supported models - stereolabs/kalibr GitHub Wiki

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)

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: [])

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