This sample demonstrates the estimation of camera extrinsic calibration parameters using the NVIDIA® DriveWorks Calibration Engine.
The camera calibration sample, sample_calibration_camera, accepts the following optional parameters. If none are specified, the camera extrinsics are estimated on a default dataset.
./sample_calibration_camera --rig=[path/to/rig/configuration/file]
--camera-sensor=[integer/sensor-name]
--imu-sensor=[integer/sensor-name]
--can-sensor=[integer/sensor-name]
--signals='default', or any combination of ['pitchyaw','roll','height'] substrings
--feature-max-count=[integer]
--autoExit=[0|1]
where
--rig=[path/to/rig/configuration/file]
Path to the rig configuration file.
Default value: path/to/data/samples/recordings/suburb0/rig.json
--camera-sensor=[integer]
The index or name of the camera sensor in the rig configuration file to calibrate
Default value: 0
--imu-sensor=[integer]
The index or name of the IMU sensor in the rig configuration file
Default value: 0
--can-sensor=[integer]
The index or name of the CAN sensor in the rig configuration file
Default value: 0
--signals='default', or any combination of ['pitchyaw','roll','height'] substrings
The camera extrinsic parameters to estimate, given as any combination of
['pitchyaw','roll','height'] substrings, or 'default'.
For instance, the combination `pitchyawroll` will enable estimation of all
orientation components (roll+pitch+yaw), if supported by the chosen method.
'default' enables signals that are well-supported by the calibrated sensor.
For instance, the calibration of less signals might be activated by default
for side-facing cameras compared to front-facing cameras.
Default value: default
--fast-acceptance: ['default', 'enabled', 'disabled']
If previously accepted estimates are available, fast-acceptance is a method
to reduce re-calibration times in case the previous estimates can be
validated with latest measurements. This option allows to configure the
fast-acceptance behaviour of the camera calibration routine.
Default value: 'disabled' (to illustrate calibration from scratch)
--feature-max-count=[integer]
The maximum number of features for the tracker.
Default value: 800
--autoExit=[0|1]
Used for auto-exit function:
0: sample replayes when reaching the end of the data stream.
1: sample auto exits when reaching the end of the data stream.
Default value: 0
The sample does the following:
Indicators show the estimated rig horizon and forward directions, as seen from the camera's pose relative to the rig. The resulting display shows a visualization of the nominal and estimated extrinsic calibration parameters.
For more details on camera calibration see Feature-based Camera Self-Calibration .