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README.txt
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README.txt
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The project is separated into two Python 3 scripts. The first is Calibrate.py which outputs camera calibration parameters to the file “camera_params.txt”. Note that for Calibrate.py, I pulled and modified the code at the http://opencv-python-tutroals.readthedocs.org/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html, so it looks quite similar. These are my results using both (0, 0) and (1.0, 1.0) as the aperture size.
Provided images:
(1.0, 1.0) aperture size
fovx: 50.88779098043821
fovy: 65.45637670741117
focal length: 1.0509188918468453
fx: 504.441068086
fy: 497.912224221
principal point x: 419.154103071
principal point y: 232.983232208
k1: 0.0405736467461
k2: -0.0156376898039
p1: -0.00143055555147
p2: 0.00744932320996
(0.0, 0.0) aperture size was the same except it had a focal length of 504.44106808648576, which makes sense because the focal length is probably returned in the same units of aperture size.
My Webcam images located in the CheckerboardImages2 folder:
(1.0, 1.0) aperture size
fovx: 37.51186968514057
fovy: 62.321954777339876
focal length: 1.4724514007986627
fx: 1060.16500858
fy: 1058.39174481
principal point x: 634.384485411
principal point y: 392.141255088
k1: 0.097549607668
k2: -0.196198446497
p1: 0.00302332305484
p2: -0.00373084910959
(0.0, 0.0) aperture size was the same except it had a focal length of 1060.165008575037.
Questions:
1. I’d argue that the provided camera images have a wider angle because the field of view in both the x and the y direction is greater than my webcam. Tangential distortion seems similar, but my camera had larger radial distortion.
2. The reprojection error, regardless of aperture size parameters, was 0.050941459316985745 for my webcam and 0.09625384164950185 for the provided images. These are both fairly small, however the difference could simply be explained by the differences in distortion parameter estimates. If one camera has better estimates, you could see a small difference in reprojection.
The second portion of my project, augment.py, takes those parameters as input and an optional —-video flag if there is a supplied video. If just using the webcam, the call is python3 Augment.py camera_params.txt.