# hengli/camodocal

CamOdoCal: Automatic Intrinsic and Extrinsic Calibration of a Rig with Multiple Generic Cameras and Odometry

Repository: https://github.com/hengli/camodocal
Canonical: https://ross.abutalabs.com/products/camodocal
Language: C++
License: NOASSERTION
License Family: other
Last push: 2023-04-04T13:11:54+00:00

## Health v2 (maintenance only)
Score: 23/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 0, release rhythm 8, longevity 100
- inputs: {"age_days": 4920, "days_push": 1247, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_license
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1302, forks 397 (observed 2026-08-28T04:04:18.154651+00:00)

## What it is
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
- artifact type: library
- maturity: maintenance
- function: computer-vision
- domain: computer-vision, robotics, autonomous-vehicles
- platform: cpp
- tags: camera-calibration, intrinsic-calibration, extrinsic-calibration, multi-camera-rig, odometry, fisheye-camera, pinhole-camera-model, omnidirectional-camera, ceres-solver, ros, sensor-calibration, linux

## Member repositories
- hengli/camodocal (main) score 23

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:04:18.154651+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T04:52:09.584109+00:00, confidence not recorded.
  - readme: https://github.com/hengli/camodocal (fetched 2026-08-28T04:04:18.154651+00:00, sha b8d04ec63007)
- Data as of 2026-08-30T08:39:29.467469+00:00.