mrcal commandline tools

A number of commandline tools are available for common tasks, obviating the need to write any code. The available tools, with links to their manpages:

Calibration

mrcal-calibrate-cameras: Calibrate N cameras. This is the main tool to solve "calibration" problems, and a how-to page describes this specific use case.
mrcal-cull-corners: Filters a corners.vnl on stdin to cut out some points. Used primarily for testing

Visualization

mrcal-show-projection-diff: visualize the difference in projection between N models
mrcal-show-projection-uncertainty: visualize the expected projection error due to uncertainty in the calibration-time input
mrcal-show-valid-intrinsics-region: visualize the region where a model's intrinsics are valid
mrcal-show-geometry: show a visual representation of the geometry represented by some camera models on disk, and optionally, the chessboard observations used to compute that geometry
mrcal-show-distortion-off-pinhole: visualize the deviation of a specific lens model from a pinhole model
mrcal-show-splined-model-correction: visualize the projection corrections defined by a splined model
mrcal-show-residuals-board-observation: visualize calibration residuals for one or more observations of a board
mrcal-show-residuals: visualize calibration residuals in an imager

Camera model manipulation

mrcal-convert-lensmodel: Fits the behavior of one lens model to another
mrcal-graft-models: Combines the intrinsics of one cameramodel with the extrinsics of another
mrcal-to-cahvor: Converts a model stored in the native .cameramodel file format to the .cahvor format. This exists for compatibility only, and does not touch the data: any lens model may be used
mrcal-from-cahvor: Converts a model stored in the .cahvor file format to the .cameramodel format. This exists for compatibility only, and does not touch the data: any lens model may be used
mrcal-to-kalibr: Converts a model stored in the native .cameramodel file format to the .yaml format used by kalibr.
mrcal-from-kalibr: Converts a model stored in .yaml files used by kalibr to the .cameramodel format.
mrcal-from-ros: Converts a model stored in .yaml files used by ROS and OpenCV to the .cameramodel format.

Reprojection

mrcal-reproject-image: Given image(s) and lens model(s), produces a new set of images that observe the same scene with a different model. Several flavors of functionality are included here, such as undistortion-to-pinhole, re-rotation, and remapping to infinity.
mrcal-reproject-points: Given two lens models and a set of pixel coodinates, maps them from one lens model to the other

Miscellaneous utilities

mrcal-is-within-valid-intrinsics-region: Augments a vnlog of pixel coordinates with a column indicating whether or not each point lies within the valid-intrinsics region

Stereo and triangulation

mrcal-stereo: Dense stereo processing. Given pairs of images captured by a given pair of camera models, runs stereo matching to produce disparity and range images.
mrcal-triangulate: Sparse stereo processing. Given a pair of images captured by a given pair of camera models, reports the range to a queried feature and its sensitivities to all the inputs. Very useful in diagnosing accuracy issues in the intrinsics and extrinsics.