ClearLines - Camera Calibration from Straight Lines

The problem of calibration from straight lines is fundamental in geometric computer vision, with well-established theoretical foundations. However, its practical applicability remains limited, particularly in real-world outdoor scenarios. These environments pose significant challenges due to diverse and cluttered scenes, interrupted reprojections of straight 3D lines, and varying lighting conditions, making the task notoriously difficult. Furthermore, the field lacks a dedicated dataset encouraging the development of respective detection algorithms. In this study, we present a small dataset named 'ClearLines', and by detailing its creation process, provide practical insights that can serve as a guide for developing and refining straight 3D line detection algorithms.