Implementations of the camera model used in the benchmark.
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ETH3D Camera Model Implementations

This repository contains implementations of the camera model used in the ETH3D benchmark.

  • The "cpp" folder contains a C++ implementation without any dependencies.
  • The "cpp-cuda" folder contains a C++ implementation which is CUDA-compatible, i.e., it requires CUDA to compile and can be used within CUDA code (but also within CPU code).
  • The "matlab-octave" folder contains a small script which can be used to compute derivatives with MatLab or octave.

Please notice: The C++ implementations assume a different pixel coordinate convention than the camera calibrations provided by the benchmark. The calibration format used by the benchmark assumes (0, 0) in pixel coordinates to be the top-left corner of the top-left pixel, while the camera model implementations assume (0, 0) to be the center of the top-left pixel. The calibrations given by the benchmark can be easily converted to the other format by subtracting 0.5 from cx and cy.

If you use this code for research, please cite our paper:

T. Schöps, J. L. Schönberger, S. Galliani, T. Sattler, K. Schindler, M. Pollefeys, A. Geiger, "A Multi-View Stereo Benchmark with High-Resolution Images and Multi-Camera Videos", Conference on Computer Vision and Pattern Recognition (CVPR), 2017. [Bibtex][PDF][Supplementary]