script2 - look at cameraParams

Contents

init

clear
load calib
disp(cameraParams);

  cameraParameters with properties:

   Camera Intrinsics
    IntrinsicMatrix: [3x3 double]

   Lens Distortion
        RadialDistortion: [-0.2444 0.0848 0.0294]
    TangentialDistortion: [-1.9233e-04 3.2690e-04]

   Camera Extrinsics
      RotationMatrices: [3x3x25 double]
    TranslationVectors: [25x3 double]

   Accuracy of Estimation
    MeanReprojectionError: 0.1676
       ReprojectionErrors: [156x2x25 double]

   Calibration Settings
                        NumPatterns: 25
                        WorldPoints: [156x2 double]
                         WorldUnits: 'mm'
                       EstimateSkew: 0
    NumRadialDistortionCoefficients: 3
       EstimateTangentialDistortion: 1

Intrinsics

s = cameraParams.IntrinsicMatrix;
disp('Camera instrinsics');
disp(s);

Camera instrinsics
  657.2668         0         0
         0  657.9276         0
  304.4313  244.4614    1.0000

showExtrinsics(cameraParams);

showReprojectionErrors(cameraParams);

showReprojectionErrors(cameraParams,'ScatterPlot');

Published with MATLAB® R2014a