Calibrating a one-dimensional coded light 3D acquisition system
A camera intrinsic calibration may be performed using an object geometry. An intrinsic camera matrix may then be recovered. A homography is fit between object and camera coordinate systems. View transformations are finally recovered.
1. A method comprising:
performing camera calibration followed by inverse distortion fitting to correct both radial and tangential lens distortion;
thereafter calibrating for a projector that projects onto a camera image plane;
thereafter performing fine calibration to reduce geometric reconstruction error;
using system parameters and view transformation as optimization variables; and
fixing all parameters except a planar calibration object's m points, x m 's, and minimizing the reconstruction error.
2. A method of claim 1 comprising:
performing a camera intrinsic calibration using an object geometry;
recovering an intrinsic camera matrix as the inverse of a Clolesky factor and using a 2×3 intrinsic matrix, Kp, to recover intrinsic parameters;
fitting a homography between object and camera coordinate systems; and
recovering view transformations.
3. The method of claim 2 including performing calibration refinement.
4. The method of claim 3 including using an initial estimate of system parameters to minimize the geometric reconstruction error.
5. The method of claim 4 including iterating until convergence is achieved.
6. The method of claim 1 including fixing the reconstructed points.
7. One or more non-transitory computer readable media storing instructions to perform a sequence comprising:
performing camera calibration followed by inverse distortion fitting to correct both radial and tangential lens distortion;
thereafter calibrating for a projector that projects onto a camera image plane;
thereafter performing fine calibration to reduce geometric reconstruction error;
using system parameters and view transformation as optimization variables; and
fixing all parameters except a planar calibration object's m points, x m 's, and minimizing the reconstruction error.
8. The media of claim 7 further comprising:
performing a camera intrinsic calibration using an object geometry;
recovering an intrinsic camera matrix as the inverse of a Cholesky factor and using a 2×3 intrinsic matrix, Kp to recover intrinsic parameters;
fitting a homography between object and camera coordinate systems; and
recovering view transformations.
9. The media of claim 8 , said sequence including performing calibration refinement.
10. The media of claim 9 , said sequence including using an initial estimate of system parameters to minimize the geometric reconstruction error.
11. The media of claim 10 , said sequence including iterating until convergence is achieved.
12. The media of claim 7 , said sequence including fixing the reconstructed points.