amy-tabb / calico Goto Github PK
View Code? Open in Web Editor NEWcode for: Calibration of Asynchronous Camera Networks: CALICO
License: MIT License
code for: Calibration of Asynchronous Camera Networks: CALICO
License: MIT License
I tried to use calico to calibrate our cameras, I took 1300 images from 6 cameras
aruco_dict 2
number_boards 1
squaresX 20
squaresY 14
squareLength 400
markerLength 300
./calico --network --input pattern/ --output report/ --verbose
....
Image 1251
Points found per image 80
Image 1252
Points found per image 74
Image 1253
Points found per image 69
Image 1254
Points found per image 65
Image 1255
Points found per image 60
Image 1256
Points found per image 55
Image 1257
Points found per image 47
Points found per image 37
Image 1259
Points found per image 27
Image 1260
Points found per image 19
Image 1261
Image 1262
Running calibration
** On entry to DLASCL parameter number 4 had an illegal value
Hi!
I've been trying to use calico to calibrate our 6 camera system - however the most difficulty I'm having is getting it to calibrate intrinsics. Below is an example, I have specified --focal-px=3000, yet it will only move a tiny amount from this '3000' (and has a large RMS), the same applies for any other --focal-px or the default (4800 if not specified) (the true value is approximately 4460).
I'm using a 22x16 charuco board, which I have checked is exactly like the one calico expects.
./calico --network --output report/ --non-zero-k3 --non-zero-tangent --input ./pattern22x16 --focal-px=3000
Last character compare ./pattern22x16 0
Last character compare report/ 1
Found! 1 field aruco_dict and result 3
Found! 1 field number_boards and result 1
Found! 1 field squareLength_mm and result 25
Ext dir! ./pattern22x16/data/cam1/external/
Number max images 81
Number of internals to use 0
report/data/cam1/
Number images 81
Image 0
Points found per image 251
Image 1
Points found per image 315
Image 2
Points found per image 120
Image 3
Image 4
Image 5
Points found per image 214
Image 6
Points found per image 308
Image 7
Points found per image 261
Image 8
Points found per image 280
Image 9
Points found per image 306
Image 10
Points found per image 21
Image 11
Image 12
Image 13
Points found per image 95
Image 14
Points found per image 175
Image 15
Points found per image 268
Image 16
Points found per image 312
Image 17
Points found per image 254
Image 18
Points found per image 105
Image 19
Image 20
Image 21
Points found per image 57
Image 22
Points found per image 192
Image 23
Points found per image 295
Image 24
Points found per image 241
Image 25
Points found per image 292
Image 26
Points found per image 174
Image 27
Image 28
Image 29
Image 30
Image 31
Points found per image 231
Image 32
Points found per image 310
Image 33
Points found per image 315
Image 34
Points found per image 210
Image 35
Points found per image 95
Image 36
Image 37
Image 38
Image 39
Points found per image 150
Image 40
Points found per image 291
Image 41
Points found per image 255
Image 42
Points found per image 219
Image 43
Points found per image 246
Image 44
Points found per image 151
Image 45
Points found per image 27
Image 46
Image 47
Image 48
Image 49
Points found per image 18
Image 50
Points found per image 141
Image 51
Points found per image 282
Image 52
Points found per image 219
Image 53
Points found per image 230
Image 54
Points found per image 168
Image 55
Points found per image 28
Image 56
Image 57
Image 58
Image 59
Points found per image 84
Image 60
Points found per image 163
Image 61
Points found per image 223
Image 62
Points found per image 221
Image 63
Points found per image 181
Image 64
Points found per image 268
Image 65
Points found per image 212
Image 66
Points found per image 108
Image 67
Image 68
Image 69
Points found per image 41
Image 70
Image 71
Points found per image 48
Image 72
Image 73
Points found per image 176
Image 74
Points found per image 283
Image 75
Points found per image 258
Image 76
Points found per image 236
Image 77
Points found per image 92
Image 78
Points found per image 71
Image 79
Image 80
Running calibration
rms 25.3416
distortion -5.62977e-07
-1.37597e-05
1.22561e-08
1.04416e-09
-3.12201e-05
Camera matrix
[3000, 0, 2000.000004978587;
0, 3000.000025677453, 1500.000011019793;
0, 0, 1]
Thanks for your work,I have two questions:
1)If it ensures that all cameras can see the calibration pattern, can I use only one calibration pattern ?
2)Does calico only support pinhole camera models?
Hi,
I am using docker image for calibration. We have six 20MP cameras arranged on two sides of a metal rectangular prism (similar setting as Net-1/Net-2 dataset). For calibration, I am using a cube which has different charuco patterns on its 5 sides. Here attached my dataset with the output that I got from calico (https://1drv.ms/f/s!At7UW7zuEoCCiqJPH_tKyUTKYJvF2w?e=rWStOt). I am getting very large reprojection error. I am not sure why. To me, the image qualities are good.
I am quite new to computer vision. Please help!
A declarative, efficient, and flexible JavaScript library for building user interfaces.
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
An Open Source Machine Learning Framework for Everyone
The Web framework for perfectionists with deadlines.
A PHP framework for web artisans
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
Some thing interesting about web. New door for the world.
A server is a program made to process requests and deliver data to clients.
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
Some thing interesting about visualization, use data art
Some thing interesting about game, make everyone happy.
We are working to build community through open source technology. NB: members must have two-factor auth.
Open source projects and samples from Microsoft.
Google ❤️ Open Source for everyone.
Alibaba Open Source for everyone
Data-Driven Documents codes.
China tencent open source team.