camera_calibration

For disCoeffs and Camera pose estimation using a 7 x 5 ChAruco marker board

disCoeffs

Recording

Film the board from different angle with the camera you want to calibrate with in 1280 X 720 resolution, store to dir/.

Compile app

make clean
make app

Useage

Read your camera intrinsic

./app dir/ fx fy dx dy

It will print 5 value diffcoeff

Camera transformation from camera space to world space

detect_marker.py

OFFSET_X = 0.046
OFFSET_Y = 0.049
CHESSBOARD_GRID_SIZE = 0.073
MARKER_SIZE = 0.0365

img_root = "path/store/img"
img_name = "img/want2calibrate/with"
# intrinsic
intrinsic = np.array([918.77, 0, 642.55, 0, 918.53, 367.84, 0, 0, 1])
# disCoeffs
disCoeffs = np.array([0.1264535476209261, -0.3306752898091085, -0.005525292384111444, 0.002419558666654123, 0.2048257682338653])

Output

marker_pose.json will store all marker corner uv and xyz.
Transformation will be printed.