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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