Calibrate the camera on the given set of points

Usage

cam_cal_many(points_idx, K, k, F, max_iterations = 5, tolerance = 1e-09)

Arguments

points_idx: matrix of points (pixel coordinates)
K: intrinsic camera matrix
k: distortion coefficients (see [radial_distort()])
F: focal length in millimeters
max_iterations: Maximum number of iterations passed to [radial_distort()].
tolerance: Convergence tolerance passed to [radial_distort()].

Value

matrix of calibrated points

Examples

K <- matrix(c(784.948340421183, 0, 0,
              0, 782.554388639436, 0,
              939.047051578744, 528.896744808718, 1), ncol = 3, byrow = TRUE)
k <- c(-0.289927776375773, 0.0392224238600441)
F <- rep(680, 2)
points <- matrix(c(100, 100, 200, 200, 300, 300), ncol = 2, byrow = TRUE)
cam_cal_many(points, K, k, F)
#>            [,1]      [,2]
#> [1,] -1326.1544 -679.9658
#> [2,] -1348.8412 -602.1086
#> [3,]  -949.2601 -341.0504