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]
where
--rig=[path/to/rig/configuration/file] Path to the rig configuration file. Default value: path/to/data/samples/recordings/suburb0/camera_offset_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 --feature-max-count=[integer] The maximum number of features for the tracker. Default value: 800
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 .