camera-intrinsic-model

A pure rust camera intrinsic model library. Including

• project / unproject points
• undistort and remap image

Supported camera models are

• Extended Unified (EUCM)
• Extended Unified with Tangential (EUCMT)
• Unified Camera Model (UCM)
• Kannala Brandt (KB4) aka OpenCV Fisheye
• OpenCV (OPENCV5) aka plumb_bob in ROS
• F-theta (FTHETA) by NVidia
• Fov Camera (FOV_CAMERA)

For calibration to get the precise parameters. Please use camera-intrinsic-calibration

Examples

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

# undistort and rectify
cargo run -r --example stereo_rectify

Benchmark

Remapping to 1024x1024 on m4 mac mini.

╭───────────────────────────────────────────────────────────────────────╮
│                                 remap                                 │
├────────────────┬──────┬───────────┬───────────┬───────────┬───────────┤
│ benchmark      │ args │   fastest │    median │      mean │    stddev │
├────────────────┼──────┼───────────┼───────────┼───────────┼───────────┤
│ mono8 normal   │ None │ 732.17 µs │ 827.00 µs │ 858.60 µs │  94.88 µs │
│ mono8 fast     │ None │ 272.00 µs │ 342.25 µs │ 360.68 µs │ 228.13 µs │
│ rgb8 normal    │ None │   1.87 ms │   2.00 ms │   2.04 ms │ 143.60 µs │
│ rgb8 fast      │ None │ 751.67 µs │ 824.54 µs │ 851.30 µs │  79.45 µs │
╰────────────────┴──────┴───────────┴───────────┴───────────┴───────────╯

Acknowledgements

Links:

• https://cvg.cit.tum.de/data/datasets/visual-inertial-dataset
• https://gitlab.com/VladyslavUsenko/basalt-headers

Papers:

• Usenko, Vladyslav, Nikolaus Demmel, and Daniel Cremers. "The double sphere camera model." 2018 International Conference on 3D Vision (3DV). IEEE, 2018.
• Frédréric, Devernay, and Faugeras Olivier. "Straight lines have to be straight: Automatic calibration and removal of distortion from scenes of structured enviroments." Mach. Vision Appl 13.1 (2001): 14-24.

TODO

• Stereo Rectify
• FTheta Model
• Python bindings