dltTransformationParameterRMSError {StereoMorph}

Returns the error during transformation parameter optimization

Description

Returns the RMS error from dltCoefficients after applying a given set of transformation parameters to grid points in stereo camera calibration. This function is called internally by the function dltCalibrateCameras to estimate the position and orientation of a set of calibration grid points that minimizes calibration error.

Usage

dltTransformationParameterRMSError(p, coor.2d, nx, ny, sx, sy = NULL, 
                                   p.fixed = NULL)

Arguments

p

a vector of six transformation parameters per grid. The first three being rotational parameters (rotation about the z, y and x axes, respectively) and the second three being translational parameters (translation along the x, y and z axes, respectively). For more than one grid, these six values are concatenated as a vector.

coor.2d

a four-dimensional array of grid points passed from dltCalibrateCameras.

nx

the number of points along the first dimension (e.g. this would be the number of points in each row if points are listed first by row).

ny

the number of points along the second dimension (e.g. this would be the number of points in each column if points are listed first by row).

sx

a scaling factor along the first dimension.

sy

a scaling factor along the second dimension. If the grid blocks are squares, this can be left as NULL and only sx will be used.

p.fixed

a set of transformation parameters to be appended to the beginning of p that will are fixed (constant) during the optimization step.

Value

the mean RMS error from dltCoefficients across all views.

Author(s)

Aaron Olsen

See Also

transformPlanarCalibrationCoordinates, dltCoefficients, dltCalibrateCameras