The Stereo Calibration sample demonstrates how to estimate the relative extrinsics of the right camera with respect to a left camera in a typical stereo setup with the NVIDIA® DriveWorks Calibration Engine.
The Stereo Calibration sample, sample_calibration_stereo
, accepts the following optional parameters. If none are specified, the relative right camera extrinsics are estimated on a default dataset.
./sample_calibration_stereo --path=[path/to/data/folder] --rig=[path/to/rig/configuration/file] --vehicle-senspr=[integer or string] --camera-sensor-left=[integer or string] --camera-sensor-right=[integer or string] --matches-max-count=[integer]
where
--path=[path/to/data] The base path to the recorded data. Default value: path/to/data/data/samples/stereo/ --rig=[path/to/rig/configuration/file] Path to the rig configuration file. Default value: path/to/data/samples/stereo/stereo_offset.json --vehicle-sensor=[integer or string] The index of n-th sensor of type CAN/DATA or the name of the can/data sensor in the rig file --camera-sensor-left=[integer or string] The index or the name of the left camera in the rig configuration file Default value: left --camera-sensor-right=[integer or string] The index or the name of the right camera in the rig configuration file Default value: right --matches-max-count=[integer] Maximum number of matches. A higher number can increase the calibration accuracy. Default value: 8000 --profiling=[0|1] When set to 1, enables sample profiling. Otherwise, profiling is disabled. Default value: 1
The sample does the following:
After convergence, the sample continue to run on the data to further improve the quality. In case of end of the file is reached, the sample will pause.
For more information on Stereo calibration, see Epipolar-based Stereo Self-Calibration.