opencv - 非平面钻机的相机标定

Question

根据我得到的结果和提供的文档，我得出结论，使用非平面装备的校准在 OpenCV 中不起作用(它们在很大程度上取决于初始猜测)。根据他们的函数文档 calibrateCamera

The algorithm performs the following steps:

• Compute the initial intrinsic parameters (the option only available for planar calibration patterns) or read them from the input parameters. The distortion coefficients are all set to zeros initially unless some of CV_CALIB_FIX_K? are specified.
• Estimate the initial camera pose as if the intrinsic parameters have been already known. This is done using solvePnP
• Run the global Levenberg-Marquardt optimization algorithm to minimize the reprojection error, that is, the total sum of squared distances between the observed feature points imagePoints and the projected (using the current estimates for camera parameters and the poses) object points objectPoints. See projectPoints for details.

此外，如果您使用非平面钻机作为输入，则还必须提供对内在的初始估计，从而确认第一点。

所以，我的问题是，是否有任何可用的库(任何语言)实现了为非平面钻机寻找内在函数(或者可能与外在函数一起)？

Answer 1

如果您可以访问 Matlab，或者可以理解 Matlab 语法并将其翻译成您最喜欢的语法(从 Matlab 轻松转换为 Python，并且您可以集成 openCV)。你可以看看他们的非平面钻机。此代码基于 Heikkilä 的作品:

"Geometric Camera Calibration Using Circular Control Points", IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 22, No. 10, pp. 1066-1077, Oct 2000.

并包括此类校准的示例，这些链接包含相应的代码:

http://www.vision.caltech.edu/bouguetj/calib_doc/htmls/example3.html

http://www.ee.oulu.fi/~jth/calibr/

我希望这个宽泛的答案有用。