More accurate pinhole camera calibration with imperfect planar target (#12772)
43 commits:
* Add derivatives with respect to object points
Add an output parameter to calculate derivatives of image points with
respect to 3D coordinates of object points. The output jacobian matrix
is a 2Nx3N matrix where N is the number of points.
This commit introduces incompatibility to old function signature.
* Set zero for dpdo matrix before using
dpdo is a sparse matrix with only non-zero value close to major
diagonal. Set it to zero because only elements near major diagonal are
computed.
* Add jacobian columns to projectPoints()
The output jacobian matrix of derivatives with respect to coordinates of
3D object points are added. This might break callers who assume the
columns of jacobian matrix.
* Adapt test code to updated project functions
The test cases for projectPoints() and cvProjectPoints2() are updated to
fit new function signatures.
* Add accuracy test code for dpdo
* Add badarg test for dpdo
* Add new enum item for new calibration method
CALIB_RELEASE_OBJECT is used to whether to release 3D coordinates of
object points. The method was proposed in: K. H. Strobl and G. Hirzinger.
"More Accurate Pinhole Camera Calibration with Imperfect Planar Target".
In Proceedings of the IEEE International Conference on Computer Vision
(ICCV 2011), 1st IEEE Workshop on Challenges and Opportunities in Robot
Perception, Barcelona, Spain, pp. 1068-1075, November 2011.
* Add releasing object method into internal function
It's a simple extension of the standard calibration scheme. We choose to
fix the first and last object point and a user-selected fixed point.
* Add interfaces for extended calibration method
* Refine document for calibrateCamera()
When releasing object points, only the z coordinates of the
objectPoints[0].back is fixed.
* Add link to strobl2011iccv paper
* Improve documentation for calibrateCamera()
* Add implementations of wrapping calibrateCamera()
* Add checking for params of new calibration method
If input parameters are not qualified, then fall back to standard
calibration method.
* Add camera calibration method of releasing object
The current implementation is equal to or better than
https://github.com/xoox/calibrel
* Update doc for CALIB_RELEASE_OBJECT
CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with
potentially less precise and less stable in some rare cases.
* Add RELEASE_OBJECT calibration to tutorial code
To select the calibration method of releasing object points, a command
line parameter `-d=<number>` should be provided.
* Update tutorial doc for camera_calibration
If the method of releasing object points is merged into OpenCV. It will
be expected to be firstly released in 4.1, I think.
* Reduce epsilon for cornerSubPix()
Epsilon of 0.1 is a bigger one. Preciser corner positions are required
with calibration method of releasing object.
* Refine camera calibration tutorial
The hypothesis coordinates are used to indicate which distance must be
measured between two specified object points.
* Update sample calibration code method selection
Similar to camera_calibration tutorial application, a command line
argument `-dt=<number>` is used to select the calibration method.
* Add guard to flags of cvCalibrateCamera2()
cvCalibrateCamera2() doesn't accept CALIB_RELEASE_OBJECT unless overload
interface is added in the future.
* Simplify fallback when iFixedPoint is out of range
* Refactor projectPoints() to keep compatibilities
* Fix arg string "Bad rvecs header"
* Read calibration flags from test data files
Instead of being hard coded into source file, the calibration flags will
be read from test data files.
opencv_extra/testdata/cv/cameracalibration/calib?.dat must be sync with
the test code.
* Add new C interface of cvCalibrateCamera4()
With this new added C interface, the extended calibration method with
CALIB_RELEASE_OBJECT can be called by C API.
* Add regression test of extended calibration method
It has been tested with new added test data in xoox:calib-release-object
branch of opencv_extra.
* Fix assertion in test_cameracalibration.cpp
The total number of refined 3D object coordinates is checked.
* Add checker for iFixedPoint in cvCalibrateCamera4
If iFixedPoint is out of rational range, fall back to standard method.
* Fix documentation for overloaded calibrateCamera()
* Remove calibration flag of CALIB_RELEASE_OBJECT
The method selection is based on the range of the index of fixed point.
For minus values, standard calibration method will be chosen. Values in
a rational range will make the object-releasing calibration method
selected.
* Use new interfaces instead of function overload
Existing interfaces are preserved and new interfaces are added. Since
most part of the code base are shared, calibrateCamera() is now a
wrapper function of calibrateCameraRO().
* Fix exported name of calibrateCameraRO()
* Update documentation for calibrateCameraRO()
The circumstances where this method is mostly helpful are described.
* Add note on the rigidity of the calibration target
* Update documentation for calibrateCameraRO()
It is clarified that iFixedPoint is used as a switch to select
calibration method. If input data are not qualified, exceptions will be
thrown instead of fallback scheme.
* Clarify iFixedPoint as switch and remove fallback
iFixedPoint is now used as a switch for calibration method selection. No
fallback scheme is utilized anymore. If the input data are not
qualified, exceptions will be thrown.
* Add badarg test for object-releasing method
* Fix document format of sample list
List items of same level should be indented the same way. Otherwise they
will be formatted as nested lists by Doxygen.
* Add brief intro for objectPoints and imagePoints
* Sync tutorial to sample calibration code
* Update tutorial compatibility version to 4.0
pull/12952/head
Wenfeng CAI7 years agocommitted byAlexander Alekhin
You may also find the source code in the `samples/cpp/tutorial_code/calib3d/camera_calibration/`
You may also find the source code in the `samples/cpp/tutorial_code/calib3d/camera_calibration/`
folder of the OpenCV source library or [download it from here
folder of the OpenCV source library or [download it from here
](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/calib3d/camera_calibration/camera_calibration.cpp). The program has a
](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/calib3d/camera_calibration/camera_calibration.cpp). For the usage of the program, run it with `-h` argument. The program has an
single argument: the name of its configuration file. If none is given then it will try to open the
essential argument: the name of its configuration file. If none is given then it will try to open the
one named "default.xml". [Here's a sample configuration file
one named "default.xml". [Here's a sample configuration file
](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/calib3d/camera_calibration/in_VID5.xml) in XML format. In the
](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/calib3d/camera_calibration/in_VID5.xml) in XML format. In the
configuration file you may choose to use camera as an input, a video file or an image list. If you
configuration file you may choose to use camera as an input, a video file or an image list. If you
@ -131,6 +131,8 @@ Explanation
Similar images result in similar equations, and similar equations at the calibration step will
Similar images result in similar equations, and similar equations at the calibration step will
form an ill-posed problem, so the calibration will fail. For square images the positions of the
form an ill-posed problem, so the calibration will fail. For square images the positions of the
corners are only approximate. We may improve this by calling the @ref cv::cornerSubPix function.
corners are only approximate. We may improve this by calling the @ref cv::cornerSubPix function.
(`winSize` is used to control the side length of the search window. Its default value is 11.
`winSzie` may be changed by command line parameter `--winSize=<number>`.)
It will produce better calibration result. After this we add a valid inputs result to the
It will produce better calibration result. After this we add a valid inputs result to the
*imagePoints* vector to collect all of the equations into a single container. Finally, for
*imagePoints* vector to collect all of the equations into a single container. Finally, for
visualization feedback purposes we will draw the found points on the input image using @ref
visualization feedback purposes we will draw the found points on the input image using @ref
@ -170,7 +172,7 @@ of the calibration variables we'll create these variables here and pass on both
calibration and saving function. Again, I'll not show the saving part as that has little in common
calibration and saving function. Again, I'll not show the saving part as that has little in common
with the calibration. Explore the source file in order to find out how and what:
with the calibration. Explore the source file in order to find out how and what:
Wenfeng CAI
7 years ago
committed by
Alexander Alekhin