camera-intrinsic

A pure rust camera intrinsic library. Including

• calibration
• project / unproject points
• undistort image

CLI Usage

# install cli
cargo install camera-intrinsic

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

Examples

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

Acknowledgements

Links:

• https://cvg.cit.tum.de/data/datasets/visual-inertial-dataset
• https://gitlab.com/VladyslavUsenko/basalt-headers
• 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.
• Usenko, Vladyslav, Nikolaus Demmel, and Daniel Cremers. "The double sphere camera model." 2018 International Conference on 3D Vision (3DV). IEEE, 2018.

TODO

• Multi-camera extrinsic
• Stereo Rectify
• More calibration info