Camera Calibration

The algorithm performs camera calibration based on a set of 2D images. It can also compute an MRE using the provided calibration.

Input

Takes a single 2D image set showing a camera calibration target as input. Only 8-bit grayscale and RGB images are supported.

Output

Intrinsics and distortion parameters, MRE in the log window. An input image set will have its camera calibration data component updated.

Description

Several typical calibration targets are supported. For an overview refer to marker configuration.

Compute MRE may be used when no calibration procedure is needed and the user is interested only in detections and/or reprojections for a particular set of images and an MRE for the calibration parameters from the camera calibration data component. To set these parameters, one can use the Edit Camera Calibration algorithm.

Supported settings for the camera calibration are described in calibration settings. Note that the calibration starts with the following camera intrinsics and distortion parameters:

\[ \begin{align}\begin{aligned}\begin{split}M = \begin{bmatrix} 1 & 0 & imageWidth/2 \\ 0 & 1 & imageHeight/2 \\ 0 & 0 & 1 \end{bmatrix}\end{split}\\ distortion = \begin{bmatrix} 0 & 0 & 0 & 0 & 0 \end{bmatrix}\end{aligned}\end{align} \]

The button Calibrate performs the actual calibration. The computed parameters are shown in the log window and can be saved using the Edit Camera Calibration algorithm. Existing calibration parameters can be loaded via the same algorithm. If Recalibrate with inliers is checked, the calibration will be refined by re-computing it using only the inlier-images. If, however, the resulting MRE on all images using the refined calibration is worse than the initial, the initial calibration will take precedence.

The checkboxes Detections and Reprojections can be used to overlay the corresponding points on top of the images. The checkbox Cameras adds the visualization of camera poses with respect to the calibration board.