Peter at 02:06, 10 September 2023

2023-09-10T02:06:45Z

← Older revision		Revision as of 02:06, 10 September 2023
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	Example of calibrating a multi camera system from one planar calibration target. It's assumed that all the cameras are synchronized. They can be either stationary with a moving target or moving with a stationary target.		Example of calibrating a multi camera system from one planar calibration target. It's assumed that all the cameras are synchronized. They can be either stationary with a moving target or moving with a stationary target.

	Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.41/examples/src/main/java/boofcv/examples/calibration/ExampleCalibrateMulti.java ExampleCalibrateMulti.java]		Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v1.1.0/examples/src/main/java/boofcv/examples/calibration/ExampleCalibrateMulti.java ExampleCalibrateMulti.java]

	Calibration Tutorial: [[Tutorial_Camera_Calibration\|Wikipage]]		Calibration Tutorial: [[Tutorial_Camera_Calibration\|Wikipage]]
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	public static void main( String[] args ) {		public static void main( String[] args ) {
	// Creates a detector and specifies its physical characteristics		// Creates a detector and specifies its physical characteristics
			// Size units are not explicitly specified. You just need to be consistent.
	CalibrationDetectorMultiECoCheck detector = FactoryFiducialCalibration.ecocheck(null,		CalibrationDetectorMultiECoCheck detector = FactoryFiducialCalibration.ecocheck(null,
	ConfigECoCheckMarkers.parse("14x10n1", /* square size */1.0));		ConfigECoCheckMarkers.parse("14x10n1", /* square size */1.0));
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	// Tell it what type of camera model to use		// Tell it what type of camera model to use
	calibrator.getCalibratorMono().configurePinhole(true, 3, false);		calibrator.getCalibratorMono().configurePinhole(true, 3, false);
	~~// NOTE: For now only one calibration target is supported. Support for multiple targets is planned for~~		calibrator.initialize(/num cameras/3, /num targets/ detector.getTotalUniqueMarkers());
	~~// the future.~~		calibrator.setTargetLayouts(detector.getLayouts());
	calibrator.initialize(/num cameras/3, /num targets/1);
	calibrator.~~setTargetLayout~~(0, detector.~~getLayout~~(0));
	calibrator.setCameraProperties(0, 1224, 1024);		calibrator.setCameraProperties(0, 1224, 1024);
	calibrator.setCameraProperties(1, 1224, 1024);		calibrator.setCameraProperties(1, 1224, 1024);
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	set.cameraID = cameraID;		set.cameraID = cameraID;
	for (int i = 0; i < detector.getDetectionCount(); i++) {		for (int i = 0; i < detector.getDetectionCount(); i++) {
	~~if (~~detector.~~getMarkerID~~(i) != 0)		CalibrationObservation o = detector.getDetectedPoints(i);
			if (o.target != 0)
	continue;		continue;
	set.targets.grow().setTo(~~detector.getDetectedPoints(i)~~);		set.targets.grow().setTo(o);
	break;		break;
	}		}

Peter: Created page with "Example of calibrating a multi camera system from one planar calibration target. It's assumed that all the cameras are synchronized. They can be either stationary with a movin..."

2022-09-02T20:23:49Z

Created page with "Example of calibrating a multi camera system from one planar calibration target. It's assumed that all the cameras are synchronized. They can be either stationary with a movin..."

New page

Example of calibrating a multi camera system from one planar calibration target. It's assumed that all the cameras are synchronized. They can be either stationary with a moving target or moving with a stationary target.

Example File: [https://github.com/lessthanoptimal/BoofCV/blob/v0.41/examples/src/main/java/boofcv/examples/calibration/ExampleCalibrateMulti.java ExampleCalibrateMulti.java]

Calibration Tutorial: [[Tutorial_Camera_Calibration|Wikipage]]

Concepts:
* Camera calibration
* Lens distortion
* Intrinsic parameters

Related Examples:
* [[Example_Calibrate_Planar_Mono| Monocular Camera Calibration]]
* [[Example_Calibrate_Planar_Stereo| Stereo Camera Calibration]]
* [[Example_Remove_Lens_Distortion| Removing Lens Distortion]]

= Example Code =
<syntaxhighlight lang="java">
/**
* Demonstrates calibration of a N-camera system. This could be a three camera stereo system, 30 cameras in a ring,
* or any similar variant.
*
* @author Peter Abeles
*/
public class ExampleCalibrateMulti {
public static void main( String[] args ) {
// Creates a detector and specifies its physical characteristics
CalibrationDetectorMultiECoCheck detector = FactoryFiducialCalibration.ecocheck(null,
ConfigECoCheckMarkers.parse("14x10n1", /* square size */1.0));

String directory = UtilIO.pathExample("calibration/trinocular/");

// Images for each camera are in their own directory
List<String> left = UtilIO.listSmartImages(directory + "left", true);
List<String> middle = UtilIO.listSmartImages(directory + "middle", true);
List<String> right = UtilIO.listSmartImages(directory + "right", true);

// Configure the calibration class for this scenario
var calibrator = new CalibrateMultiPlanar();
// Tell it what type of camera model to use
calibrator.getCalibratorMono().configurePinhole(true, 3, false);
// NOTE: For now only one calibration target is supported. Support for multiple targets is planned for
// the future.
calibrator.initialize(/*num cameras*/3, /*num targets*/1);
calibrator.setTargetLayout(0, detector.getLayout(0));
calibrator.setCameraProperties(0, 1224, 1024);
calibrator.setCameraProperties(1, 1224, 1024);
calibrator.setCameraProperties(2, 1224, 1024);

for (int imageIdx = 0; imageIdx < left.size(); imageIdx++) {
System.out.print("image set " + imageIdx + ", landmark count:");
// Detect calibration targets and save results into a synchronized frame. It's assumed that each
// set of images was taken at the exact moment in time
GrayF32 imageLeft = UtilImageIO.loadImage(left.get(imageIdx), GrayF32.class);
GrayF32 imageMiddle = UtilImageIO.loadImage(middle.get(imageIdx), GrayF32.class);
GrayF32 imageRight = UtilImageIO.loadImage(right.get(imageIdx), GrayF32.class);

var syncObs = new SynchronizedCalObs();
addCameraObservations(0, imageLeft, detector, syncObs);
addCameraObservations(1, imageMiddle, detector, syncObs);
addCameraObservations(2, imageRight, detector, syncObs);
System.out.println();

calibrator.addObservation(syncObs);
}

System.out.println("Performing calibration");

// Print out optimization results. Can help you see if something has gone wrong
calibrator.getBundleUtils().sba.setVerbose(System.out, null);
BoofMiscOps.checkTrue(calibrator.process(), "Calibration Failed!");

System.out.println(calibrator.computeQualityText());

MultiCameraCalibParams params = calibrator.getResults();
CalibrationIO.save(params, "multi_camera.yaml");
System.out.println(params.toStringFormat());
}

private static void addCameraObservations( int cameraID, GrayF32 image,
CalibrationDetectorMultiECoCheck detector, SynchronizedCalObs dst ) {

// Find calibration targets inside the image
detector.process(image);

// Find the target which matches the expected target ID
var set = dst.cameras.grow();
set.cameraID = cameraID;
for (int i = 0; i < detector.getDetectionCount(); i++) {
if (detector.getMarkerID(i) != 0)
continue;
set.targets.grow().setTo(detector.getDetectedPoints(i));
break;
}

// Print number of calibration points it found
System.out.print(" " + set.targets.getTail().points.size());
}
}
</syntaxhighlight>

Example Calibrate Planar Multi - Revision history

Peter at 02:06, 10 September 2023

Peter: Created page with "Example of calibrating a multi camera system from one planar calibration target. It's assumed that all the cameras are synchronized. They can be either stationary with a movin..."