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Invoke.CalibrateWorldPlane_Multigrid

Finds the image to world plane transformation parameters using multiple grids, using sparse world coordinate information.

Namespace:Avl
Assembly:AvlNet.dll

Syntax

C++
C#
 
public static void CalibrateWorldPlane_Multigrid
(
	List<List<Avl.AnnotatedPoint2D>> inImageGrids,
	List<List<Avl.AnnotatedPoint2D>> inLabeledWorldPoints,
	Optional<Avl.AnyCameraModel> inCameraModel,
	Optional<float> inGridSpacing,
	float inGridThickness,
	bool inInvertedWorldY,
	Avl.RectificationTransform outTransform,
	Optional<List<List<Avl.AnnotatedPoint2D>>> outGridWorldPoints,
	Optional<Conditional<float>> outComputedGridSpacing,
	Optional<float> outRmsImageError,
	Optional<float> outRmsWorldError,
	Optional<List<float>> outMaxReprojectionErrors,
	Optional<List<List<Avl.Segment2D>>> outReprojectionErrorSegments,
	Optional<List<float>> outGridRotations,
	Optional<List<Avl.Vector2D>> outGridTranslations
)

Parameters

Name Type Range Default Description
inImageGridsSystem.Collections.Generic.List<System.Collections.Generic.List<Avl.AnnotatedPoint2D>>Array of annotated calibration grids.
inLabeledWorldPointsSystem.Collections.Generic.List<System.Collections.Generic.List<Avl.AnnotatedPoint2D>>Sparse array of world coordinate points. Annotations need to correspond to those in the inImageGrid input.
inCameraModelAtl.Optional<Avl.AnyCameraModel>For undistortion of inGridImagePoints. If not supplied, the filter will assume that grids came from undistorted images. Default value: atl::NIL.
inGridSpacingAtl.Optional<float><0.000001f, INF>World distance between grid indices. Used when spacing cannot be computed from supplied inLabeledWorldPoints. Default value: atl::NIL.
inGridThicknessfloat0.0fThe world plane will be shifted by given amount in direction perpendicular to the grid to compensate for grid thickness. Default value: 0.0f.
inInvertedWorldYboolFalseSet to true if world coordinate system has right-handed orientation, also known as mathematical or standard. Default value: False.
outTransformAvl.RectificationTransform
outGridWorldPointsAtl.Optional<System.Collections.Generic.List<System.Collections.Generic.List<Avl.AnnotatedPoint2D>>>For each grid: Array of world coordinates of the calibration grid points.
outComputedGridSpacingAtl.Optional<Atl.Conditional<float>>World distance between grid indices. NIL when there is no enough information to compute the spacing.
outRmsImageErrorAtl.Optional<float>RMS reprojection error of inImageGrids onto the image plane, in pixels. This is a partial error characterizing inaccuracies in perspective estimation, excluding the influence of world point labeling.
outRmsWorldErrorAtl.Optional<float>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.
outMaxReprojectionErrorsAtl.Optional<System.Collections.Generic.List<float>>For each grid: Maximum reprojection error of inImageGrids onto the image plane, in pixels. This is a partial error characterizing inaccuracies in perspective estimation, excluding the influence of world point labeling.
outReprojectionErrorSegmentsAtl.Optional<System.Collections.Generic.List<System.Collections.Generic.List<Avl.Segment2D>>>For each grid: 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.
outGridRotationsAtl.Optional<System.Collections.Generic.List<float>>Grids' rotations on the world plane.
outGridTranslationsAtl.Optional<System.Collections.Generic.List<Avl.Vector2D>>Grids' positions on the world plane.

See also