Distortion Model Visualiser

• Supports quiver plots for now

Streamlit UI

• Below is the example for running inside a virtualenv

virtualenv env
source env/bin/activate
pip install -r requirements.txt
streamlit run stlit.py

Minimal CLI tool

python cli.py --distortion_model <model> --params <param1> <param2> ...
# Example
python3 cli.py kb4 622 622 965 631 -0.25 -0.0015 0.0007 -0.0002

Supported Distortion Models

The tool currently supports the following distortion models:

• kb4 (8 parameter version)
• ds
• radtan8
• eucm

Todo

• Parse the file uploader (JSON) and automatically input values
• Add support for multiple cameras dynamically (tabs?)
• Add project error plot like here

Resources

• Camera Model intrinsics and extrinsics