Function multisensor_calibration::utils::calculateMeanReprojectionError

Function Documentation

inline double multisensor_calibration::utils::calculateMeanReprojectionError(const std::vector<cv::Point2f> iImagePnts, const std::vector<cv::Point3f> iObjectPnts, const cv::Matx33d iCameraMatrix, const cv::Mat iDistCoeffs, const cv::Vec3d iExtrRotVec, const cv::Vec3d iExtrTransVec, const std::vector<int> iIndices = {})

Calculate mean reprojection error for given object points w.r.t. given image points.

Parameters:

  • iImagePnts – [in] Image points to be used as reference.

  • iObjectPnts – [in] Object points that are to be projected. Need to be of same size and in same order as the image points given in iImagePnts.

  • iCameraMatrix – [in] Intrinsic camera matrix.

  • iDistCoeffs – [in] Distortion coefficients.

  • iExtrRotVec – [in] Rodrigues vector of extrinsic camera pose.

  • iExtrTransVec – [in] Translation vector of extrinsic camera pose.

  • iIndices – [in] List of indices for which to compute the reprojection error within iImagePnts and iObjectPnts. If empty, the rpj error will be computed for all points in list.

Returns:

Mean reprojection error.