camera-intrinsic-calibration

A pure rust camera intrinsic calibration library.

CLI Usage

# install cli
cargo install camera-intrinsic-calibration

ccrs -h

# run intrinsic calibration on TUM vi dataset
# Download and untar
wget https://vision.in.tum.de/tumvi/exported/euroc/1024_16/dataset-calib-cam1_1024_16.tar
tar xvzf dataset-calib-cam1_1024_16.tar

# [Optional] export RUST_LOG=trace
ccrs dataset-calib-cam1_1024_16 --model eucm

Supported formats

Dataset format

• Euroc (default)

  dataset_root
  └── mav0
      └── cam0
          ├── data
          │   ├── {time_stamp}.png
          │   ├── {time_stamp}.png
          │   └── {time_stamp}.png
          └── data.csv
  

• General --dataset-format general

  dataset_root
  └── cam0
      ├── any_file_name.png
      ├── any_file_name.png
      └── any_file_name.png
  

Camera models

• Extended Unified (EUCM)
• Extended Unified with Tangential (EUCMT)
• Unified Camera Model (UCM)
• Kannala Brandt (KB4) aka OpenCV Fisheye
• OpenCV (OPENCV5) aka plumb_bob in ROS
• F-theta (FTHETA) by NVidia

Examples

cargo run -r --example convert_model

Acknowledgements

Links:

• https://cvg.cit.tum.de/data/datasets/visual-inertial-dataset
• https://github.com/itt-ustutt/num-dual
• https://github.com/sarah-quinones/faer-rs

Papers:

• Kukelova, Zuzana, et al. "Radial distortion homography." Proceedings of the IEEE conference on computer vision and pattern recognition. 2015.

TODO

• Multi-camera extrinsic
• More calibration info