\page camera Camera library

This library handles camera calibration parameters and transformations, providing functions to handle between undistorted and distorted coordinate frames, and other helper functions to deal with reading and applying camera transformations.

A tool named undistort_image is provided that can undistort (and optionally crop) a given set of images.

The undistorted image dimensions, as well as the focal length and undistorted optical center will be displayed on the screen.

Usage:

export ASTROBEE_RESOURCE_DIR=$SOURCE_PATH/astrobee/resources export ASTROBEE_CONFIG_DIR=$SOURCE_PATH/astrobee/config export ASTROBEE_WORLD=granite export ASTROBEE_ROBOT=p4d

undistort_image input_dir/*[0-9].jpg --output_directory output_dir \ --robot_camera nav_cam

Options:

--image_list: A file having the list of images to undistort, one per line. If not specified it is assumed they are passed in directly on the command line.

--output_directory: Output directory. If not specified, undistorted images will saved in the same directory as the inputs.

--scale: Undistort images at different resolution, with their width being a multiple of this scale compared to the camera model. The default is 1.

--undistorted_crop_win: After undistorting, apply a crop window of these dimensions centered at the undistorted image center. The adjusted dimensions and optical center will be printed on screen. Specify as: 'crop_x crop_y'.

--save_bgr: Save the undistorted images as BGR instead of grayscale. (Some tools expect BGR.)

--histogram_equalization: If true, do histogram equalization.

--robot_camera: Which of bot's cameras to use. Tested with nav_cam and sci_cam. The default is nav_cam.