多摄像头自校准工具箱

这是Svoboda等人多摄像头自校准工具箱的更新版本。

链接

• 此代码版本位于github。

• 原始网站仍然是信息的好来源。（此代码版本在Tomas Svoboda的许可下公开发布。）

• 我们有一个在线讨论组。

如果您使用此库，请引用

Svoboda T, Martinec D, Pajdla T. (2005) A convenient multi-camera self-calibration for virtual environments. PRESENCE: Teleoperators and Virtual Environments. 14(4):407-422. 链接

与原始版本的不同之处

从高层次来看，所有更改都在使用方面，而不是在算法领域。我记得的是

• 为了在Octave中使用，进行了一些小的更改

• 在用Octave运行时禁用绘图

• 实现了一种新的配置文件格式，该格式位于校准数据旁边，而不是在源代码文件中

• 包括一些样本数据和测试

• 包括运行MultiCamSelfCal应用程序的Python接口

• 改进了将新的校准与现有的相机中心最大对齐的界面。请参阅Align-Existing配置选项和original_cam_centers.dat输入文件。

原始的README文件位于MultiCamSelfCal/README.txt

快速测试

为了测试是否一切正常，请执行以下操作

cd MultiCamSelfCal
octave gocal.m --config=../strawlab/test-data/DATA20100906_134124/no-global-iterations.cfg

这将运行大多数算法在一些样本数据上。您的计算机应该运行几分钟，并最终应结束于一些表示成功校准的行（平均重投影误差为0.62像素）

GNU Octave, version 3.2.3
Copyright (C) 2009 John W. Eaton and others.
This is free software; see the source code for copying conditions.
There is ABSOLUTELY NO WARRANTY; not even for MERCHANTABILITY or
FITNESS FOR A PARTICULAR PURPOSE.  For details, type `warranty'.

Octave was configured for "x86_64-pc-linux-gnu".

Additional information about Octave is available at http://www.octave.org.

Please contribute if you find this software useful.
For more information, visit http://www.octave.org/help-wanted.html

Report bugs to <bug@octave.org> (but first, please read
http://www.octave.org/bugs.html to learn how to write a helpful report).

For information about changes from previous versions, type `news'.

arg = --config=../strawlab/test-data/DATA20100906_134124/no-global-iterations.cfg
config_dir = /home/astraw/astraw-git-root/flydra/MultiCamSelfCal/MultiCamSelfCal/../strawlab/test-data/DATA20100906_134124/
Multi-Camera Self-Calibration, Tomas Svoboda et al., 07/2003
************************************************************
Experiment name: strawlab_test
warning: The calibration file config.files.CalPmat does not exist
warning: No P mat available
warning: The calibration file config.files.CalPmat does not exist
warning: No P mat available
warning: The calibration file config.files.CalPmat does not exist
warning: No P mat available
warning: The calibration file config.files.CalPmat does not exist
warning: No P mat available
warning: No Pmat available

********** After 0 iteration *******************************************
RANSAC validation step running with tolerance threshold: 10.00 ...
RANSAC: 2 samples, 523 inliers out of 523 points
RANSAC: 1 samples, 523 inliers out of 523 points
RANSAC: 2 samples, 432 inliers out of 434 points
RANSAC: 1 samples, 362 inliers out of 362 points
522 points/frames have survived validations so far
Filling of missing points is running ...
Repr. error in proj. space (no fact./fact.) is ...  0.708677 0.688062
************************************************************
Number of detected outliers:   0
About cameras (Id, 2D reprojection error, #inliers):
CamId    std       mean  #inliers
  1      0.62      0.69    432
  2      0.81      0.70    523
  3      0.83      0.78    523
  4      0.49      0.53    362
***************************************************************
**************************************************************
Refinement by using Bundle Adjustment
Repr. error in proj. space (no fact./fact./BA) is ...  0.714557 0.686345 0.620358
2D reprojection error
All points: mean  0.62 pixels, std is 0.61

Python包装器

John Stowers编写了一个API，允许从Python直接调用此代码。

安装

pip install multicamselfcal

从git存储库安装

pip install -e .

测试

pytest