Module imagingbook.calibrate.lib
Package imagingbook.calibration.zhang

Class Calibrator

java.lang.Object
imagingbook.calibration.zhang.Calibrator
public class Calibrator extends Object
This is an implementation of the camera calibration method described in Z. Zhang, "A flexible new technique for camera calibration", IEEE Transactions on Pattern Analysis and Machine Intelligence, 22(11), pp. 1330-1334, 2000. See also http://research.microsoft.com/en-us/um/people/zhang/Calib/ and http://research.microsoft.com/en-us/um/people/zhang/Papers/TR98-71.pdf
Version:
2018/12/29

  • Constructor Details

    • Calibrator

      public Calibrator(Calibrator.Parameters params, Pnt2d[] model)
      The only constructor.
      Parameters:
      params - a parameter object (default parameters are used if null is passed)
      model - a sequence of 2D points specifying the x/y coordinates of the planar calibration pattern (assuming zero z-coordinates)

  • Method Details

    • addView

      public void addView(Pnt2d[] pts)
      Adds a new observation (a sequence of 2D image points) of the planar calibration pattern.
      Parameters:
      pts - a sequence of 2D image points

    • calibrate

      public Camera calibrate()
      Performs the actual camera calibration based on the provided sequence of views.
      Returns:
      the estimated camera intrinsics as a Camera object

    • getProjectionError

      public double getProjectionError(Camera cam, ViewTransform view, Pnt2d[] observed)
      Calculates the squared projection error for a single view, associated with a set of observed image points.
      Parameters:
      cam - a camera model (camera intrinsics)
      view - a view transformation (camera extrinsics)
      observed - a set of observed image points
      Returns:
      the squared projection error (measured in pixel units)

    • getProjectionError

      public double getProjectionError(Camera cam, ViewTransform[] views, Pnt2d[][] observed)
      Calculates the squared projection error for a sequence of views, associated with a sequence of observed image point sets.
      Parameters:
      cam - a camera model (camera intrinsics)
      views - a sequence of view transformations (camera extrinsics)
      observed - a sequence of sets of observed image points
      Returns:
      the squared projection error (measured in pixel units)

    • getInitialCamera

      public Camera getInitialCamera()
      Returns the initial camera model (no lens distortion).
      Returns:
      the initial camera model

    • getFinalCamera

      public Camera getFinalCamera()
      Returns the final camera model (including lens distortion).
      Returns:
      the final camera model

    • getInitialViews

      public ViewTransform[] getInitialViews()
      Returns the sequence of initial camera views (extrinsics, no lens distortion).
      Returns:
      the sequence of initial camera views

    • getFinalViews

      public ViewTransform[] getFinalViews()
      Returns the sequence of final camera views (extrinsics, including lens distortion).
      Returns:
      the sequence of final camera views