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camera-intrinsic-calibration

A pure rust camera intrinsic calibration tool.

Installation

# cargo install cli
cargo install camera-intrinsic-calibration
# Or pip install cli
pip 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

# use cargo to install rerun
cargo install rerun-cli --version 0.23.2
# or use pip to install rerun
pip install rerun-sdk==0.23.2
# visualize result
rerun results/20YYMMDD_HH_MM_SS/logging.rrd

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

Images can be either .png or .jpg, but .png is preferred if possible. PNG is lossless compression, while JPG is not.

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

Calibrate your own camera

Please follow the tutorial.

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

camera-intrinsic-calibration 0.8.0