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research:vslam:double-sphere [2018/08/20 17:16] usenko |
research:vslam:double-sphere [2019/08/23 15:38] usenko |
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+ | ==== Open-Source Calibration Tool ==== | ||
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+ | {{: | ||
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+ | The open-source code for calibration is available here: | ||
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+ | https:// | ||
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+ | (GitHub mirror: https:// | ||
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+ | Follow the corresponding [[https:// | ||
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==== Datasets and Calibration Results ==== | ==== Datasets and Calibration Results ==== | ||
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{{: | {{: | ||
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==== Kalibr Example ==== | ==== Kalibr Example ==== | ||
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+ | We have contributed the implementation of **Extended Unified Camera Model (EUCM)** and **Double Sphere Camera Model (DS)** to open-source calibration tool [[https:// | ||
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+ | {{: | ||
- | We have contributed the implementation of **Extended Unified Camera Model (EUCM)** and **Double Sphere Camera Model (DS)** to [[https:// | ||
The example of multi-camera and IMU calibration for [[https:// | The example of multi-camera and IMU calibration for [[https:// | ||
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done | done | ||
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- | **Note:** Kalibr fails to calibrate pinhole-equi on the TUMVI calibration sequence, which might be a limitation of the way this is implemented in Kalibr. First, Kalibr implements Kannala-Brandt (which corresponds to pinhole-equi in Kalibr) as pinhole+distortion, | ||
Example of camera calibration for the Double Sphere paper dataset ({{ : | Example of camera calibration for the Double Sphere paper dataset ({{ : | ||
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done | done | ||
</ | </ | ||
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+ | **Note:** Kalibr fails to calibrate pinhole-equi on the TUMVI calibration sequence, which might be a limitation of the model implementation by Kalibr. First, Kalibr implements Kannala-Brandt (which corresponds to pinhole-equi in Kalibr) as pinhole+distortion, | ||