1 | % The main script. Performes the self calibration |
---|
2 | % The point coordinates are expected to be known |
---|
3 | % see the directory FindingPoints |
---|
4 | % |
---|
5 | % $Author: svoboda $ |
---|
6 | % $Revision: 2.7 $ |
---|
7 | % $Id: gocal.m,v 2.7 2005/05/24 09:15:11 svoboda Exp $ |
---|
8 | % $State: Exp $ |
---|
9 | |
---|
10 | clear all |
---|
11 | |
---|
12 | % add necessary paths |
---|
13 | addpath ../CommonCfgAndIO |
---|
14 | addpath ../RadialDistortions |
---|
15 | addpath ./CoreFunctions |
---|
16 | addpath ./OutputFunctions |
---|
17 | addpath ./BlueCLocal |
---|
18 | addpath ./LocalAlignments |
---|
19 | addpath ../RansacM; % ./Ransac for mex functions (it is significantly faster for noisy data) |
---|
20 | % get the configuration |
---|
21 | config = configdata(expname); |
---|
22 | disp('Multi-Camera Self-Calibration, Tomas Svoboda et al., 07/2003') |
---|
23 | disp('************************************************************') |
---|
24 | disp(sprintf('Experiment name: %s',expname)) |
---|
25 | |
---|
26 | %%% |
---|
27 | % how many cameras to be filled |
---|
28 | % if 0 then only points visible in all cameras will be used for selfcal |
---|
29 | % the higher, the more points -> better against Gaussian noise |
---|
30 | % however the higher probability of wrong filling |
---|
31 | % Then the iterative search for outliers takes accordingly longer |
---|
32 | % However, typically no more than 5-7 iterations are needed |
---|
33 | % this number should correspond to the total number of the cameras |
---|
34 | NUM_CAMS_FILL = config.cal.NUM_CAMS_FILL; |
---|
35 | %%% |
---|
36 | % tolerance for inliers. The higher uncorrected radial distortion |
---|
37 | % the higher value. For BlueC cameras set to 2 for the ViRoom |
---|
38 | % plastic cams, set to 4 (see FINDINL) |
---|
39 | INL_TOL = config.cal.INL_TOL; |
---|
40 | %%% |
---|
41 | % Use Bundle Adjustment to refine the final (after removing outliers) results |
---|
42 | % It is often not needed at all |
---|
43 | DO_BA = config.cal.DO_BA; |
---|
44 | |
---|
45 | UNDO_RADIAL = config.cal.UNDO_RADIAL; % undo radial distortion, parameters are expected to be available |
---|
46 | SAVE_STEPHI = 1; % save calibration parameters in Stephi's Carve/BlueC compatible form |
---|
47 | SAVE_PGUHA = 1; % save calib pars in Prithwijit's compatible form |
---|
48 | USED_MULTIPROC = 0; % was the multipropcessing used? |
---|
49 | % if yes then multiple IdMat.dat and points.dat have to be loaded |
---|
50 | % setting to 1 it forces to read the multiprocessor data against the |
---|
51 | % monoprocessor see the IM2POINTS, IM2PMULTIPROC.PL |
---|
52 | |
---|
53 | %%% |
---|
54 | % Data structures |
---|
55 | % lin.* corrected values which obey linear model |
---|
56 | % in.* inliers, detected by a chain application of Ransac |
---|
57 | |
---|
58 | if findstr(expname,'oscar') |
---|
59 | % add a projector idx to the cameras |
---|
60 | % they are handled the same |
---|
61 | config.files.cams2use = [config.files.idxcams,config.files.idxproj]; |
---|
62 | end |
---|
63 | |
---|
64 | selfcal.par2estimate = config.cal.nonlinpar; |
---|
65 | selfcal.iterate = 1; |
---|
66 | selfcal.count = 0; |
---|
67 | |
---|
68 | |
---|
69 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
---|
70 | % Main global cycle begins |
---|
71 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
---|
72 | while selfcal.iterate & selfcal.count < config.cal.GLOBAL_ITER_MAX, |
---|
73 | % read the input data |
---|
74 | loaded = loaddata(config); |
---|
75 | linear = loaded; % initalize the linear structure |
---|
76 | |
---|
77 | CAMS = size(config.cal.cams2use,2); |
---|
78 | FRAMES = size(loaded.IdMat,2); |
---|
79 | |
---|
80 | if CAMS < 3 | FRAMES < 20 |
---|
81 | error('gocal: Not enough cameras or images -> Problem in loading data?') |
---|
82 | end |
---|
83 | |
---|
84 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
---|
85 | %%% correct the required amount of cameras to be filled |
---|
86 | if CAMS-NUM_CAMS_FILL < 3 |
---|
87 | NUM_CAMS_FILL = CAMS-3; |
---|
88 | end |
---|
89 | |
---|
90 | config.cal.Res= loaded.Res; |
---|
91 | config.cal.pp = reshape([loaded.Res./2,zeros(size(loaded.Res(:,1)))]',CAMS*3,1); |
---|
92 | config.cal.pp = [loaded.Res./2,zeros(size(loaded.Res(:,1)))]; |
---|
93 | |
---|
94 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
---|
95 | % See the README how to compute data |
---|
96 | % for undoing of the radial distortion |
---|
97 | if UNDO_RADIAL |
---|
98 | for i=1:CAMS, |
---|
99 | [K,kc] = readradfile(sprintf(config.files.rad,config.cal.cams2use(i))); |
---|
100 | xn = undoradial(loaded.Ws(i*3-2:i*3,:),K,[kc,0]); |
---|
101 | linear.Ws(i*3-2:i*3,:) = xn; |
---|
102 | end |
---|
103 | linear.Ws = linear.Ws - repmat(reshape(config.cal.pp',CAMS*3,1), 1, FRAMES); |
---|
104 | elseif config.cal.UNDO_HEIKK, |
---|
105 | for i=1:CAMS, |
---|
106 | heikkpar = load(sprintf(config.files.heikkrad,config.cal.cams2use(i)),'-ASCII'); |
---|
107 | xn = undoheikk(heikkpar(1:4),heikkpar(5:end),loaded.Ws(i*3-2:i*3-1,:)'); |
---|
108 | linear.Ws(i*3-2:i*3-1,:) = xn'; |
---|
109 | end |
---|
110 | linear.Ws = linear.Ws - repmat(reshape(config.cal.pp',CAMS*3,1), 1, FRAMES); |
---|
111 | else |
---|
112 | linear.Ws = loaded.Ws - repmat(reshape(config.cal.pp',CAMS*3,1), 1, FRAMES); |
---|
113 | end |
---|
114 | |
---|
115 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
---|
116 | % Detection of outliers |
---|
117 | % RANSAC is pairwise applied |
---|
118 | disp(' ') |
---|
119 | disp(sprintf('********** After %d iteration *******************************************',selfcal.count)) |
---|
120 | % disp('****************************************************************************') |
---|
121 | disp(sprintf('RANSAC validation step running with tolerance threshold: %2.2f ...',INL_TOL)); |
---|
122 | |
---|
123 | inliers.IdMat = findinl(linear.Ws,linear.IdMat,INL_TOL); |
---|
124 | |
---|
125 | addpath ./MartinecPajdla; |
---|
126 | setpaths; % set paths for M&P algorithms |
---|
127 | |
---|
128 | % remove zero-columns or just 1 point columns |
---|
129 | % create packed represenatation |
---|
130 | % it is still a bit tricky, the number of the minimum number of cameras |
---|
131 | % are specified here, may be some automatic method would be useful |
---|
132 | packed.idx = find(sum(inliers.IdMat)>=size(inliers.IdMat,1)-NUM_CAMS_FILL); |
---|
133 | packed.IdMat = inliers.IdMat(:,packed.idx); |
---|
134 | packed.Ws = linear.Ws(:,packed.idx); |
---|
135 | |
---|
136 | if size(packed.Ws,2)<20 |
---|
137 | error(sprintf('Only %d points survived RANSAC validation and packing: probably not enough points for reliable selfcalibration',size(packed.Ws,2))); |
---|
138 | end |
---|
139 | |
---|
140 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
---|
141 | %%% fill cam(i) structures |
---|
142 | for i=1:CAMS, |
---|
143 | cam(i).camId = config.cal.cams2use(i); |
---|
144 | cam(i).idlin = find(linear.IdMat(i,:)); % loaded structure |
---|
145 | cam(i).idin = find(inliers.IdMat(i,:)); % survived initial pairwise validation |
---|
146 | cam(i).xdist = loaded.Ws(3*i-2:3*i,cam(i).idlin); % original distorted coordinates |
---|
147 | cam(i).xgt = linear.Ws(3*i-2:3*i,cam(i).idlin); |
---|
148 | cam(i).xgtin = linear.Ws(3*i-2:3*i,cam(i).idin); |
---|
149 | % convert the ground truth coordinates by using the known principal point |
---|
150 | cam(i).xgt = cam(i).xgt + repmat(config.cal.pp(i,:)', 1, size(cam(i).xgt,2)); |
---|
151 | cam(i).xgtin = cam(i).xgtin + repmat(config.cal.pp(i,:)', 1, size(cam(i).xgtin,2)); |
---|
152 | end |
---|
153 | |
---|
154 | |
---|
155 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
---|
156 | %%% options for the Martinec-Pajdla filling procedure |
---|
157 | options.verbose = 0; |
---|
158 | options.no_BA = 1; |
---|
159 | options.iter = 5; |
---|
160 | options.detection_accuracy = 2; |
---|
161 | options.consistent_number = 9; |
---|
162 | options.consistent_number_min = 6; |
---|
163 | options.samples = 1000; %1000; %10000; |
---|
164 | options.sequence = 0; |
---|
165 | options.create_nullspace.trial_coef = 10; %20; |
---|
166 | |
---|
167 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
---|
168 | %%% start of the *compute and remove outliers cycle* |
---|
169 | outliers = 1; |
---|
170 | inliers.idx = packed.idx; |
---|
171 | inliers.reprerr = [9e9]; |
---|
172 | while outliers |
---|
173 | disp(sprintf('%d points/frames have survived validations so far',size(inliers.idx,2))) |
---|
174 | disp('Filling of missing points is running ...') |
---|
175 | [P,X, u1,u2, info] = fill_mm_bundle(linear.Ws(:,inliers.idx),config.cal.pp(:,1:2)',options); |
---|
176 | % |
---|
177 | Rmat = P*X; |
---|
178 | Lambda = Rmat(3:3:end,:); |
---|
179 | % |
---|
180 | [Pe,Xe,Ce,Re] = euclidize(Rmat,Lambda,P,X,config); |
---|
181 | disp('************************************************************') |
---|
182 | % |
---|
183 | % compute reprojection errors |
---|
184 | cam = reprerror(cam,Pe,Xe,FRAMES,inliers); |
---|
185 | % |
---|
186 | % detect outliers in cameras |
---|
187 | [outliers,inliers] = findoutl(cam,inliers,INL_TOL,NUM_CAMS_FILL); |
---|
188 | % |
---|
189 | disp(sprintf('Number of detected outliers: %3d',outliers)) |
---|
190 | disp('About cameras (Id, 2D reprojection error, #inliers):') |
---|
191 | dispcamstats(cam,inliers); |
---|
192 | % [[cam(:).camId]',[cam(:).std2Derr]',[cam(:).mean2Derr]', sum(inliers.IdMat')'] |
---|
193 | disp('***************************************************************') |
---|
194 | % |
---|
195 | % do BA after removing very bad outliers or if the process starts to diverge |
---|
196 | % and only if required config.cal.START_BA |
---|
197 | inliers.reprerr = [inliers.reprerr, mean([cam(:).mean2Derr])]; |
---|
198 | if inliers.reprerr(end)<5*INL_TOL | inliers.reprerr(end-1)<inliers.reprerr(end), |
---|
199 | try, options.no_BA = ~config.cal.START_BA; catch, options.no_BA = 1; end % 1 0 |
---|
200 | end |
---|
201 | end |
---|
202 | %%% end of the cycle |
---|
203 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
---|
204 | |
---|
205 | |
---|
206 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
---|
207 | %%% Do the final refinement through the BA if required and if not |
---|
208 | %%% performed during the iteration steps |
---|
209 | if (DO_BA & ~config.cal.START_BA) | (DO_BA & config.cal.START_BA & size(inliers.reprerr,2)<3) |
---|
210 | disp('**************************************************************') |
---|
211 | disp('Refinement by using Bundle Adjustment') |
---|
212 | options.no_BA = 0; |
---|
213 | [P,X, u1,u2, info] = fill_mm_bundle(linear.Ws(:,inliers.idx),config.cal.pp(:,1:2)',options); |
---|
214 | Rmat = P*X; |
---|
215 | Lambda = Rmat(3:3:end,:); |
---|
216 | [in.Pe,in.Xe,in.Ce,in.Re] = euclidize(Rmat,Lambda,P,X,config); |
---|
217 | cam = reprerror(cam,in.Pe,in.Xe,FRAMES,inliers); |
---|
218 | % [outliers,inliers] = findoutl(cam,inliers,INL_TOL,NUM_CAMS_FILL); |
---|
219 | else |
---|
220 | in.Pe = Pe; in.Xe = Xe; in.Ce = Ce; in.Re = Re; |
---|
221 | end |
---|
222 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
---|
223 | |
---|
224 | |
---|
225 | if 1 |
---|
226 | % plot reconstructed cameras and points |
---|
227 | drawscene(Xe,Ce,Re,3,'cloud','reconstructed points/camera setup'); |
---|
228 | drawscene(in.Xe,in.Ce,in.Re,4,'cloud','reconstructed points/camera setup only inliers are used',config.cal.cams2use); |
---|
229 | |
---|
230 | % plot measured and reprojected 2D points |
---|
231 | for i=1:CAMS |
---|
232 | in.xe = in.Pe(((3*i)-2):(3*i),:)*in.Xe; |
---|
233 | cam(i).inxe = in.xe./repmat(in.xe(3,:),3,1); |
---|
234 | figure(i+10) |
---|
235 | clf |
---|
236 | plot(cam(i).xdist(1,:),cam(i).xdist(2,:),'go'); |
---|
237 | hold on, grid on |
---|
238 | plot(cam(i).xgt(1,:),cam(i).xgt(2,:),'ro'); |
---|
239 | plot(cam(i).xgtin(1,:),cam(i).xgtin(2,:),'bo'); |
---|
240 | % plot(cam(i).xe(1,:),cam(i).xe(2,:),'r+') |
---|
241 | plot(cam(i).inxe(1,:),cam(i).inxe(2,:),'k+','MarkerSize',7) |
---|
242 | %plot(xe(1,:),xe(2,:),'r+','linewidth',3,'MarkerSize',10) |
---|
243 | title(sprintf('measured, o, vs reprojected, +, 2D points (camera: %d)',config.cal.cams2use(i))); |
---|
244 | for j=1:size(cam(i).visandrec,2); % plot the reprojection errors |
---|
245 | line([cam(i).xgt(1,cam(i).visandrec(j)),cam(i).inxe(1,cam(i).recandvis(j))],[cam(i).xgt(2,cam(i).visandrec(j)),cam(i).inxe(2,cam(i).recandvis(j))],'Color','g'); |
---|
246 | end |
---|
247 | % draw the image boarder |
---|
248 | line([0 0 0 2*config.cal.pp(i,1) 2*config.cal.pp(i,1) 2*config.cal.pp(i,1) 2*config.cal.pp(i,1) 0],[0 2*config.cal.pp(i,2) 2*config.cal.pp(i,2) 2*config.cal.pp(i,2) 2*config.cal.pp(i,2) 0 0 0],'Color','k','LineWidth',2,'LineStyle','--') |
---|
249 | axis('equal') |
---|
250 | drawnow |
---|
251 | eval(['print -depsc ', config.paths.data, sprintf('%s%d.reprojection.eps',config.files.basename,cam(i).camId)]) |
---|
252 | end |
---|
253 | end |
---|
254 | |
---|
255 | %%% |
---|
256 | % SAVE camera matrices |
---|
257 | P = in.Pe; |
---|
258 | save(config.files.Pmats,'P','-ASCII'); |
---|
259 | |
---|
260 | % save normal data |
---|
261 | if SAVE_STEPHI | SAVE_PGUHA |
---|
262 | [in.Cst,in.Rot] = savecalpar(in.Pe,config); |
---|
263 | end |
---|
264 | |
---|
265 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
---|
266 | % local routines for the BlueC installations |
---|
267 | % The main functionality of these functions that |
---|
268 | % they align the coordinate frame from the selfcalibration |
---|
269 | % with the pre-defined world frame |
---|
270 | % it is assumed the necessary informations are avialable |
---|
271 | if findstr('BlueCRZ',expname) |
---|
272 | [align] = bluecrz(in,config); |
---|
273 | end |
---|
274 | if findstr('Hoengg',expname) |
---|
275 | [align] = bluechoengg(in,config); |
---|
276 | end |
---|
277 | if findstr('Erlangen',expname) |
---|
278 | [align] = erlangen(in,config); |
---|
279 | % [align] = planarmove(in,config); |
---|
280 | end |
---|
281 | if findstr('G9',expname) |
---|
282 | [align] = g9(in,config); |
---|
283 | end |
---|
284 | % planar alignement if knowledge available |
---|
285 | % [align,cam] = planarmove(in,cam,config); |
---|
286 | % try, [align,cam] = planarcams(in,cam,config,config.cal.planarcams); end |
---|
287 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
---|
288 | % Evaluate reprojection error |
---|
289 | %%% |
---|
290 | cam = evalreprerror(cam,config); |
---|
291 | |
---|
292 | %%%% |
---|
293 | % Save the 2D-3D correpondences for further processing |
---|
294 | for i=1:CAMS, |
---|
295 | xe = cam(i).xdist(1:3,cam(i).visandrec); % save the original distorted coordinates |
---|
296 | % save the reconstructed points (aligned if available) |
---|
297 | try, Xe = align.X(1:4,cam(i).recandvis); catch, Xe = in.Xe(1:4,cam(i).recandvis); end; |
---|
298 | % Xe = in.Xe(1:4,cam(i).recandvis); |
---|
299 | corresp = [Xe',xe']; |
---|
300 | save(sprintf(config.files.points4cal,config.cal.cams2use(i)),'corresp','-ASCII'); |
---|
301 | end |
---|
302 | |
---|
303 | %%% |
---|
304 | % TO-DO: |
---|
305 | % - find a suitable end condition for the global iteration. |
---|
306 | % This threshold may very depend on local conditions |
---|
307 | % |
---|
308 | % - how to check meaningful number of iterations |
---|
309 | % typically only few iterations are needed |
---|
310 | % |
---|
311 | % - The precision of the non-linear estimation should be somehow taken into account |
---|
312 | |
---|
313 | selfcal.count = selfcal.count+1; |
---|
314 | |
---|
315 | if max([cam.mean2Derr])>config.cal.GLOBAL_ITER_THR & config.cal.DO_GLOBAL_ITER & selfcal.count < config.cal.GLOBAL_ITER_MAX |
---|
316 | % if the maximal reprojection error is still bigger |
---|
317 | % than acceptable estimate radial distortion and |
---|
318 | % iterate further |
---|
319 | cd ../CalTechCal |
---|
320 | selfcalib = goradf(config,selfcal.par2estimate,INL_TOL); |
---|
321 | cd ../MultiCamSelfCal |
---|
322 | selfcal.iterate = 1; |
---|
323 | UNDO_RADIAL = 1; |
---|
324 | if ~selfcalib.goradproblem; |
---|
325 | % if all non-linear parameters estimated reliable |
---|
326 | % we can reduce the tolerance threshold |
---|
327 | INL_TOL = max([(2/3)*INL_TOL,config.cal.GLOBAL_ITER_THR]); |
---|
328 | % add the second radial distortion parameter |
---|
329 | if config.cal.NL_UPDATE(4), selfcal.par2estimate(4) = 1; end |
---|
330 | % estimate also the principal point |
---|
331 | if selfcal.count > 1 & config.cal.NL_UPDATE(2), selfcal.par2estimate(2) = 1; end |
---|
332 | % estimate also the tangential distortion |
---|
333 | if selfcal.count > 3 & all(config.cal.NL_UPDATE(5:6)), selfcal.par2estimate(5:6) = 1; end |
---|
334 | else |
---|
335 | INL_TOL = min([3/2*INL_TOL,config.cal.INL_TOL]); |
---|
336 | end |
---|
337 | else |
---|
338 | % ends the iteration |
---|
339 | % the last computed parameters will be taken as valid |
---|
340 | selfcal.iterate = 0; |
---|
341 | end |
---|
342 | end |
---|
343 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
---|
344 | % End of the main global cycle |
---|
345 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
---|
346 | |
---|
347 | |
---|
348 | |
---|