An easy-to-use library for calibrating cameras in python
Project description
Calligator
An easy-to-use library for calibrating cameras in python
The calibration library should follow these requirements:
- be able to detect points from checkerboard or charuco board easily
- save intermediate points somewhere, so that optimization can restart quickly
- optimize extrinsics and intrinsics jointly using LM method
- start with opencv intrinsics calibration if possible
- support calibration with arbitrary correspondence points using bundle adjustment
- output common diagnostics for calibration
- reprojection error
- length of checkerboard grids
- picture of calibrated camera positions
- undistorted images to check intrinsics
- triangulation functions
- end to end function to calibrate full set of cameras from list of videos
Nice to haves
- reject outlier points
- add objective in optimization to match the object points of calibration board
Functions to implement
Camera
- distort_points
- undistort_points
- project
- undistort_image
- calibrate_images
- calibrate_points
- calibrate_videos
CameraGroup
- distort_points
- undistort_points
- project
- triangulate
- reprojection_error
- calibrate_images
- calibrate_points
- calibrate_videos
CalibrationObject
- draw
- detect_image
- detect_images
- detect_video
- get_object_points
- estimate_pose
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