Camera Calibration

Setup

Run setup.sh to create a virtual environment and install dependencies:

./setup.sh

Activate the virtual environment:

source venv/bin/activate

Usage

Take photos (at least 10) of the chessboard pattern patterns/chessboard.png from various angles. Replace the sample photos in the images folder with the ones you took. Run the script:

python calibrate images/
Intrinsic Parameters:
fx: 534.0708836434115
fy: 534.1191459522821
cx: 341.5340755262212
cy: 232.94565259795462
Distortion Coefficients:
k1: -0.29297163675274435
k2: +0.10770696223452401
p1: +0.0013103837668586803
p2: -3.110188108687015e-05
k3: +0.04347981037293046
Re-projection error: 0.023686000375385673

Parameters

Variables	Description
fx, fy	Focal length
cx, cy	Optical center
k1, k2, k3	Radial distortion
p1, p2	Tangential distortion

Re-projection error: The closer this value is to zero, the more accurate the parameters are.

Troubleshooting

pip install fails with ModuleNotFoundError: No module named 'skbuild'

Upgrade pip with pip install --upgrade pip. For details, see: https://github.com/opencv/opencv-python#frequently-asked-questions