#intrinsics #fisheye #camera-intrinsic

bin+lib camera-intrinsic-calibration

Camera Intrinsic Calibration

18 releases (4 breaking)

new 0.5.4 Dec 29, 2024
0.5.3 Dec 26, 2024
0.4.3 Dec 12, 2024
0.3.0 Dec 6, 2024
0.1.6 Dec 4, 2024

#179 in Math

Download history 273/week @ 2024-11-27 899/week @ 2024-12-04 526/week @ 2024-12-11 348/week @ 2024-12-18 300/week @ 2024-12-25

2,194 downloads per month

GPL-3.0-or-later

81KB
2K SLoC

camera-intrinsic-calibration

crate

A pure rust camera intrinsic calibration library.

Installation

# install cli
cargo install camera-intrinsic-calibration

Or download from the latest release.

CLI Usage

# camera-calibration-rs
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 xf dataset-calib-cam1_1024_16.tar

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

Visualize details after calibration

cargo install rerun-cli --version 0.17.0
rerun results/20YYMMDD_HH_MM_SS/logging.rrd
example detection

Supported formats

Dataset format

  • Euroc (default)
    dataset_root
    └── mav0
        ├── cam0
        │   └── data
        │       ├── {time_stamp}.png
        │       ├── {time_stamp}.png
        │       └── {time_stamp}.png
        └── cam1
            └── data
                ├── {time_stamp}.png
                ├── {time_stamp}.png
                └── {time_stamp}.png
    
  • General --dataset-format general
    dataset_root
    ├── cam0
    │   ├── any_file_name.png
    │   ├── any_file_name.png
    │   └── any_file_name.png
    └── cam1
        ├── 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:

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

Dependencies

~42–72MB
~1.5M SLoC