Package boofcv.abst.geo.calibration

Class CalibrateMultiPlanar

java.lang.Object

boofcv.abst.geo.calibration.CalibrateMultiPlanar

public class CalibrateMultiPlanar
extends Object

Multi camera calibration using multiple planar targets. It's assumed that all cameras are rigidly attach and that the calibration targets are static. Camera[0] is always the sensor reference frame. The world reference frame is defined as calibration target[0].

Usage:

1. Specify camera model via #getCalibratorMono and configure* functions
2. Call initialize(int, int)
3. Specify shape of all cameras setCameraProperties(int, int, int)
4. Specify target layouts using setTargetLayout(int, java.util.List<georegression.struct.point.Point2D_F64>)
5. Call process() perform calibration. Check results to see if it succeeded
6. Get found calibration with #getResults()

Algorithm overview:

1. Calibrate each camera independently using monocular approach
2. Estimate extrinsic relationship between cameras using common observed targets
3. Estimate extrinsic relationship between sensor and world for each frame
4. Run bundle adjustment to improve results

Internally it assumes that the targets are stationary and the camera system is moving. It will work just fine if the opposite is true as these are mathematically identical.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	CalibrateMultiPlanar.CameraPriors	Prior information provided about the camera by the user
static class	CalibrateMultiPlanar.CameraStatistics	Calibration quality statistics
static class	CalibrateMultiPlanar.FrameCamera	List of all observation from a camera in a frame.
static class	CalibrateMultiPlanar.FrameState	Workspace for information related to a single frame.
static class	CalibrateMultiPlanar.TargetExtrinsics	Specifies which target was observed and what the inferred transform was..

Field Summary

Fields

Modifier and Type	Field	Description
protected double[]	summaryThresholds	Reprojection error thresholds for histogram in performance summary

Constructor Summary

Constructors

Constructor	Description
CalibrateMultiPlanar()

Method Summary

Modifier and Type	Method	Description
void	addObservation(SynchronizedCalObs observations)	Adds an observation.
String	computeQualityText(boolean showImageStats)	Summarizes calibration quality and residual errors in a human-readable text string
void	initialize(int numCameras, int numTargets)	Must call this function first.
boolean	process()	Processes the inputs and estimates the camera system's intrinsic and extrinsic calibration.
void	setCameraProperties(int which, int width, int height)	Specifies the shape o images from a specific camera
void	setTargetLayout(int which, List<Point2D_F64> layout)	Specifies location of calibration points for a target.
void	setTargetLayouts(List<List<Point2D_F64>> layouts)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

summaryThresholds

protected double[] summaryThresholds

Reprojection error thresholds for histogram in performance summary

Constructor Details

CalibrateMultiPlanar

public CalibrateMultiPlanar()

Method Details

initialize

public void initialize(int numCameras,
 int numTargets)

Must call this function first. Specifies the number of cameras and calibration targets

setCameraProperties

public void setCameraProperties(int which,
 int width,
 int height)

Specifies the shape o images from a specific camera

setTargetLayout

public void setTargetLayout(int which,
 List<Point2D_F64> layout)

Specifies location of calibration points for a target.

setTargetLayouts

public void setTargetLayouts(List<List<Point2D_F64>> layouts)

addObservation

public void addObservation(SynchronizedCalObs observations)

Adds an observation. Order does not matter. All cameras are assumed to have synchronized shutters and observed the world at the exact same time.

Parameters:

observations - Observed calibration targets in a single fram.

process

public boolean process()

Processes the inputs and estimates the camera system's intrinsic and extrinsic calibration. If true is returned, then #getResults() will return the found calibration.

Returns:

true if successful or false if it failed

computeQualityText

public String computeQualityText(boolean showImageStats)

Summarizes calibration quality and residual errors in a human-readable text string

Parameters:

showImageStats - If true it will print stats for individual images.