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CameraModel

Here is two camera models commonly used in SLAM/VO, it consists of MEI and Pinhole. It can rectify image or points, lift from pixel to unit plane and project from world to pixel. It gives both implementation based on OpenCV and no-OpenCV, so that we can explore all of the algorithm.

More details see blog

Before After

1. Dependencies

It's tested in Ubuntu 16.04

1.1 OpenCV

​ OpenCV 3.2.0 is used in the code.

1.2 Eigen

​ we use Eigen 3.2.29.

1.3 GLOG

​ This is used to record log in log folder.

sudo apt-get install libgoogle-glog-dev

2. Build

​ After clone, run:

mkdir build
cd build
cmake ..
make

3. Usage

The calibration files are stored in calib folder, and the format of yaml can refer to the examples. The images are stored in data folder.

3.1 Run test

​ We can test the code using commands:

./bin/test ./calib/cam0_tumvio_mei.yaml ./data/1.png

3.2 Output

​ After finish running, corrected image will be put to data folder, and name format is:

original name + _ undist _ + model(pinhole or mei) + original extension

​ Examples:

hello.jpg ==> hello_undist_mei.jpg

REFERENCE

Author Blog: https://blog.csdn.net/darlingqiang/article/details/111559053

几篇经典的相机模型论文

  1. kb4模型
J. Kannala and S. Brandt (2006). A Generic Camera Model and Calibration Method for Conventional, Wide-Angle, and Fish-Eye Lenses, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 28, no. 8, pp. 1335-1340
  1. mei模型
Mei, Christopher, and Patrick Rives. "Single view point omnidirectional camera calibration from planar grids." Proceedings 2007 IEEE International Conference on Robotics and Automation. IEEE, 2007.
  1. ds模型
Usenko, Vladyslav, Nikolaus Demmel, and Daniel Cremers. "The double sphere camera model." 2018 International Conference on 3D Vision (3DV). IEEE, 2018.
  1. eucm模型
Khomutenko, Bogdan, Gaëtan Garcia, and Philippe Martinet. "An enhanced unified camera model." IEEE Robotics and Automation Letters 1.1 (2015): 137-144.
  1. omni模型 Scaramuzza, Davide, and Katsushi Ikeuchi. “Omnidirectional camera.” (2014): 552-560.

Reference

https://blog.51cto.com/u_13157605/6038101

https://github.com/ethz-asl/kalibr/wiki/supported-models

OpenCV中相机标定相关的文档

https://docs.opencv.org/4.5.4/d9/d0c/group__calib3d.html https://docs.opencv.org/4.5.4/d4/d94/tutorial_camera_calibration.html