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How to get the accuracy of the calibration in millimeters (not in pixels)?

asked 2017-10-03 00:59:56 -0500

kangaroo gravatar image

I'd like to know the accuracy of the camera's calibration status in millimeter units. In other words, what does the X pixels error (the Root Mean Square error) in the 2D image correspond to the distance in millimeters in the 3D object coordinate system?

In OpenCV, I can get the accuracy of the calibration based on the Root Mean Square error (pixel units) as a result of calibrateCamera function. Or, I can manually calculate by reprojecting the object points to the image with projectPoints and by comparing them with the current image points.

For example, let's say I got the RMS error around 2.0 (I mean I already have 2d projection error in pixel units). Does this mean 5mm or 10mm difference? How to calculate the conversion from pixels in 2d to millimeters in 3d and to get mm units error in 3D space? Note that the ArUco marker is always placed horizontally and I know the size, position, and pose of the marker. Could you let me know how to calculate the error in x and y axes in the object frame? Please let me know if this question doesn't make sense or if you need further information.

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answered 2017-10-03 01:30:12 -0500

LBerger gravatar image

That's not possible to get in unit length because pixel for calibration it is an angle.

  1. Error in unit length far from center is greater than near the image center
  2. when object distance is 10 km and object is at 2 m how can you get an error in unit length?
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If the error is subpixel level, I could understand it's not possible to convert it to millimeters or meters. But in my case, the distance between the object (marker) and the camera is around 1 meter and the marker is located near the center of the image. Also, the camera doesn't have a distortion. In that case, is it possible to calculate the cm or mm error?

kangaroo gravatar imagekangaroo ( 2017-10-03 11:17:13 -0500 )edit
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Asked: 2017-10-03 00:59:56 -0500

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Last updated: Oct 03 '17