Camera Calibration Sample

This sample demonstrates the ability to estimate camera extrinsics using the DriveWorks Calibration Engine.

Camera Calibration

Running the Sample

The default usage is ./sample_calibration_camera, and the sample reads predefined sample data.

Options are:

--path={sample_path}                                The base path to offline data
--rig=rig.xml                                       The name of the rig configuration file
--sensorIndex=0                                     The index of the camera in the rig configuration file
--video=video_0_roof_front_120.h264                 The name of the video file
--video-time=video_time_0.txt                       The name of the video time file
--can=can_vehicle.bin                               The name of the CAN file
--imu=imu_xsens.bin                                 The name of the imu file

--dbc={(sample_path}can.dbc                         The name of the CAN dbc file
--dbc-speed=Steering_Report.SPEED                   The field name for speed in the CAN data
--dbc-steeringSteering_Report.ANGLE                 The field name for angle in the CAN data
--lanenet-threshold=0.3                             The threshold for lanenet

Output

The sample creates a window, displays a video, and displays nominal calibration indicators (blue) and after convergence a corrected calibration indicators (green). Indicators are showing the estimated rig horizon + forward directions, as seen in the camera's frame.