Supported models - bygreencn/kalibr GitHub Wiki

Camera models

Kalibr supports the following projection models:

  • pinhole camera model (pinhole) (intrinsics vector: [fu fv pu pv])
  • omnidirectional camera model (omni) (intrinsics vector: [xi fu fv pu pv])
  • double sphere camera model (ds) (intrinsics vector: [xi alpha fu fv pu pv])
  • extended unified camera model (eucm) (intrinsics vector: [alpha beta fu fv pu pv])

The intrinsics vector contains all parameters for the model:

  • fu, fv: focal-length
  • pu, pv: principal point
  • xi: mirror parameter (only omni)
  • xi, alpha: double sphere model parameters (only ds)
  • alpha, beta: extended unified model parameters (only eucm)

Distortion models

Kalibr supports the following distortion models:

  • radial-tangential (radtan) (distortion_coeffs: [k1 k2 r1 r2])
  • **equidistant (equi)** (distortion_coeffs: [k1 k2 k3 k4])
  • **fov (fov)** (distortion_coeffs: [w])
  • **none (none)** (distortion_coeffs: [])

References

Please cite the appropriate papers when using this toolbox or parts of it in an academic publication.

  1. 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