single image calibration

Overview

Implementation and visualisation of multiple classical linear calibration methods for a single image.This repo aims to provide as many single image calibration methods as possible for linear pinhole cameras, solving for camera intrinsic and extrinsic parameters based on known 3D-2D corresponding points or other auxiliary conditions, and presenting them in the most intuitive way,deepening the understanding of the camera imaging process.

:eyes:View the example :arrow_forward:Run the example

Requirements

• MATLAB® R2022b or later(Because Computer Vision Toolbox™ has switched to the "Premultiply Convention" since R2022b.)
• Image Processing Toolbox™
• Computer Vision Toolbox™
• Symbolic Math Toolbox™

Note: If you are using MATLAB version R2022a or earlier, use v1.0 of this repository!

Algorithms

Current have these algorithms:

• Method1：Decompose camera projection matrix(QR decomposition)
• Method2：Decompose camera projection matrix(intrinsic and extrinsic properties)
• Method3：tsai calibration
• Method4：Geometric solution
• Method5：Algebraic solution

Some visualizations

Draw Mapping

Vanishing Lines Overview

Stereo Visualization

Trirectangular Tetrahedron

Implementation and Get Started

Implemented in "lean and elegant" code that is easy to read. See demoOneImgCalibrate.mlx or demoOneImgCalibrate.md format entry file.

To getting started,there are two ways：

• click to open demoOneImgCalibrate.mlx in MATLAB Online®(in your web browser with no installation required).

• Download or clone this repository to your local machine and open demoOneImgCalibrate.mlx in MATLAB®

  Then just run ,take enjoy yourself!

Acknowledgments

1. Aaron T. Becker's Robot Swarm Lab (2023). Calibrate Camera with one Photo (Linear Method) (https://www.mathworks.com/matlabcentral/fileexchange/73079-calibrate-camera-with-one-photo-linear-method), MATLAB Central File Exchange. Retrieved November 18, 2023.
2. Camera Calibration
3. Geometry of a single camera