update (#13)

Author: powei-lin

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "camera-intrinsic-calibration"
-version = "0.5.5"
+version = "0.5.6"
 edition = "2021"
 authors = ["Powei Lin <poweilin1994@gmail.com>"]
 readme = "README.md"
@@ -23,25 +23,25 @@ exclude = [
 [dependencies]
 aprilgrid = "0.5.3"
 camera-intrinsic-model = "0.3.1"
-clap = { version = "4.5.24", features = ["derive"] }
+clap = { version = "4.5.31", features = ["derive"] }
 colorous = "1.0.15"
 env_logger = "0.11.6"
 faer = "0.20.2"
 glam = "0.29.2"
 glob = "0.3.2"
 image = "0.25.5"
-indicatif = { version = "0.17.9", features = ["rayon"] }
-log = "0.4.22"
+indicatif = { version = "0.17.11", features = ["rayon"] }
+log = "0.4.26"
 nalgebra = "0.33.2"
-rand = "0.8.5"
-rand_chacha = "0.3.1"
+rand = "0.9.0"
+rand_chacha = "0.9.0"
 rayon = "1.10.0"
 rerun = "0.17.0"
-serde = { version = "1.0.217", features = ["derive"] }
-serde_json = "1.0.134"
+serde = { version = "1.0.218", features = ["derive"] }
+serde_json = "1.0.139"
 sqpnp_simple = "0.1.5"
 time = "0.3.37"
-tiny-solver = "0.14.1"
+tiny-solver = "0.14.2"
 
 [[bin]]
 name = "ccrs"

README.md

@@ -60,6 +60,7 @@ rerun results/20YYMMDD_HH_MM_SS/logging.rrd
         ├── any_file_name.png
         └── any_file_name.png
     ```
+    Images can be either `.png` or `.jpg`, but `.png` is preferred if possible. PNG is lossless compression, while JPG is not.
 ### Camera models
 * Extended Unified (EUCM)
 * Extended Unified with Tangential (EUCMT)

src/optimization/homography.rs

@@ -210,7 +210,7 @@ pub fn radial_distortion_homography(
         })
         .collect();
     let ransac_times = 1000;
-    let mut rng = rand::thread_rng();
+    let mut rng = rand::rng();
 
     let mut best_lambda = 0.0;
     let mut best_homography_mat = na::Matrix3::zeros();

src/util.rs

@@ -170,7 +170,7 @@ pub fn find_best_two_frames_idx(
         }
     }
     if random_pick {
-        let mut rng = rand::thread_rng();
+        let mut rng = rand::rng();
         max_detection_idxs.shuffle(&mut rng);
         return (max_detection_idxs[0], max_detection_idxs[1]);
     }

src/visualization.rs

@@ -28,7 +28,7 @@ pub fn log_image_as_compressed(
 
 pub fn id_to_color(id: usize) -> (u8, u8, u8, u8) {
     let mut rng = ChaCha8Rng::seed_from_u64(id as u64);
-    let color_num = rng.gen_range(0..2u32.pow(24));
+    let color_num = rng.random_range(0..2u32.pow(24));
     (
         ((color_num >> 16) % 256) as u8,
         ((color_num >> 8) % 256) as u8,