toolbox_calib.rar_matlab圆形标定_matlab相机标定_圆形标定板_标定_标定板

%%% WARNING!!! This code is not in working condition yet. %%% AS A RESULT, IT IS NOT SUPPORTED!!! %%% -Jean-Yves Bouguet %go_calib_optim_iter_weak % %Main calibration function. Computes the intrinsic andextrinsic parameters %for the weak perspective camera model %Runs as a script. % %INPUT: x_1,x_2,x_3,...: Feature locations on the images % X_1,X_2,X_3,...: Corresponding grid coordinates % %OUTPUT: fc: Camera focal length % cc: Principal point coordinates % alpha_c: Skew coefficient % kc: Distortion coefficients % KK: The camera matrix (containing fc and cc) % omc_1,omc_2,omc_3,...: 3D rotation vectors attached to the grid positions in space % Tc_1,Tc_2,Tc_3,...: 3D translation vectors attached to the grid positions in space % Rc_1,Rc_2,Rc_3,...: 3D rotation matrices corresponding to the omc vectors % %Method: Minimizes the pixel reprojection error in the least squares sense over the intrinsic % camera parameters, and the extrinsic parameters (3D locations of the grids in space) % %Note: If the intrinsic camera parameters (fc, cc, kc) do not exist before, they are initialized through % the function init_intrinsic_param.m. Otherwise, the variables in memory are used as initial guesses. % %Note: The row vector active_images consists of zeros and ones. To deactivate an image, set the % corresponding entry in the active_images vector to zero. % %VERY IMPORTANT: This function works for 2D and 3D calibration rigs, except for init_intrinsic_param.m %that is so far implemented to work only with 2D rigs. %In the future, a more general function will be there. %For now, if using a 3D calibration rig, quick_init is set to 1 for an easy initialization of the focal length %%% Little modifications for weak perspective model: center_optim = 0; % No center estimation for weak perspective model %est_dist = zeros(5,1); % No distortion for weak perspective model %est_alpha = 0; % No skew for weak perspective model if ~exist('desactivated_images'), desactivated_images = []; end; if ~exist('est_aspect_ratio'), est_aspect_ratio = 1; end; if ~exist('est_fc'); est_fc = [1;1]; % Set to zero if you do not want to estimate the focal length (it may be useful! believe it or not!) end; if ~exist('recompute_extrinsic'), recompute_extrinsic = 1; % Set this variable to 0 in case you do not want to recompute the extrinsic parameters % at each iterstion. end; if ~exist('MaxIter'), MaxIter = 30; % Maximum number of iterations in the gradient descent end; if ~exist('check_cond'), check_cond = 1; % Set this variable to 0 in case you don't want to extract view dynamically end; if ~exist('center_optim'), center_optim = 1; %%% Set this variable to 0 if your do not want to estimate the principal point end; if exist('est_dist'), if length(est_dist) == 4, est_dist = [est_dist ; 0]; end; end; if ~exist('est_dist'), est_dist = [1;1;1;1;0]; end; if ~exist('est_alpha'), est_alpha = 0; % by default, do not estimate skew end; % Little fix in case of stupid values in the binary variables: center_optim = double(~~center_optim); est_alpha = double(~~est_alpha); est_dist = double(~~est_dist); est_fc = double(~~est_fc); est_aspect_ratio = double(~~est_aspect_ratio); fprintf(1,'\n'); if ~exist('nx')&~exist('ny'), fprintf(1,'WARNING: No image size (nx,ny) available. Setting nx=640 and ny=480. If these are not the right values, change values manually.\n'); nx = 640; ny = 480; end; check_active_images; quick_init = 0; % Set to 1 for using a quick init (necessary when using 3D rigs) % Check 3D-ness of the calibration rig: rig3D = 0; for kk = ind_active, eval(['X_kk = X_' num2str(kk) ';']); if is3D(X_kk), rig3D = 1; end; end; if center_optim & (length(ind_active) < 2) & ~rig3D, fprintf(1,'WARNING: Principal point rejected from the optimization when using one image and planar rig (center_optim = 1).\n'); center_optim = 0; %%% when using a single image, please, no principal point estimation!!! est_alpha = 0; end; if ~exist('dont_ask'), dont_ask = 0; end; if center_optim & (length(ind_active) < 5) & ~rig3D, fprintf(1,'WARNING: The principal point estimation may be unreliable (using less than 5 images for calibration).\n'); %if ~dont_ask, % quest = input('Are you sure you want to keep the principal point in the optimization process? ([]=yes, other=no) '); % center_optim = isempty(quest); %end; end; % A quick fix for solving conflict if ~isequal(est_fc,[1;1]), est_aspect_ratio=1; end; if ~est_aspect_ratio, est_fc=[1;1]; end; if ~est_aspect_ratio, fprintf(1,'Aspect ratio not optimized (est_aspect_ratio = 0) -> fc(1)=fc(2). Set est_aspect_ratio to 1 for estimating aspect ratio.\n'); else if isequal(est_fc,[1;1]), fprintf(1,'Aspect ratio optimized (est_aspect_ratio = 1) -> both components of fc are estimated (DEFAULT).\n'); end; end; if ~isequal(est_fc,[1;1]), if isequal(est_fc,[1;0]), fprintf(1,'The first component of focal (fc(1)) is estimated, but not the second one (est_fc=[1;0])\n'); else if isequal(est_fc,[0;1]), fprintf(1,'The second component of focal (fc(1)) is estimated, but not the first one (est_fc=[0;1])\n'); else fprintf(1,'The focal vector fc is not optimized (est_fc=[0;0])\n'); end; end; end; if ~center_optim, % In the case where the principal point is not estimated, keep it at the center of the image fprintf(1,'Principal point not optimized (center_optim=0). Default state for weak perspective model'); if ~exist('cc'), fprintf(1,'It is kept at the center of the image.\n'); cc = [(nx-1)/2;(ny-1)/2]; else fprintf(1,'Note: to set it in the middle of the image, clear variable cc, and run calibration again.\n'); end; else fprintf(1,'Principal point optimized (center_optim=1) - (DEFAULT). To reject principal point, set center_optim=0\n'); end; if ~center_optim & (est_alpha), fprintf(1,'WARNING: Since there is no principal point estimation (center_optim=0), no skew estimation (est_alpha = 0)\n'); est_alpha = 0; end; if ~est_alpha, fprintf(1,'Skew not optimized (est_alpha=0) - (DEFAULT)\n'); alpha_c = 0; else fprintf(1,'Skew optimized (est_alpha=1). To disable skew estimation, set est_alpha=0.\n'); end; if ~prod(double(est_dist)), fprintf(1,'Distortion not fully estimated (defined by the variable est_dist):\n'); if ~est_dist(1), fprintf(1,' Second order distortion not estimated (est_dist(1)=0) - (DEFAULT for weak perspective model) . \n'); end; if ~est_dist(2), fprintf(1,' Fourth order distortion not estimated (est_dist(2)=0) - (DEFAULT for weak perspective model) .\n'); end; if ~est_dist(5), fprintf(1,' Sixth order distortion not estimated (est_dist(5)=0) - (DEFAULT for weak perspective model) .\n'); end; if ~prod(double(est_dist(3:4))), fprintf(1,' Tangential distortion not estimated (est_dist(3:4)~=[1;1]) - (DEFAULT for weak perspective model) .\n'); end; end; % Check 3D-ness of the calibration rig: rig3D = 0; for kk = ind_active, eval(['X_kk = X_' num2str(kk) ';']); if is3D(X_kk), rig3D = 1; end; end; % If the rig is 3D, then no choice: the only valid initialization is manual! if rig3D, quick_init = 1; end; alpha_smooth = 1; % set alpha_smooth = 1; for steepest gradient descent % Conditioning threshold for view rejection thresh_cond = 1e6; %% Initialization of the intrinsic parameters (if necessary) if ~exist('cc'), fprintf(1,'Initialization of the principal point at the center of the image.\n'); cc = [(nx-1)/2;(ny-1)/2]; alpha_smooth = 0.4; % slow convergence end; if exist('kc'), if length(kc) == 4; fprintf(1,'Adding a new distortion coefficient to kc -> radial d