Detailed Description

Camera calibration algorithm Description:

This algorithm estimates the intrinsic and extrinsic parameters of a pinhole camera model using multiple views of a known calibration pattern (typically a chessboard or a ChArUco board). The process involves detecting 2D image points, associating them with known 3D object points, and solving for the camera matrix and distortion coefficients that best map 3D points to 2D projections.
Note
Two calibration modes are provided: using all images or using a subset of the input images. In the second mode, images are automatically selected based on criteria such as image sharpness and camera spatial distribution. This removes redundant images and significantly reduces computation time, while still providing accurate and robust results—especially in the case of hundreds of sequential images.
It can also compute an MRE using the provided calibration.
The result including debug information is saved as a CameraCalibrationDataComponent in the input image

Input:

A image set with calibration pattern
calibration setting
marker configuration must be set before compute

Output:

Results are applied to the input image set as a CameraCalibrationDataComponent
Camera poses, MRE, and standard deviation of poses are also provided to evaluate the results

Note:

Ensure the calibration pattern covers various orientations and positions in the image
Better accuracy is achieved with more diverse and high quality images

Example:

// Essential inputs, please refer to CameraCalibrationSettings and MarkerConfiguration for more details
SharedImageSet* img;
CameraCalibrationSettings config;
MarkerConfiguration markerConfig;
// Optional but recommended, in default it is already set to true
// setting.setUseAutoSelection(true);
 
auto alg = CameraCalibrationAlgorithm(img);
alg.setCalibrationSettings(config);
alg.setMarkerConfig(markerConfig);
alg.compute();
 
// get result from CameraCalibrationDataComponent
// please refer to CameraCalibrationDataComponent for more details
auto result = img->components().get<CameraCalibrationDataComponent>();
if (!result)
    LOG_ERROR("Calibration failed");

Public Types
enum class	StatusExt { ImagesNotInMemory , InvalidBoardType , NoBoardsDetected }
	Enumeration listing possible errors during the computation. More...

typedef CameraCalibrationSettings::LensModel	LensModel

Public Types inherited from Algorithm
enum	Status { Unknown = -1 , Success = 0 , Error = 1 , InvalidInput , IncompleteInput , OutOfMemoryHost , OutOfMemoryGPU , UnsupportedGPU , UnknownAction , AbortedByUser , User = 1000 }
	Status codes. More...

Public Member Functions
	CameraCalibrationAlgorithm (SharedImageSet *calibImages)

void	compute () override
	Execute the algorithm.

SharedImageSet *	images ()

void	setCalibrationSettings (const CameraCalibrationSettings &config)

CameraCalibrationSettings &	calibrationSettings ()

void	setMarkerConfig (const MarkerConfiguration &config)

MarkerConfiguration &	markerConfig ()

std::vector< mat4 >	cameraPoses (std::vector< double > *reprojectionError=nullptr) const
	Return camera poses from world to camera. For images without marker detections return a zero matrix and an MRE of -1.

std::vector< std::vector< vec3 > >	objectPoints () const

std::vector< std::vector< vec2 > >	imagePoints () const

std::vector< int >	missingBoards () const

std::vector< int >	autoSelectedBoards () const

std::vector< std::vector< vec2 > >	reprojectedImagePoints () const

void	setOnlyComputeMRE (bool v)

bool	onlyComputeMRE () const

void	configure (const Properties *p) override
	Configure this object instance by de-serializing the given Properties.

void	configuration (Properties *p) const override
	Serialize the current object configuration into the given Properties object.

Public Member Functions inherited from Algorithm
	Algorithm ()
	Default constructor will registers a single "compute" action that calls compute() and returns status().

virtual OwningDataList	takeOutput ()
	Return any new Data that was created by the Algorithm during the last call to compute().

virtual void	setProgress (Progress *progress)
	Sets a Progress interface the algorithm can use to notify observers about its computing progress.

Progress *	progress () const
	Returns the progress interface if set.

virtual int	status () const
	Indicates the status of the last call to compute().

virtual bool	survivesDataDeletion (const Data *) const
	Indicates whether the algorithm can handle (partial) deletion of the specified data, by default this checks whether the data is in the input list.

const FactoryInfo &	factoryInfo () const
	Returns the record describing how this Algorithm was instantiated by the AlgorithmFactory.

void	setFactoryInfo (const FactoryInfo &value)
	Sets the record describing how this Algorithm was instantiated by the AlgorithmFactory.

Status	runAction (const std::string &id)
	Run the action with name `id` if it exists.

const std::vector< Action > &	actions ()
	Get a mapping from Action id to Action as registered in this algorithm.

Public Member Functions inherited from Configurable
virtual void	configureDefaults ()
	Retrieve the properties of this object, replaces values with their defaults and sets it again.

void	registerParameter (ParameterBase *param)
	Register the given Parameter or SubProperty, so that it will be configured during configure()/configuration().

void	unregisterParameter (const ParameterBase *param)
	Remove the given Parameter or SubProperty from the list of registered parameters.

	Configurable (const Configurable &rhs)

	Configurable (Configurable &&rhs) noexcept

Configurable &	operator= (const Configurable &)

Configurable &	operator= (Configurable &&) noexcept

Static Public Member Functions
static bool	createCompatible (const DataList &data, Algorithm **a=0)

Static Public Member Functions inherited from Algorithm
static bool	createCompatible (const DataList &data, Algorithm **a=nullptr)
	Factory function to check algorithm compatibility with input data and optionally instantiate it.

Additional Inherited Members
Public Attributes inherited from Algorithm
Signal	signalOutputChanged
	Signal should be emitted by Algorithms when their output/result has changed.

Signal	signalParametersChanged
	Signal should be emitted by Algorithms when their parameter configuration has changed.

Public Attributes inherited from Configurable
Signal	signalParametersChanged
	Emitted whenever one of the registered Parameters' or SubPropertys' `signalValueChanged` signal was emitted.

Protected Member Functions inherited from Algorithm
void	loadDefaults ()

void	registerAction (const std::string &id, const std::string &guiName, const std::function< Algorithm::Status(void)> &action)
	Register an action to be run via runAction.

template<typename D>
void	registerAction (const std::string &id, const std::string &guiName, Algorithm::Status(D::*action)(void))
	Template version of runAction that can be used with a pointer to a member function.

void	registerAction (const Action &action)
	Register an action.

Protected Attributes inherited from Algorithm
std::string	m_name
	Algorithm name.

Progress *	m_progress = nullptr
	Non-owing pointer to a progress interface. May be a nullptr.

FactoryInfo	m_factoryInfo = {}
	Record describing how this algorithm was instantiated by the AlgorithmFactory.

int	m_status = Status::Unknown
	Algorithm status after last call to compute()

std::vector< Action >	m_actions
	Map of key given by the id of the action, of the available actions of this algorithm.

Protected Attributes inherited from Configurable
std::vector< Param >	m_params
	List of all registered Parameter and SubProperty instances.

Member Enumeration Documentation

◆ StatusExt

enum class StatusExt

strong

Enumeration listing possible errors during the computation.

Enumerator
ImagesNotInMemory	The image data has to be in memory since this can run in a background thread which does not have an OpenGL context.
InvalidBoardType	Unsupported board type.
NoBoardsDetected	Marker detection failed.

Member Function Documentation

◆ compute()

void compute ( )

overridevirtual

Execute the algorithm.

Implements Algorithm.

◆ configure()

void configure ( const Properties * p )

overridevirtual

Configure this object instance by de-serializing the given Properties.

The default implementation will do so automatically for all registered Parameter and SubProperty instances.

See also: configuration() for the inverse functionality

Reimplemented from Configurable.

◆ configuration()

void configuration ( Properties * p ) const

overridevirtual

Serialize the current object configuration into the given Properties object.

The default implementation will do so automatically for all registered Parameter and SubProperty instances.

See also: configure() for the inverse functionality

Reimplemented from Configurable.

The documentation for this class was generated from the following file:

ImFusion/Vision/CameraCalibrationAlgorithm.h

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Member Enumeration Documentation

◆ StatusExt

Member Function Documentation

◆ compute()

◆ configure()

◆ configuration()