Merge pull request #1524 from alicevision/mug/intrinsicsCalibration

[software] new intrinsics calibration software

BIBLIOGRAPHY.md

@@ -119,3 +119,6 @@
 
 [Bok] **Automated checkerboard detection and indexing using circular boundaries**
     Yunsu Bok, Hyowon Ha, In So Kweon.
+
+[Zhang] **A flexible new technique for camera calibration**
+    Zhengyou Zhang (1998).

src/aliceVision/sfm/bundle/BundleAdjustmentCeres.cpp

@@ -289,8 +289,8 @@ ceres::CostFunction* createRigCostFunctionFromIntrinsics(const IntrinsicBase* in
       return new ceres::AutoDiffCostFunction<ResidualErrorFunctor_Pinhole3DEClassicLD, 2, 9, 6, 6, 3>(
         new ResidualErrorFunctor_Pinhole3DEClassicLD(w, h, obsUndistorted));
     case EINTRINSIC::PINHOLE_CAMERA_3DEANAMORPHIC4:
-      return new ceres::AutoDiffCostFunction<ResidualErrorFunctor_Pinhole3DEAnamorphic4, 2, 18, 6, 6, 3>(
-        new ResidualErrorFunctor_Pinhole3DEAnamorphic4(w, h, obsUndistorted));
+      return new ceres::AutoDiffCostFunction<ResidualErrorFunctor_Pinhole, 2, 4, 6, 6, 3>(
+        new ResidualErrorFunctor_Pinhole(w, h, obsUndistorted));
     case EINTRINSIC::PINHOLE_CAMERA_BROWN:
       return new ceres::AutoDiffCostFunction<ResidualErrorFunctor_PinholeBrownT2, 2, 9, 6, 6, 3>(
         new ResidualErrorFunctor_PinholeBrownT2(w, h, obsUndistorted));

src/aliceVision/sfmDataIO/sfmDataIO.cpp

@@ -29,24 +29,40 @@ namespace sfmDataIO {
 bool ValidIds(const sfmData::SfMData& sfmData, ESfMData partFlag)
 {
   const bool bCheck_Intrinsic = (partFlag & INTRINSICS);
+  const bool bCheck_Rig = (partFlag & EXTRINSICS);
 
+  // Collect intrinsic IDs  declared
   std::set<IndexT> intrinsicIdsDeclared;
   transform(sfmData.getIntrinsics().begin(), sfmData.getIntrinsics().end(),
     std::inserter(intrinsicIdsDeclared, intrinsicIdsDeclared.begin()), stl::RetrieveKey());
 
-  // Collect id_intrinsic referenced from views
+  // Collect rig IDs  declared
+  std::set<IndexT> rigIdsDeclared;
+  transform(sfmData.getRigs().begin(), sfmData.getRigs().end(),
+    std::inserter(rigIdsDeclared, rigIdsDeclared.begin()), stl::RetrieveKey());
+
+  // Collect intrinsic IDs referenced from views
   std::set<IndexT> intrinsicIdsReferenced;
   for(const auto& v: sfmData.getViews())
   {
     const IndexT id_intrinsic = v.second.get()->getIntrinsicId();
     intrinsicIdsReferenced.insert(id_intrinsic);
   }
 
-  // We may have some views with undefined Intrinsics,
+  // Collect rig IDs referenced from views
+  std::set<IndexT> rigIdsReferenced;
+  for(const auto& v: sfmData.getViews())
+  {
+    const IndexT id_rig = v.second.get()->getRigId();
+    rigIdsReferenced.insert(id_rig);
+  }
+
+  // We may have some views with undefined intrinsic/rig,
   // so erase the UndefinedIndex value if exist.
   intrinsicIdsReferenced.erase(UndefinedIndexT);
+  rigIdsReferenced.erase(UndefinedIndexT);
 
-  // Check if defined intrinsic & extrinsic are at least connected to views
+  // Check if defined intrinsics are at least connected to views
   bool bRet = true;
   if(bCheck_Intrinsic && intrinsicIdsDeclared != intrinsicIdsReferenced)
   {
@@ -64,6 +80,23 @@ bool ValidIds(const sfmData::SfMData& sfmData, ESfMData partFlag)
       bRet = false; // error
   }
 
+  // Check if defined rigs are at least connected to views
+  if(bCheck_Rig && rigIdsDeclared != rigIdsReferenced)
+  {
+    ALICEVISION_LOG_WARNING("The number of rigs is incoherent:");
+    ALICEVISION_LOG_WARNING(rigIdsDeclared.size() << " rigs declared and " << rigIdsReferenced.size() << " rigs used.");
+    std::set<IndexT> undefinedRigIds;
+    // undefinedRigIds = rigIdsReferenced - rigIdsDeclared
+    std::set_difference(rigIdsReferenced.begin(), rigIdsReferenced.end(),
+                        rigIdsDeclared.begin(), rigIdsDeclared.end(), 
+                        std::inserter(undefinedRigIds, undefinedRigIds.begin()));
+    // If undefinedRigIds is not empty,
+    // some rigs are used in Views but never declared.
+    // So the file structure is invalid and may create troubles.
+    if(!undefinedRigIds.empty())
+      bRet = false; // error
+  }
+
   return bRet;
 }
 

src/software/pipeline/CMakeLists.txt

@@ -244,6 +244,22 @@ if(ALICEVISION_BUILD_SFM)
               Boost::json
     )
 
+    alicevision_add_software(aliceVision_checkerboardCalibration
+        SOURCE main_checkerboardCalibration.cpp
+        FOLDER ${FOLDER_SOFTWARE_PIPELINE}
+        LINKS aliceVision_dataio
+              aliceVision_image
+              aliceVision_calibration
+              aliceVision_system
+              aliceVision_cmdline
+              aliceVision_sfmDataIO
+              aliceVision_multiview
+              aliceVision_sfm
+              Boost::program_options
+              Boost::json
+              Boost::boost
+    )
+
     # Calibrate a rig
     alicevision_add_software(aliceVision_rigCalibration
         SOURCE main_rigCalibration.cpp