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CalibrateWorldPlane_Labeled_Deprecated

Header:	FIL.h
Namespace:	fil
Module:	Calibration

Finds the image to world plane transformation matrix using sparse world coordinate information.

Applications: Image to world coordinates transformations.

Syntax

void fil::CalibrateWorldPlane_Labeled_Deprecated
(
	const ftl::Array<fil::Point2D>& inGridImagePoints,
	const ftl::Array<fil::Point2D>& inGridIds,
	const ftl::Array<fil::Point2D>& inLabeledWorldPoints,
	const ftl::Array<fil::Point2D>& inLabeledGridIds,
	const ftl::Optional<const fil::AnyCameraModel&>& inCameraModel,
	const ftl::Optional<float>& inGridSpacing,
	bool inInvertedWorldY,
	fil::RectificationTransform& outTransform,
	ftl::Optional< ftl::Array<fil::Point2D>& > outGridWorldPoints = ftl::NIL,
	ftl::Optional< ftl::Conditional<float>& > outComputedGridSpacing = ftl::NIL,
	ftl::Optional< float& > outRmsImageError = ftl::NIL,
	ftl::Optional< float& > outRmsWorldError = ftl::NIL,
	ftl::Optional< float& > outMaxReprojectionError = ftl::NIL,
	ftl::Optional< ftl::Array<fil::Segment2D>& > outReprojectionErrorSegments = ftl::NIL
)

Parameters

Name	Type	Default	Description
inGridImagePoints	const Array<Point2D>&		Array of 2D points of the calibration pattern, in the picture.
inGridIds	const Array<Point2D>&		Array of 2D indices of the calibration pattern, corresponding to the inGridImagePoints.
inLabeledWorldPoints	const Array<Point2D>&		Sparse array of world coordinate points.
inLabeledGridIds	const Array<Point2D>&		Array of 2D indices of the calibration pattern, corresponding to the inLabeledWorldPoints.
inCameraModel	const Optional<const AnyCameraModel&>&	NIL	For undistortion of inGridImagePoints. If not supplied, the filter will assume undistorted inGridImagePoints.
inGridSpacing	const Optional<float>&	NIL	World distance between grid indices. Used when spacing cannot be computed from supplied inLabeledWorldPoints.
inInvertedWorldY	bool	False	Set to true if the world coordinate system has inverted y axis.
outTransform	RectificationTransform&
outGridWorldPoints	Optional< Array<Point2D>& >	NIL	Array of 2D points of the calibration pattern, in the world coordinate plane.
outComputedGridSpacing	Optional< Conditional<float>& >	NIL	World distance between grid indices. NIL when there is no enough information to compute the spacing.
outRmsImageError	Optional< float& >	NIL	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.
outRmsWorldError	Optional< float& >	NIL	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.
outMaxReprojectionError	Optional< float& >	NIL	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.
outReprojectionErrorSegments	Optional< Array<Segment2D>& >	NIL	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.

Optional Outputs

The computation of following outputs can be switched off by passing value ftl::NIL to these parameters: outGridWorldPoints, outComputedGridSpacing, outRmsImageError, outRmsWorldError, outMaxReprojectionError, outReprojectionErrorSegments.

Errors

List of possible exceptions:

Error type	Description
DomainError	Array inGridImagePoints and inGridIds sizes differ
DomainError	Array inLabeledWorldPoints and inLabeledGridIds sizes differ