camera-intrinsic-model

A pure rust camera intrinsic model library. Including

• project / unproject points
• undistort and remap image

Supported camera models are

• 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
• Fov Camera (FOV_CAMERA)

For calibration to get the precise parameters. Please use camera-intrinsic-calibration

Examples

# undistort and remap
cargo run -r --example remap

# undistort and rectify
cargo run -r --example stereo_rectify

Acknowledgements

Links:

• https://cvg.cit.tum.de/data/datasets/visual-inertial-dataset
• https://gitlab.com/VladyslavUsenko/basalt-headers

Papers:

• Usenko, Vladyslav, Nikolaus Demmel, and Daniel Cremers. "The double sphere camera model." 2018 International Conference on 3D Vision (3DV). IEEE, 2018.
• Frédréric, Devernay, and Faugeras Olivier. "Straight lines have to be straight: Automatic calibration and removal of distortion from scenes of structured enviroments." Mach. Vision Appl 13.1 (2001): 14-24.

TODO

• Stereo Rectify
• FTheta Model
• Python bindings