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Event Camera Calibration

  1. 'modules/camera_calibration/cv_calib' is the conventional camera calibration module.
  2. 'modules/camera_calibration/dbscan' is the DBSCAN cluster algorithm.
  3. 'modules/camera_calibration/event' is the base classes for events.
  4. 'modules/camera_calibration/event_camera_calib' is the proposed event camera calibration algorithm.

Usage

  1. Store events in binary file, an event is represented as
     double timestamp; // second
     double x;
     double y;
     bool polarity;
    
    There is an example in modules/camera_calibration/event/tool/txt2bin.cpp.
  2. Modify the config file. There is an example in parameter/event_calibration/example.yaml.
  3. Run: unit_test_eventCameraCalib configFilePath binFilePath SaveDirPath

Video

Experiments Video

References

<a id="1">[1]</a> Kun Huang, Yifu Wang, and Laurent Kneip. "Dynamic Event Camera Calibration." 2021 IEEE International Conference on Intelligent Robots and Systems (IROS). IEEE, 2021.