cameracalibration's Introduction

Camera Calibration

This project implements Zhengyou Zhang's "A Flexible New Technique for Camera Calibration" (2000).

Wilhelm Burger's "Zhang's Camera Calibration Algorithm: In-Depth Tutorial and Implementation" (2016) provided substantial aid to my understanding of details in the original paper.

Usage

python calibrate.py --data_dir=<data_directory_path>

data_dir - Path to the directory containing the control point file and the image point files. Each file must contain an even number of space-separated values of <x, y> points.

Dependencies

Python - Tested on version 3.7.0
Matplotlib - Tested on version 2.0.2
NumPy - Tested on version 1.15.0
OpenCV - Tested on version 3.4.1
Scipy - Tested on version 0.19.1

Results

Here is a comparison with Zhang's original results (available here):

	Implementation	Ground Truth
`fx`	832.499	832.500
`fy`	832.529	832.530
`s`	0.204503	0.204494
`px`	303.959	303.959
`py`	206.585	206.585
`q1`	-0.228602	-0.228601
`q2`	0.190355	0.190353

fx and fy are the intrinsic focal length parameters, s represents skew, and px and py are the principal point offsets. q1 and q2 are distortion model coefficients for the radial distortion model.

To visualize the calibration results, here are the calculated world- and camera-centric extrinsic parameters from the original dataset:

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cameracalibration's Issues

about the camera principal axis skew factor 's'

thanks for this code, it's perfect, but I calibrate camera using 'calibrateCamera' function in Opencv,or using Matlab Camera Calibrator App,I can't get the skew factor 's ' in camera intrinsic matric,I don't know if it's precise enough without 's'.