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research:vslam:double-sphere [2018/08/20 17:17]
Vladyslav Usenko
research:vslam:double-sphere [2018/08/20 17:23]
Vladyslav Usenko
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 ==== Kalibr Example ==== ==== Kalibr Example ====
  
-We have contributed the implementation of **Extended Unified Camera Model (EUCM)** and **Double Sphere Camera Model (DS)** to [[https://​github.com/​ethz-asl/​kalibr | Kalibr]]. See [[https://​github.com/​ethz-asl/​kalibr/​wiki/​supported-models| Supported Camera Models]] and examples below for details. ​+We have contributed the implementation of **Extended Unified Camera Model (EUCM)** and **Double Sphere Camera Model (DS)** to open-source calibration tool [[https://​github.com/​ethz-asl/​kalibr | Kalibr]]. See [[https://​github.com/​ethz-asl/​kalibr/​wiki/​supported-models| Supported Camera Models]] and examples below for details. ​
  
 {{:​research:​vslam:​double-sphere:​kalibr.png?​600|}} {{:​research:​vslam:​double-sphere:​kalibr.png?​600|}}
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 done done
 </​code>​ </​code>​
- 
-**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,​ which limits it to below 180 deg, where this lens is around 190 deg FOV. Second, Kalibr does initialization by optimizing with a single image, which may result in divergence when the parameters are not well constrained by a single image. We found with our own calibration tool that the Kanala-Brandt model can fit this lens quite well. 
  
 Example of camera calibration for the Double Sphere paper dataset ({{ :​research:​vslam:​double-sphere:​ds_results.zip |results}}):​ Example of camera calibration for the Double Sphere paper dataset ({{ :​research:​vslam:​double-sphere:​ds_results.zip |results}}):​
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 done done
 </​code>​ </​code>​
 +
 +**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,​ which limits it to below field-of-view below 180 deg. The tested lens has 190 deg FOV. Second, Kalibr does initialization by optimizing with a single image, which may result in divergence when the parameters are not well constrained by a single image. We found with our own calibration tool that the Kanala-Brandt model can fit the lens quite well.
  

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