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Expert| Module: | Calibration |
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Finds the image to world plane transformation matrix using multiple grids.
Applications
Image to world coordinates transformations.
| Name | Type | Description | |
|---|---|---|---|
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inGridImagePoints | Point2DArrayArray | For each grid: Array of 2D points of the calibration pattern, in the picture. |
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inGridIds | Point2DArrayArray | For each grid: Array of 2D indices of the calibration pattern, corresponding to the inGridImagePoints. |
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inLabeledWorldPoints | Point2DArrayArray | For each grid: Sparse array of world coordinate points. |
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inLabeledGridIds | Point2DArrayArray | For each grid: Array of 2D indices of the calibration pattern, corresponding to the inLabeledWorldPoints. |
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inCameraModel | AnyCameraModel* | For undistortion of inGridImagePoints. If not supplied, the filter will assume undistorted inGridImagePoints. |
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inGridSpacing | Real* | World distance between grid indices. Used when spacing cannot be computed from supplied inLabeledWorldPoints. |
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inInvertedWorldY | Bool | Set to true if the world coordinate system has inverted y axis. |
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outTransform | RectificationTransform | |
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outGridWorldPoints | Point2DArrayArray | For each grid: Array of 2D points of the calibration pattern, in the world coordinate plane. |
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outComputedGridSpacing | Real? | World distance between grid indices. NIL when there is no enough information to compute the spacing. |
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outRmsImageError | Real | RMS reprojection error of inGridIds onto the image plane, in pixels. This is a partial error characterizing inaccuracies in perspective estimation, excluding the influence of world point labeling. |
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outRmsWorldError | Real | RMS reprojection error of inLabeledGridIds onto the world plane, in world units. This is a partial error characterizing inaccuracies with labeling of world coordinate system, excluding perspective estimation. |
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outMaxReprojectionErrors | RealArray | For each grid: Maximum reprojection error of inGridIds onto the image plane, in pixels. This is a partial error characterizing inaccuracies in perspective estimation, excluding the influence of world point labeling. |
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outReprojectionErrorSegments | Segment2DArrayArray | For each grid: Array of segments connecting inGridImagePoints to reprojected inGridIds. Note that these segments depict only inaccuracies in perspective estimation, excluding inaccuracies due to the world point labeling. |
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outGridRotations | RealArray | Grids' rotations on the world plane. |
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outGridTranslations | Vector2DArray | Grids' positions on the world plane. |
Errors
This filter can throw an exception to report error. Read how to deal with errors in Error Handling.
List of possible exceptions:
| Error type | Description |
|---|---|
| DomainError | Array inGridImagePoints and inGridIds sizes differ |
| DomainError | Array inGridImagePoints and inLabeledGridIds sizes differ |
| DomainError | Array inGridImagePoints and inLabeledWorldPoints sizes differ |
| DomainError | size at index 0 |
| DomainError | size at index 0 |
Complexity Level
This filter is available on Expert Complexity Level.
