mrcal-show-projection-diff - Visualize the difference in projection between N models


  $ mrcal-show-projection-diff before.cameramodel after.cameramodel
  ... a plot pops up showing how these two models differ in their projections


The operation of this tool is documented at

This tool visualizes the results of mrcal.projection_diff()

It is often useful to compare the projection behavior of two camera models. For instance, one may want to validate a calibration by comparing the results of two different chessboard dances. Or one may want to evaluate the stability of the intrinsics in response to mechanical or thermal stresses. This tool makes these comparisons, and produces a visualization of the results.

In the most common case we're given exactly 2 models to compare. We then display the projection difference as either a vector field or a heat map. If we're given more than 2 models, then a vector field isn't possible and we instead display as a heatmap the standard deviation of the differences between models 1..N and model0.

The top-level operation of this tool:

- Grid the imager - Unproject each point in the grid using one camera model - Apply a transformation to map this point from one camera's coord system to the other. How we obtain this transformation is described below - Project the transformed points to the other camera - Look at the resulting pixel difference in the reprojection

Several arguments control how we obtain the transformation. Top-level logic:

  if --intrinsics-only:
      Rt10 = identity_Rt()
      if --radius 0:
          Rt10 = relative_extrinsics(models)
          Rt10 = implied_Rt10__from_unprojections()

The details of how the comparison is computed, and the meaning of



controlling this, are in the docstring of mrcal.projection_diff().


  models                Camera models to diff


  -h, --help            show this help message and exit
  --gridn GRIDN GRIDN   How densely we should sample the imager. By default we
                        use a 60x40 grid
  --distance DISTANCE   Has an effect only without --intrinsics-only. The
                        projection difference varies depending on the range to
                        the observed world points, with the queried range set
                        in this argument. If omitted we look out to infinity.
                        We can also fit multiple distances at the same time by
                        passing them here in a comma-separated, whitespace-
                        less list. If multiple distances are given, we fit the
                        implied-by-the-intrinsics transformation using ALL the
                        distances, but we display the best-fitting difference
                        for each point. Only one distance is supported if
                        --vectorfield. Multiple distances are especially
                        useful if we have uncertainties: the most confident
                        distance will be found, and displayed.
  --intrinsics-only     If given, we evaluate the intrinsics of each lens in
                        isolation by assuming that the coordinate systems of
                        each camera line up exactly
  --where WHERE WHERE   Center of the region of interest for this diff. Used
                        only without --intrinsics-only and without "--radius
                        0". It is usually impossible for the models to match
                        everywhere, but focusing on a particular area can work
                        better. The implied transformation will be fit to
                        match as large as possible an area centered on this
                        argument. If omitted, we will focus on the center of
                        the imager
  --radius RADIUS       Radius of the region of interest. If ==0, we do NOT
                        fit an implied transformation at all, but use the
                        transformations in the models. If omitted or <0, we
                        use a "reasonable" value: the whole imager if we're
                        using uncertainties, or min(width,height)/6 if --no-
                        uncertainties. To fit with data across the whole
                        imager in either case, pass in a very large radius
  --observations        If given, I show where the chessboard corners were
                        observed at calibration time. These should correspond
                        to the low-diff regions.
                        If given, I overlay the valid-intrinsics regions onto
                        the plot
  --cbmax CBMAX         Maximum range of the colorbar
  --title TITLE         Title string for the plot. Overrides the default
                        title. Exclusive with --extratitle
  --extratitle EXTRATITLE
                        Additional string for the plot to append to the
                        default title. Exclusive with --title
  --vectorfield         Plot the diff as a vector field instead of as a heat
                        map. The vector field contains more information
                        (magnitude AND direction), but is less clear at a
  --vectorscale VECTORSCALE
                        If plotting a vectorfield, scale all the vectors by
                        this factor. Useful to improve legibility if the
                        vectors are too small to see
  --directions          If given, the plots are color-coded by the direction
                        of the error, instead of the magnitude
  --no-uncertainties    Used only without --intrinsics-only and without "--
                        radius 0". By default we use the uncertainties in the
                        model to weigh the fit. This will focus the fit on the
                        confident region in the models without --where or
                        --radius. The computation will run faster with --no-
                        uncertainties, but the default --where and --radius
                        may need to be adjusted
  --hardcopy HARDCOPY   Write the output to disk, instead of making an
                        interactive plot
  --terminal TERMINAL   gnuplotlib terminal. The default is good almost
                        always, so most people don't need this option
  --set SET             Extra 'set' directives to gnuplotlib. Can be given
                        multiple times
  --unset UNSET         Extra 'unset' directives to gnuplotlib. Can be given
                        multiple times



Dima Kogan, <>


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Licensed under the Apache License, Version 2.0 (the "License"); You may obtain a copy of the License at