Calibrator

An application that allows you to estimate the intrinsic and extrinsic calibration parameters of your camera using your hands and your knowledge of the scene :)

From

To

Run

python3 calibrator.py --config conf/config.yaml --img docs/win.png

How To Use

Arguments

--config  # path to yaml configuration file
--img     # path to uncalibrated image

HotKeys

Press 's' to save your calibration parameters

Configuration

Input/Output section

starts in io

Parameter	Description
output_dir	Directory to save your calibration parameters

Interface Section

starts in interface

Parameter	Description
show_pp	show principal point on image
render_cube	render virtual cube to estimate extrinsic parameters
show_ROI	show undistorted image after roi selecting
show_withour_ROI	show undistorted image before roi selecting
show_original	show original uncalibrated image
custom_roi	allow you to choose roi value manually
print_online	update actual parameters information in terminal
width	interface window width

Calibration parameters section

In next section each value has 3 parameters:

Parameter	Description
min_val	Minimum parameter value
max_val	Maximum parameter value
step	Slider step

!NB: OpenCV provides a slider interface that have to start from zero and have only integer values. To see the real value of any parameters, see the output of the application in the terminal.

Sections:

• K

  • F - limits of the focal length
  • CX - limits of the principal point
  • CY - limits of the principal point

• D - limits of the distorsion coefficients

  • D0
    • D1
    • D2
    • D3
  • D4

• T - limits of the translation vector

  • X
  • Y
  • Z

• R - limits of the rotation vector

  • yaw
  • pitch
  • roll

• CUBE - limits of the AR cube parameters

  • length
  • QX
  • QY
  • QZ

Windows

Window	Description
terminal	show you actual information about your estimated parameters
intrinsic	slide bar for intrinsic camera calibration parameters
extrinsic	slide bar for intrinsic camera calibration parameters
cube	slide bar for physical virtual cube parameters
roi	slide bar for roi parameters modifying
original	original image
result	image after applying calibration parameters
result with ROI	image after applying calibration parameters and ROI selection

Output

File	Description
K_original.txt	intrinsic camera parameters
D.txt	distorion coefficients
roi.txt	ROI for cutting unusable image area
K.txt	intrinsic camera parameters after roi selection
dist.txt	distorion coefficients
rvec.txt	rotation vector
tvec.txt	translation vector