hengli/camodocal

Health v2 · maintenance only

Flags: no_license

Adoption not part of the score

1302 stars · 397 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

CamOdoCal is a C++ library for automatic intrinsic and extrinsic calibration of a camera rig with multiple generic cameras and odometry. It supports pinhole, unified (catadioptric), and equidistant fish-eye camera models, and can self-calibrate multi-camera rigs from odometry or infrastructure-based maps.

Use cases

• calibrate the intrinsics of a generic or fisheye camera
• estimate the relative poses of cameras in a multi-camera rig from odometry
• extrinsic calibration of vehicle-mounted cameras against a pre-built map
• calibrate wide-angle or catadioptric cameras using the unified projection model
• set up camera calibration for an autonomous vehicle or mobile robot sensor rig
• re-calibrate multiple rigs in the same area using infrastructure-based calibration

When to choose

• you need C++ calibration supporting pinhole, unified, and equidistant fish-eye models in one tool
• you have odometry data and want automatic extrinsic calibration of a multi-camera rig without special calibration targets
• you are calibrating several rigs in the same environment and can reuse an infrastructure map
• you are working in a ROS/Linux robotics or autonomous-driving pipeline

When to avoid

• you only need simple single-camera checkerboard calibration that OpenCV already covers
• you need actively maintained software with modern build systems, recent issues triaged, or Windows support
• you want a GUI-driven calibration workflow rather than a C++ library and command-line tools
• you have no odometry or map data and only need pairwise stereo extrinsics

Facets

library · maturity maintenance

computer-vision computer-vision robotics autonomous-vehicles cpp camera-calibration intrinsic-calibration extrinsic-calibration multi-camera-rig odometry fisheye-camera pinhole-camera-model omnidirectional-camera ceres-solver ros sensor-calibration linux

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