more robust (#23)

* update

* tiny-solver

* drop py38 39

Author: powei-lin

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "camera-intrinsic-calibration"
-version = "0.8.0"
+version = "0.9.0"
 edition = "2024"
 authors = ["Powei Lin <poweilin1994@gmail.com>"]
 readme = "README.md"
@@ -22,26 +22,26 @@ exclude = [
 
 [dependencies]
 aprilgrid = "0.6.1"
-camera-intrinsic-model = "0.5.0"
+camera-intrinsic-model = "0.6.0"
 clap = { version = "4.5", features = ["derive"] }
 colorous = "1.0.16"
 env_logger = "0.11.8"
-faer = "0.22.6"
-glam = "0.30.3"
-glob = "0.3.2"
-image = "0.25.6"
-indicatif = { version = "0.17.11", features = ["rayon"] }
+faer = "0.23.2"
+glam = "0.30"
+glob = "0.3.3"
+image = "0.25"
+indicatif = { version = "0.18", features = ["rayon"] }
 log = "0.4.27"
-nalgebra = "0.33.2"
-rand = "0.9.1"
+nalgebra = "0.34.1"
+rand = "0.9.2"
 rand_chacha = "0.9.0"
 rayon = "1.10.0"
-rerun = "0.23.2"
-serde = { version = "1.0.219", features = ["derive"] }
-serde_json = "1.0.140"
-sqpnp_simple = "0.1.6"
-time = { version = "0.3.41", features = ["local-offset"] }
-tiny-solver = "0.17.1"
+rerun = "0.27"
+serde = { version = "1.0", features = ["derive"] }
+serde_json = "1.0"
+sqpnp_simple = "0.2.0"
+time = { version = "0.3", features = ["local-offset"] }
+tiny-solver = "0.18.0"
 
 [[bin]]
 name = "ccrs"

README.md

@@ -33,9 +33,9 @@ ccrs dataset-calib-cam1_1024_16 --model eucm
 ### Visualize details after calibration
 ```sh
 # use cargo to install rerun
-cargo install rerun-cli --version 0.23.2
+cargo install rerun-cli --version 0.27.2
 # or use pip to install rerun
-pip install rerun-sdk==0.23.2
+pip install rerun-sdk==0.27.2
 # visualize result
 rerun results/20YYMMDD_HH_MM_SS/logging.rrd
 ```

pyproject.toml

@@ -4,13 +4,11 @@ build-backend = "maturin"
 
 [project]
 name = "camera-intrinsic-calibration"
-requires-python = ">=3.8"
+requires-python = ">=3.10"
 classifiers = [
     "Programming Language :: Rust",
     "Programming Language :: Python :: Implementation :: CPython",
     "Programming Language :: Python :: Implementation :: PyPy",
-    "Programming Language :: Python :: 3.8",
-    "Programming Language :: Python :: 3.9",
     "Programming Language :: Python :: 3.10",
     "Programming Language :: Python :: 3.11",
     "Programming Language :: Python :: 3.12",

src/board.rs

@@ -49,7 +49,7 @@ impl Board {
         for r in 0..tag_rows {
             for c in 0..tag_cols {
                 let start_x = (c as f32) * tag_size_meter * (1.0 + tag_spacing);
-                let start_y = -1.0 * (r as f32) * tag_size_meter * (1.0 + tag_spacing);
+                let start_y = -(r as f32) * tag_size_meter * (1.0 + tag_spacing);
                 id_to_3d.insert(
                     count_id,
                     glam::Vec3 {

src/optimization/factors.rs

@@ -55,11 +55,11 @@ impl<T: na::RealField> Factor<T> for ModelConvertFactor {
             .iter()
             .zip(p2ds1)
             .flat_map(|(p0, p1)| {
-                if let Some(p0) = p0 {
-                    if let Some(p1) = p1 {
-                        let pp = p0 - p1;
-                        return vec![pp[0].clone(), pp[1].clone()];
-                    }
+                if let Some(p0) = p0
+                    && let Some(p1) = p1
+                {
+                    let pp = p0 - p1;
+                    return vec![pp[0].clone(), pp[1].clone()];
                 }
                 vec![T::from_f64(10000.0).unwrap(), T::from_f64(10000.0).unwrap()]
             })

src/util.rs

@@ -71,14 +71,14 @@ fn set_problem_parameter_disabled(
 
 fn features_avg_center(features: &HashMap<u32, FeaturePoint>) -> glam::Vec2 {
     features
-        .iter()
-        .map(|(_, p)| p.p2d)
+        .values()
+        .map(|p| p.p2d)
         .reduce(|acc, e| acc + e)
         .unwrap()
         / features.len() as f32
 }
 fn features_covered_area(features: &HashMap<u32, FeaturePoint>) -> f32 {
-    let (xmin, ymin, xmax, ymax) = features.iter().map(|(_, p)| p.p2d).fold(
+    let (xmin, ymin, xmax, ymax) = features.values().map(|p| p.p2d).fold(
         (f32::MAX, f32::MAX, f32::MIN, f32::MIN),
         |acc, e| {
             let xmin = acc.0.min(e.x);
@@ -397,6 +397,9 @@ pub fn calib_camera(
                         .map(|p2| (p3, glam::Vec2::new(p2.x as f32, p2.y as f32)))
                 })
                 .unzip();
+            if p3ds.len() < 10 {
+                continue;
+            }
             valid_indexes.push(i);
             let (rvec, tvec) =
                 rtvec_to_na_dvec(sqpnp_simple::sqpnp_solve_glam(&p3ds, &p2ds_z).unwrap());