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An easy-to-use library for calibrating cameras in python

Project description


An easy-to-use library for calibrating cameras in python

The calibration library should follow these requirements:

  • [x] be able to detect points from checkerboard or charuco board easily
  • [x] save intermediate points somewhere, so that optimization can restart quickly
  • [x] optimize extrinsics and intrinsics jointly using LM method
  • [x] start with opencv intrinsics calibration if possible
  • [x] 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
  • [x] triangulation functions
  • [x] end to end function to calibrate full set of cameras from list of videos

Nice to haves

  • [x] reject outlier points
  • [x] add objective in optimization to match the object points of calibration board

Functions to implement


  • [x] distort_points
  • [X] undistort_points
  • [X] project
  • [X] undistort_image
  • [x] calibrate_images
  • [x] calibrate_points
  • [x] calibrate_videos


  • [X] distort_points
  • [X] undistort_points
  • [X] project
  • [X] triangulate
  • [X] reprojection_error
  • [x] calibrate_images
  • [x] calibrate_points
  • [x] calibrate_videos


  • [X] draw
  • [X] detect_image
  • [X] detect_images
  • [X] detect_video
  • [X] get_object_points
  • [X] estimate_pose

Project details

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