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single-Image-Calibration

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Implementation and visualisation of multiple classical linear calibration methods for a single image

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# single image calibration

[![View singleImageCalibration on File Exchange](https://www.mathworks.com/matlabcentral/images/matlab-file-exchange.svg)](https://ww2.mathworks.cn/matlabcentral/fileexchange/116875-singleimagecalibration)
[![Open in MATLAB Online](https://www.mathworks.com/images/responsive/global/open-in-matlab-online.svg)](https://matlab.mathworks.com/open/github/v1?repo=cuixing158/singleImageCalibration&file=demoOneImgCalibrate.mlx)
[![Sponsor](https://img.shields.io/badge/Sponsor-%E2%9D%A4-red)](https://raw.githubusercontent.com/cuixing158/OpticalFlow-Visualization/refs/heads/main/README_media/sponsors.jpg)

## 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](https://en.wikipedia.org/wiki/Pinhole_camera_model#The_geometry_and_mathematics_of_the_pinhole_camera), 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](https://html-preview.github.io/?url=https://github.com/cuixing158/single-Image-Calibration/blob/main/demoOneImgCalibrate.html) :arrow_forward:[Run the example](https://matlab.mathworks.com/open/github/v1?repo=cuixing158/singleImageCalibration&file=demoOneImgCalibrate.mlx)

## Requirements

- MATLAB® R2022b or later(Because Computer Vision Toolbox™ has [switched to the "Premultiply Convention"](https://ww2.mathworks.cn/help/images/migrate-geometric-transformations-to-premultiply-convention.html) 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](https://github.com/cuixing158/singleImageCalibration/tree/1.0)!

## 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

<center>
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);"
    src="./images/interactionDraw.jpg">
    <br>
    <div style="color:orange; border-bottom: 1px solid #d9d9d9;
    display: inline-block;
    color: #999;
    padding: 2px;">Draw Mapping</div>
</center>

<center>
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);"
    src="images/birdView2.jpg">
    <br>
    <div style="color:orange; border-bottom: 1px solid #d9d9d9;
    display: inline-block;
    color: #999;
    padding: 2px;">Vanishing Lines Overview</div>
</center>

<center>
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);"
    src="./images/cameraProject3.jpg">
    <br>
    <div style="color:orange; border-bottom: 1px solid #d9d9d9;
    display: inline-block;
    color: #999;
    padding: 2px;">Stereo Visualization</div>
</center>

<center>
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);"
    src="./images/triPlot2.jpg">
    <br>
    <div style="color:orange; border-bottom: 1px solid #d9d9d9;
    display: inline-block;
    color: #999;
    padding: 2px;">Trirectangular Tetrahedron</div>
</center>

## Implementation and Get Started

Implemented in "lean and elegant" code that is easy to read. See `demoOneImgCalibrate.mlx` or [demoOneImgCalibrate.md](./demoOneImgCalibrate.md) format entry file.

To getting started,there are two ways：

- click [![Open in MATLAB Online](https://www.mathworks.com/images/responsive/global/open-in-matlab-online.svg)](https://matlab.mathworks.com/open/github/v1?repo=cuixing158/singleImageCalibration&file=demoOneImgCalibrate.mlx) 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](http://vision.stanford.edu/teaching/cs231a_autumn1112/lecture/lecture8_camera_calibration_cs231a_marked.pdf)
3. [Geometry of a single camera](http://saurabhg.web.illinois.edu/teaching/ece549/sp2021/slides/lec14_calibration.pdf)

single-Image-Calibration

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