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

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