CalibrateWorldPlane_Labeled


Finds the image to world plane transformation parameters using sparse world coordinate information, i.e. world coordinates are known for only a few points of the grid.

Applications:Image to world coordinates transformations, also useful for image rectification where exact bounds of output image are important, e.g. stitching.

Syntax

C++
C#
Python
 
def CalibrateWorldPlane_Labeled(
	inImageGrid: list[AnnotatedPoint2D],
	inLabeledWorldPoints: list[AnnotatedPoint2D],
	outTransform: RectificationTransform,
	/,
	*,
	inCameraModel: AnyCameraModel | None = None,
	inGridSpacing: float | None = None,
	inGridThickness: float = 0.0,
	inInvertedWorldY: bool = False
)
-> (
	outGridWorldPoints: list[AnnotatedPoint2D],
	outComputedGridSpacing: float | None,
	outRmsImageError: float,
	outRmsWorldError: float,
	outMaxReprojectionError: float,
	outReprojectionErrorSegments: list[Segment2D]
)

Parameters

Name Type Range Default Description
Input value inImageGrid list[AnnotatedPoint2D] Annotated calibration grid.
Input value inLabeledWorldPoints list[AnnotatedPoint2D] Sparse array of world coordinate points. Annotations need to correspond to those in the inImageGrid input.
Input value inCameraModel AnyCameraModel | None None For undistortion of inImageGrid. If not supplied, the filter will assume that grid came from undistorted image.
Input value inGridSpacing float | None 0.000001 - None World distance between grid indices. Used when spacing cannot be computed from supplied inLabeledWorldPoints.
Input value inGridThickness float 0.0 The world plane will be shifted by given amount in direction perpendicular to the grid to compensate for grid thickness.
Input value inInvertedWorldY bool False Set to true if world coordinate system has right-handed orientation, also known as mathematical or standard.
Output value outTransform RectificationTransform
Output value outGridWorldPoints list[AnnotatedPoint2D] Array of world coordinates of the calibration grid points.
Output value outComputedGridSpacing float | None World distance between grid indices. NIL when there is no enough information to compute the spacing.
Output value outRmsImageError float RMS reprojection error of inImageGrid onto the image plane, in pixels. This is a partial error characterizing inaccuracies in perspective estimation, excluding the influence of world point labeling.
Output value outRmsWorldError float RMS reprojection error of inLabeledWorldPoints onto the world plane, in world units. This is a partial error characterizing inaccuracies with labeling of world coordinate system, excluding perspective estimation.
Output value outMaxReprojectionError float Maximum reprojection error of inImageGrid onto the image plane, in pixels. This is a partial error characterizing inaccuracies in perspective estimation, excluding the influence of world point labeling.
Output value outReprojectionErrorSegments list[Segment2D] Array of segments connecting inImageGrid points to their reprojections. Note that these segments depict only inaccuracies in perspective estimation - excluding inaccuracies due to the world point labeling.