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Analyze calibration without bad images #78

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Analyze calibration without bad images #78

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dd5dd9f
Extract filename with boost
BAILOOL Jul 1, 2024
c007810
Writing image names instead of idx
BAILOOL Aug 25, 2024
4bab45f
WIP
BAILOOL Aug 26, 2024
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54 changes: 35 additions & 19 deletions McCalib/src/McCalib.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1885,11 +1885,11 @@ void Calibration::refineAllCameraGroupAndObjects() {
*/
void Calibration::saveReprojectionImages(const int cam_id) {
// Prepare the path to save the images
std::string path_root = save_path_ + "Reprojection/";
const std::string path_root = save_path_ + "Reprojection/";
std::stringstream ss;
ss << std::setw(3) << std::setfill('0') << cam_id;
std::string cam_folder = ss.str();
std::string path_save = path_root + cam_folder + "/";
const std::string cam_folder = ss.str();
const std::string path_save = path_root + cam_folder + "/";

// check if the file exist and create it if it does not
if (!boost::filesystem::exists(path_root) && path_root.length() > 0) {
Expand All @@ -1904,7 +1904,7 @@ void Calibration::saveReprojectionImages(const int cam_id) {
// Iterate through the frames where this camera has visibility
for (const auto &it_frame : frames_) {
// Open the image
std::string im_path = it_frame.second->frame_path_[cam_id];
const std::string im_path = it_frame.second->frame_path_[cam_id];
cv::Mat image = cv::imread(im_path);

// Iterate through the camera group observations
Expand Down Expand Up @@ -1974,10 +1974,9 @@ void Calibration::saveReprojectionImages(const int cam_id) {
// cv::waitKey(1);

// Save image
std::stringstream ss1;
ss1 << std::setw(6) << std::setfill('0') << it_frame.second->frame_idx_;
std::string image_name = ss1.str() + ".jpg";
cv::imwrite(path_save + image_name, image);
const boost::filesystem::path im_path_boost(im_path);
const std::string filename = im_path_boost.filename().string();
cv::imwrite(path_save + filename, image);
}
}
}
Expand All @@ -1997,11 +1996,11 @@ void Calibration::saveReprojectionImagesAllCam() {
*/
void Calibration::saveDetectionImages(const int cam_id) {
// Prepare the path to save the images
std::string path_root = save_path_ + "Detection/";
const std::string path_root = save_path_ + "Detection/";
std::stringstream ss;
ss << std::setw(3) << std::setfill('0') << cam_id;
std::string cam_folder = ss.str();
std::string path_save = path_root + cam_folder + "/";
const std::string cam_folder = ss.str();
const std::string path_save = path_root + cam_folder + "/";

// check if the file exist and create it if it does not
if (!boost::filesystem::exists(path_root) && path_root.length() > 0) {
Expand All @@ -2016,7 +2015,7 @@ void Calibration::saveDetectionImages(const int cam_id) {
// Iterate through the frames where this camera has visibility
for (const auto &it_frame : frames_) {
// Open the image
std::string im_path = it_frame.second->frame_path_[cam_id];
const std::string im_path = it_frame.second->frame_path_[cam_id];
cv::Mat image = cv::imread(im_path);

// Iterate through the camera group observations
Expand Down Expand Up @@ -2053,10 +2052,9 @@ void Calibration::saveDetectionImages(const int cam_id) {
// cv::waitKey(1);

// Save image
std::stringstream ss1;
ss1 << std::setw(6) << std::setfill('0') << it_frame.second->frame_idx_;
std::string image_name = ss1.str() + ".jpg";
cv::imwrite(path_save + image_name, image);
const boost::filesystem::path im_path_boost(im_path);
const std::string filename = im_path_boost.filename().string();
cv::imwrite(path_save + filename, image);
}
}
}
Expand Down Expand Up @@ -2245,7 +2243,8 @@ void Calibration::saveReprojectionErrorToFile() {
std::string save_reprojection_error =
save_path_ + "reprojection_error_data.yml";
cv::FileStorage fs(save_reprojection_error, cv::FileStorage::WRITE);
cv::Mat frame_list;
// cv::Mat frame_list;
std::vector<std::string> frame_list;
int nb_cam_group = cam_group_.size();
fs << "nb_camera_group" << nb_cam_group;

Expand All @@ -2259,9 +2258,26 @@ void Calibration::saveReprojectionErrorToFile() {
std::shared_ptr<Frame> it_frame_ptr = it_frame.second.lock();
if (it_frame_ptr) {
cv::Mat camera_list;
fs << "frame_" + std::to_string(it_frame_ptr->frame_idx_);
// std::cout << "frame_path_.size() == " << it_frame_ptr->frame_path_.size() << std::endl;
// for (const auto frame_path_it : it_frame_ptr->frame_path_)
// {
// std::cout << "frame_path: " << frame_path_it.second << std::endl;
// const boost::filesystem::path im_path_boost(frame_path_it.second);
// const std::string filename = im_path_boost.stem().string();
// std::cout << "filename: " << filename << std::endl;
// }
// assert(it_frame_ptr->frame_path_.size() == 1u);

const std::string frame_path = it_frame_ptr->frame_path_.begin()->second;
const boost::filesystem::path frame_path_boost(frame_path);
const std::string frame_name = frame_path_boost.stem().string();
fs << "frame_" + frame_name;

// fs << "frame_" + std::to_string(it_frame_ptr->frame_idx_);
fs << "{";
frame_list.push_back(it_frame_ptr->frame_idx_);
frame_list.push_back(frame_name);

// frame_list.push_back(it_frame_ptr->frame_idx_);

// iterate through cameraGroupObs
std::map<int, std::weak_ptr<CameraGroupObs>> current_cam_group_obs_vec =
Expand Down
23 changes: 19 additions & 4 deletions python_utils/compute_error_statistic.py
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Original file line number Diff line number Diff line change
Expand Up @@ -45,12 +45,26 @@ def compute_error_statistic(reprojection_error_data_path: Path) -> None:
verify_num_camera_groups(fs)

camera_group_id = "camera_group_" + str(0)
frame_list = fs.getNode(camera_group_id).getNode("frame_list").mat()
# frame_list = fs.getNode(camera_group_id).getNode("frame_list").mat()
# frame_list = fs.getNode(camera_group_id).getNode("frame_list")

# frame_list[np.argmax(list_mean_error_frame)]
# frame_list[np.argmax(list_mean_error_frame.remove(np.max(list_mean_error_frame)))]

# frame_list[list_mean_error_frame.index(sorted(list_mean_error_frame)[-1])]
# frame_list[list_mean_error_frame.index(sorted(list_mean_error_frame)[-2])]
# frame_list[list_mean_error_frame.index(sorted(list_mean_error_frame)[-3])]
# frame_list[list_mean_error_frame.index(sorted(list_mean_error_frame)[-4])]

frame_list_node = fs.getNode(camera_group_id).getNode("frame_list")
frame_list: List[str] = []
for frame_idx in range(frame_list_node.size()):
frame_list.append(frame_list_node.at(frame_idx).string())
list_mean_error: List[float] = []
list_color = []
list_mean_error_frame: List[float] = []
for i in range(frame_list.shape[0]):
frame_id = "frame_" + str(frame_list[i][0])
for frame_name in frame_list:
frame_id = f"frame_{frame_name}"
camera_list = fs.getNode(camera_group_id).getNode(frame_id).getNode("camera_list").mat()
errors_current_frame = []

Expand All @@ -73,7 +87,8 @@ def compute_error_statistic(reprojection_error_data_path: Path) -> None:
for _ in range(5):
list_mean_error.append(0.0)
list_color.append(camera_color[camera_list[0][0]])

import pdb
pdb.set_trace()
visualize_and_save_results(list_mean_error_frame, reprojection_error_data_path.parent)


Expand Down
116 changes: 66 additions & 50 deletions tests/test_calibration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -80,7 +80,7 @@ void calibrateAndCheckGt(std::string config_path, std::string gt_path) {
camera_pose_matrix_gt = transform * camera_pose_matrix_gt * transform;

double fx_gt = camera_matrix_gt.at<double>(0, 0);
double fy_gt = camera_matrix_gt.at<double>(1, 0);
double fy_gt = camera_matrix_gt.at<double>(1, 1);
double cx_gt = camera_matrix_gt.at<double>(0, 2);
double cy_gt = camera_matrix_gt.at<double>(1, 2);
cv::Mat rot_gt(3, 3, CV_64F);
Expand All @@ -96,7 +96,7 @@ void calibrateAndCheckGt(std::string config_path, std::string gt_path) {
Calib.cam_group_[camera_group_idx]->getCameraPoseMat(camera_idx - 1);

double fx_pred = camera_matrix_pred.at<double>(0, 0);
double fy_pred = camera_matrix_pred.at<double>(1, 0);
double fy_pred = camera_matrix_pred.at<double>(1, 1);
double cx_pred = camera_matrix_pred.at<double>(0, 2);
double cy_pred = camera_matrix_pred.at<double>(1, 2);
cv::Mat rot_pred(3, 3, CV_64F);
Expand All @@ -107,25 +107,77 @@ void calibrateAndCheckGt(std::string config_path, std::string gt_path) {
double tran_error = getTranslationError(tran_pred, tran_gt);
double rot_error = getRotationError(rot_pred, rot_gt);

std::cout << "camera_idx: " << camera_idx << std::endl;
std::cout << "fx_diff: " << std::abs(fx_pred - fx_gt) << std::endl;
// std::cout << "fy_pred: " << fy_pred << "; fy_gt: " << fy_gt << std::endl;
std::cout << "fy_diff: " << std::abs(fy_pred - fy_gt) << std::endl;
std::cout << "cx_diff: " << std::abs(cx_pred - cx_gt) << std::endl;
std::cout << "cy_diff: " << std::abs(cy_pred - cy_gt) << std::endl;
std::cout << "tran_error: " << tran_error << std::endl;
std::cout << "rot_error: " << rot_error << std::endl;
std::cout << std::endl;

// TODO:
// 1. remove one image with the worst mean reprojection error and see how that affects the calibration
// 2. repeat the experiment with by removing more images
// 3. if that works, share the results with Francois
// 4. discuss and decide how to implement it

// perform verifications
BOOST_CHECK_CLOSE(fx_pred, fx_gt, INTRINSICS_TOLERANCE);
BOOST_CHECK_CLOSE(fy_pred, fy_gt, INTRINSICS_TOLERANCE);
BOOST_CHECK_CLOSE(cx_pred, cx_gt, INTRINSICS_TOLERANCE);
BOOST_CHECK_CLOSE(cy_pred, cy_gt, INTRINSICS_TOLERANCE);
BOOST_CHECK_SMALL(tran_error, TRANSLATION_ERROR_TOLERANCE);
BOOST_CHECK_SMALL(rot_error, ROTATION_ERROR_TOLERANCE);
// BOOST_CHECK_CLOSE(fx_pred, fx_gt, INTRINSICS_TOLERANCE);
// BOOST_CHECK_CLOSE(fy_pred, fy_gt, INTRINSICS_TOLERANCE);
// BOOST_CHECK_CLOSE(cx_pred, cx_gt, INTRINSICS_TOLERANCE);
// BOOST_CHECK_CLOSE(cy_pred, cy_gt, INTRINSICS_TOLERANCE);
// BOOST_CHECK_SMALL(tran_error, TRANSLATION_ERROR_TOLERANCE);
// BOOST_CHECK_SMALL(rot_error, ROTATION_ERROR_TOLERANCE);
}
}

BOOST_AUTO_TEST_SUITE(CheckCalibration)

BOOST_AUTO_TEST_CASE(CheckBlenderDatasetIsPlacedCorrectly) {
std::string blender_images_path = "../data/Blender_Images";
bool is_path_existent = boost::filesystem::exists(blender_images_path);
BOOST_REQUIRE_EQUAL(is_path_existent, true);
}
// BOOST_AUTO_TEST_CASE(CheckBlenderDatasetIsPlacedCorrectly) {
// std::string blender_images_path = "../data/Blender_Images";
// bool is_path_existent = boost::filesystem::exists(blender_images_path);
// BOOST_REQUIRE_EQUAL(is_path_existent, true);
// }

// BOOST_AUTO_TEST_CASE(CheckCalibrationSyntheticScenario1) {
// std::string config_path =
// "../tests/configs_for_end2end_tests/calib_param_synth_Scenario1.yml";
// std::string gt_path = "../data/Blender_Images/Scenario_1/GroundTruth.yml";
// BOOST_REQUIRE_EQUAL(boost::filesystem::exists(config_path), true);
// BOOST_REQUIRE_EQUAL(boost::filesystem::exists(gt_path), true);
// calibrateAndCheckGt(config_path, gt_path);
// }

// BOOST_AUTO_TEST_CASE(CheckCalibrationSyntheticScenario2) {
// std::string config_path =
// "../tests/configs_for_end2end_tests/calib_param_synth_Scenario2.yml";
// std::string gt_path = "../data/Blender_Images/Scenario_2/GroundTruth.yml";
// BOOST_REQUIRE_EQUAL(boost::filesystem::exists(config_path), true);
// BOOST_REQUIRE_EQUAL(boost::filesystem::exists(gt_path), true);
// calibrateAndCheckGt(config_path, gt_path);
// }

// BOOST_AUTO_TEST_CASE(CheckCalibrationSyntheticScenario3) {
// std::string config_path =
// "../tests/configs_for_end2end_tests/calib_param_synth_Scenario3.yml";
// std::string gt_path = "../data/Blender_Images/Scenario_3/GroundTruth.yml";
// BOOST_REQUIRE_EQUAL(boost::filesystem::exists(config_path), true);
// BOOST_REQUIRE_EQUAL(boost::filesystem::exists(gt_path), true);
// calibrateAndCheckGt(config_path, gt_path);
// }

// BOOST_AUTO_TEST_CASE(CheckCalibrationSyntheticScenario4) {
// std::string config_path =
// "../tests/configs_for_end2end_tests/calib_param_synth_Scenario4.yml";
// std::string gt_path = "../data/Blender_Images/Scenario_4/GroundTruth.yml";
// BOOST_REQUIRE_EQUAL(boost::filesystem::exists(config_path), true);
// BOOST_REQUIRE_EQUAL(boost::filesystem::exists(gt_path), true);
// calibrateAndCheckGt(config_path, gt_path);
// }

BOOST_AUTO_TEST_CASE(CheckCalibrationSyntheticScenario1) {
BOOST_AUTO_TEST_CASE(CheckCalibrationSyntheticScenario5) {
std::string config_path =
"../tests/configs_for_end2end_tests/calib_param_synth_Scenario1.yml";
std::string gt_path = "../data/Blender_Images/Scenario_1/GroundTruth.yml";
Expand All @@ -134,40 +186,4 @@ BOOST_AUTO_TEST_CASE(CheckCalibrationSyntheticScenario1) {
calibrateAndCheckGt(config_path, gt_path);
}

BOOST_AUTO_TEST_CASE(CheckCalibrationSyntheticScenario2) {
std::string config_path =
"../tests/configs_for_end2end_tests/calib_param_synth_Scenario2.yml";
std::string gt_path = "../data/Blender_Images/Scenario_2/GroundTruth.yml";
BOOST_REQUIRE_EQUAL(boost::filesystem::exists(config_path), true);
BOOST_REQUIRE_EQUAL(boost::filesystem::exists(gt_path), true);
calibrateAndCheckGt(config_path, gt_path);
}

BOOST_AUTO_TEST_CASE(CheckCalibrationSyntheticScenario3) {
std::string config_path =
"../tests/configs_for_end2end_tests/calib_param_synth_Scenario3.yml";
std::string gt_path = "../data/Blender_Images/Scenario_3/GroundTruth.yml";
BOOST_REQUIRE_EQUAL(boost::filesystem::exists(config_path), true);
BOOST_REQUIRE_EQUAL(boost::filesystem::exists(gt_path), true);
calibrateAndCheckGt(config_path, gt_path);
}

BOOST_AUTO_TEST_CASE(CheckCalibrationSyntheticScenario4) {
std::string config_path =
"../tests/configs_for_end2end_tests/calib_param_synth_Scenario4.yml";
std::string gt_path = "../data/Blender_Images/Scenario_4/GroundTruth.yml";
BOOST_REQUIRE_EQUAL(boost::filesystem::exists(config_path), true);
BOOST_REQUIRE_EQUAL(boost::filesystem::exists(gt_path), true);
calibrateAndCheckGt(config_path, gt_path);
}

BOOST_AUTO_TEST_CASE(CheckCalibrationSyntheticScenario5) {
std::string config_path =
"../tests/configs_for_end2end_tests/calib_param_synth_Scenario5.yml";
std::string gt_path = "../data/Blender_Images/Scenario_5/GroundTruth.yml";
BOOST_REQUIRE_EQUAL(boost::filesystem::exists(config_path), true);
BOOST_REQUIRE_EQUAL(boost::filesystem::exists(gt_path), true);
calibrateAndCheckGt(config_path, gt_path);
}

BOOST_AUTO_TEST_SUITE_END()
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