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CalibrateCamera_Telecentric_Deprecated

Header:	FIL.h
Namespace:	fil

Finds the telecentric camera intrinsic parameters from the input arrays of image and real-world coordinates. Uses telecentric camera model (affine camera).

Syntax

void fil::CalibrateCamera_Telecentric_Deprecated
(
	const ftl::Array<ftl::Array<fil::Point3D> >& inObjectPoints,
	const ftl::Array<ftl::Array<fil::Point2D> >& inImagePoints,
	int inImageWidth,
	int inImageHeight,
	bool inUseRationalModel,
	bool inUseTangentialModel,
	bool inUseThinPrismModel,
	fil::Matrix& outCameraMatrix,
	fil::LensDistortion& outDistortion,
	ftl::Optional<float&> outError = ftl::NIL
)

Parameters

Name	Type	Range	Default	Description
inObjectPoints	const Array<Array<Point3D> >&			Array, for each view: array of 3D points of the calibration pattern.
inImagePoints	const Array<Array<Point2D> >&			Array, for each view: array of corresponding 2D points in the picture.
inImageWidth	int	1 -		Image width, only used to initialize camera matrix, not used when inInitialCameraMatrix present.
inImageHeight	int	1 -		Image height, only used to initialize camera matrix, not used when inInitialCameraMatrix present.
inUseRationalModel	bool		False	Estimate radial denominator coefficients k4, k5, k6
inUseTangentialModel	bool		True	Estimate tangential distortion coefficients p1, p2
inUseThinPrismModel	bool		True	Estimate thin prism distortion coefficients s1, s2, s3, s4
outCameraMatrix	Matrix&
outDistortion	LensDistortion&
outError	Optional<float&>		NIL	Final reprojection RMS error

Optional Outputs

The computation of following outputs can be switched off by passing value ftl::NIL to these parameters: outCameraMatrix, outDistortion, outError.

Description

The coordinates of 3D object points and their corresponding 2D projections in each view must be specified. That may be achieved by using an object with a known geometry and easily detectable feature points. Such an object is called a calibration rig or calibration pattern. One example is a chessboard (see DetectChessboardGrid_Deprecated).

When camera matrix and distortion coefficients are calculated, one can create undistortion maps using CreateUndistortionMap_Deprecated function. These maps can be applied to images using RemapImage.

Performance of calibration can be measured by outError, which is a RMS of reprojection errors of all calibration points.

Errors

List of possible exceptions: