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360cam_extrinsics's Introduction

Extrinsics from correspondences

To run the code in this repository run:

 python3 main.py

This repo has a number of dependencies, among others :

  • Torch, Torchvision
  • Plyfile
  • Numba
  • Kornia
  • pytransform3d

Change the camera intrinsics

To change the intrinsics change the config/calibration.yaml file, currently only ds-none is supported.

Add more data

To add more data add more images in data/camX. Make sure the naming convention is consistent and the number of images is equal.

Change parameters

Might make an argument parser in the future, but for now you'll have to change the hyper parameters in main.py

Results

Calibrating two 195 degrees FOV fisheye lenses, we obtain the following result:

Calib results

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