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shuaiqing 9bde27ca60 add calibration code		2021-03-02 17:17:47 +08:00
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calib_extri.py	add calibration code	2021-03-02 17:17:47 +08:00
calib_intri.py	add calibration code	2021-03-02 17:17:47 +08:00
Readme.md	add calibration code	2021-03-02 17:17:47 +08:00

Readme.md

Camera Calibration

0. Prepare your chessboard

1. Distortion and Intrinsic Parameter Calibration

TODO

2. Extrinsic Parameter Calibration

Prepare your images as following:

./data/examples/calibration
├── extri_images
│   ├── 1.jpg
│   ├── 2.jpg
│   ├── 3.jpg
│   ├── 4.jpg
│   ├── 5.jpg
│   ├── 6.jpg
│   ├── 7.jpg
│   └── 8.jpg
└── intri.yml

The basename of the images must be same as the name of cameras in intri.yml.

python3 scripts/calibration/calib_extri.py -i ./data/examples/calibration/extri_images -o ./data/examples/calibration --debug

To specify your chessboard, add the option --pattern, --grid

python3 scripts/calibration/calib_extri.py -i ./data/examples/calibration/extri_images -o ./data/examples/calibration --debug --pattern 9,6 --grid 0.1

More details can be found in the code.