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CalibrateCamera_Pinhole_Deprecated


Header: FIL.h
Namespace: fil
Module: Calibration

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

Applications: Camera calibration, image to world coordinates transformations.

Syntax

void fil::CalibrateCamera_Pinhole_Deprecated
(
	const ftl::Array<ftl::Array<fil::Point2D> >& inImagePoints,
	const ftl::Array<ftl::Array<fil::Point2D> >& inWorldPlanePoints,
	int inImageWidth,
	int inImageHeight,
	fil::LensDistortionModelType::Type inDistortionType,
	float inImagePointsStandardDeviation,
	ftl::Optional<float> inFocalLength,
	fil::PinholeCameraModel& outCameraModel,
	ftl::Optional<fil::PinholeCameraModel&> outCameraModelStdDev = ftl::NIL,
	ftl::Optional<float&> outRmsError = ftl::NIL,
	ftl::Optional<ftl::Array<float>&> outMaxReprojectionErrors = ftl::NIL,
	ftl::Optional<ftl::Array<ftl::Array<fil::Segment2D>>&> outReprojectionErrorSegments = ftl::NIL
)

Parameters

Name Type Range Default Description
Input value inImagePoints const Array<Array<Point2D> >& Array, for each view: array of 2D points of the calibration pattern, in the picture.
Input value inWorldPlanePoints const Array<Array<Point2D> >& Array, for each view: array of 2D points of the calibration pattern, in a world coordinate plane.
Input value inImageWidth int 1 - Image width, used for initial estimation of principal point.
Input value inImageHeight int 1 - Image height, used for initial estimation of principal point.
Input value inDistortionType LensDistortionModelType::Type Polynomial Lens distortion model
Input value inImagePointsStandardDeviation float 0.0 - 0.1f Assumed uncertainty of inImagePoints. Used for robust optimization and outCameraModelStdDev estimation.
Input value inFocalLength Optional<float> NIL Specify a fixed focal length (do not estimate), in pixels. In order to calculate the inFocalLength from camera parameters one needs to divide the lens focal length [mm] by sensor pitch [mm/pix].
Output value outCameraModel PinholeCameraModel&
Output value outCameraModelStdDev Optional<PinholeCameraModel&> NIL Standard deviations of all model parameters, assuming that inImagePoints positions have a standard deviation equal to inImagePointsStandardDeviation.
Output value outRmsError Optional<float&> NIL Final reprojection RMS error, in pixels.
Output value outMaxReprojectionErrors Optional<Array<float>&> NIL For each view: the maximum reprojection error among all points.
Output value outReprojectionErrorSegments Optional<Array<Array<Segment2D>>&> NIL For each view: array of segments connecting input image points to reprojected world points.

Optional Outputs

The computation of following outputs can be switched off by passing value ftl::NIL to these parameters: outCameraModelStdDev, outRmsError, outMaxReprojectionErrors, outReprojectionErrorSegments.

Read more about Optional Outputs.

Errors

List of possible exceptions:

Error type Description
DomainError Empty input array
DomainError Input array sizes differ