is too big to fit on screen; displaying at 25%
