Omnidirectional camera calibration in python

Last update: Nov 22, 2022

Related tags

Deep Learning py-omnicalib

Overview

Omnidirectional Camera Calibration

Key features

pure python
initial solution based on A Toolbox for Easily Calibrating Omnidirectional Cameras (Davide Scaramuzza, Agostino Martinelli, Roland Siegwart)
Optimized solution via Levenberg–Marquardt algorithm on reprojection error
Lie algebra based extrinsics optimization

(undistort example)

Usage

Corner detection (see python -m omnicalib.detect --help for detailed argument description)

python -m omnical.detect --chessboard <rows> <columns> <square-size> --max-dim <max-dim> --threads <threads> <image-folder>

The file detections.pickle is written, which contains a pickled dictionary with the following format

{
    'detections': {
        <image_path_0>: {'image_points': <image_points>, 'object_points': <object_points>},
        ...
}

Image paths (pathlib.Path) are absolute
image_points are torch.Tensor with shape N x 2 and dtype torch.float64
object_points are torch.Tensor with shape N x 3 and dtype torch.float64 and third colum, the z coordinate, all zeros

If an external corner detection method is used, this file can simply be written manually.

Calibration (see python -m omnicalib --help for detailed argument description)

python -m omnical --degree <degree> detections.pickle

Result

A calibration.yml file (see example_calibration.yml) containing

extrinsics as list of 3 x 4 matrices
poly_incident_angle_to_radius, a polynom that converts incident angle to image radius
poly_radius_to_z, a polynom that converts radius to z component of view vector
principal_point in pixel

Method

For a detailed description see method.md.

Simulation

Play with the calibration on simulated data with the provided jupyter lab notebook. It generates randomized data for the following ideal projection models

equidistant
stereographic
orthographic
equisolid

, see Large Area 3D Human Pose Detection Via Stereo Reconstruction in Panoramic Cameras for a detailed description.

Example

Jupyter lab notebook, example results

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Omnidirectional camera calibration in python

Related tags

Overview

Omnidirectional Camera Calibration

Key features

Usage

Result

Method

Simulation

Example

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Releases(1.0.1)

1.0.1(Mar 1, 2022)

1.0.0(Dec 21, 2021)

Owner

Thomas Pönitz

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