https://github.com/juliarobotics/cameramodels.jl
Basic Camera Models including pinhole, radial distortion and more.
https://github.com/juliarobotics/cameramodels.jl
Last synced: 6 months ago
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Basic Camera Models including pinhole, radial distortion and more.
- Host: GitHub
- URL: https://github.com/juliarobotics/cameramodels.jl
- Owner: JuliaRobotics
- License: mit
- Created: 2020-12-08T03:35:48.000Z (over 5 years ago)
- Default Branch: develop
- Last Pushed: 2024-12-17T09:13:38.000Z (over 1 year ago)
- Last Synced: 2025-02-23T14:05:40.546Z (over 1 year ago)
- Language: Julia
- Size: 755 KB
- Stars: 6
- Watchers: 6
- Forks: 0
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
- Changelog: NEWS.md
- License: LICENSE
Awesome Lists containing this project
README
# NOTICE
This package is meant to consolidate the camera models previously found in the Julia package ecosystem. There are still many gaps and community contributions are encouranged.
# CameraModels.jl
Basic Camera Models including pinhole, radial distortion etc.
> Click on badges to follow links:
| Stable Release | Dev branch | Coverage | Documentation |
|----------------|------------|----------|---------------|
| [![cms-ci-stb][cms-ci-stb-img]][cms-ci-stb-url]
[![version][cms-ver-img]][cms-rel-url] | [![cms-ci-dev-img]][cms-ci-dev-url] | [![cms-cov-img]][cms-cov-url] | [![cjl-slack-badge]][cjl-slack]
[![caesar-docs]][cjl-docs-url] |
## Consolidated Package of Camera Models from Julia Community
The following camera calibration / projection models were found and consolidated in to a common `CameraCalibration` type with many helper functions to facility downstream adoption of this package:
- `JuliaRobotics/SensorFeatureTracking.jl`: `PinholeCamera`, `CameraIntrinsics`, `CameraExtrinsics`,`CameraModelFull`
- `yakir12/CameraModels`: `Pinhole`
- `JuliaImages/CameraGeometry.jl`
- More models to consolidate: https://github.com/JuliaRobotics/CameraModels.jl/issues/1#issuecomment-1144740912
# JuliaRobotics/CameraModels.jl Image Convention
The image convention is intended to be the best compromise between [JuliaImages's unified Array stack](https://github.com/JuliaImages/Images.jl), and established [OpenCV](https://opencv.org/) conventions. Also see [Augmentor.jl's Images description](https://evizero.github.io/Augmentor.jl/stable/images/#Working-with-Images-in-Julia), and open issues to help resolve miscommunication or convention issues. The following figure is hosted in this repo, with raw image for easy update via [Excalidraw.com](docs/imgs/JuliaRoboticsImgConv.excalidraw).
## Camera frame and pixel indices
## Robotics reference to camera frame
# Roadmap
Project organization is currently done here:
- [https://github.com/orgs/JuliaRobotics/projects/9/views/1](https://github.com/orgs/JuliaRobotics/projects/9/views/1)
## Initial TODO List
- [x] Copy existing camera code from Caesar.jl and RoME.jl here,
- [x] Functional tests for consolidated CameraCalibration type
- [x] Implement radial distortion computations,
- [ ] Numerical tests for pinhole camera model,
- [ ] Homography point projections in 2D,
- [ ] Improve documentation,
- [ ] Integrate downstream with packages like AprilTags.jl and Caesar.jl
- [ ] Tests for radial distortion model,
- [ ] Homogeneous coordinates model,
- [ ] ...
## History
See NEWS.md.
[cms-ci-dev-img]: https://github.com/JuliaRobotics/CameraModels.jl/actions/workflows/ci.yml/badge.svg
[cms-ci-dev-url]: https://github.com/JuliaRobotics/CameraModels.jl/actions/workflows/ci.yml
[cms-ci-stb-img]: https://github.com/JuliaRobotics/CameraModels.jl/actions/workflows/ci.yml/badge.svg?branch=release%2Fv0.1
[cms-ci-stb-url]: https://github.com/JuliaRobotics/CameraModels.jl/actions/workflows/ci.yml
[cms-ver-img]: https://juliahub.com/docs/CameraModels/version.svg
[cms-rel-url]: https://github.com/JuliaRobotics/CameraModels.jl/releases
[cms-milestones]: https://github.com/JuliaRobotics/CameraModels.jl/milestones
[cms-cov-img]: https://codecov.io/github/JuliaRobotics/CameraModels.jl/coverage.svg?branch=main
[cms-cov-url]: https://codecov.io/github/JuliaRobotics/CameraModels.jl?branch=main
[caesar-docs]: https://img.shields.io/badge/CaesarDocs-latest-blue.svg
[cjl-docs-url]: http://juliarobotics.github.io/Caesar.jl/latest/
[cjl-slack-badge]: https://img.shields.io/badge/Caesarjl-Slack-green.svg?style=popout
[cjl-slack]: https://join.slack.com/t/caesarjl/shared_invite/zt-ucs06bwg-y2tEbddwX1vR18MASnOLsw