================================================================= stereo_calibration - StereoCamera Calibration using Python-OpenCV

Python Implementation of Stereo Camera Calibration using checkerboard pattern images.

Features

Prints -or- Returns dict object containing Camera Matrices and R, T, E and F
Takes Stereo Camera Images path as an input

Requirements

cv2
numpy

Example

Run using the command line

python camera_calibration.py /path/to/stereo/camera/images/

Run using Python

>>> from camera_calibration import StereoCalibration
>>> cal = StereoCalibration('/path/to/stereo/camera/images')
>>> cal.camera_model

Results

$python camera_calibration.py /path/to/stereo/camera/images/
('Intrinsic_mtx_1', array([[  4.14602008e+03,   0.00000000e+00,   7.59295870e+02],
       [  0.00000000e+00,   4.21635719e+03,   4.42260382e+02],
       [  0.00000000e+00,   0.00000000e+00,   1.00000000e+00]]))
('dist_1', array([[ -2.73378180e+00,   1.41433393e+02,  -1.36677475e-02,
          1.01134046e-01,  -5.17885999e+03]]))
('Intrinsic_mtx_2', array([[  4.16808926e+03,   0.00000000e+00,   7.33997545e+02],
       [  0.00000000e+00,   4.20937958e+03,   7.02753997e+01],
       [  0.00000000e+00,   0.00000000e+00,   1.00000000e+00]]))
('dist_2', array([[ -7.91010976e-01,   4.49627502e+01,  -1.55972074e-02,
         -3.95037927e-03,  -1.24662356e+03]]))
('R', array([[ 0.99869078,  0.00100433,  0.05114416],
       [-0.00564778,  0.99585969,  0.09072808],
       [-0.05084128, -0.09089815,  0.99456156]]))
('T', array([[-9.87912629],
       [ 0.24163047],
       [ 1.61658844]]))
('E', array([[ -3.15467525e-03,  -1.63185902e+00,   9.36464101e-02],
       [  1.11220449e+00,  -8.96370670e-01,   9.90807829e+00],
       [ -1.85519033e-01,  -9.83846631e+00,  -9.08672125e-01]]))
('F', array([[  3.44154284e-09,   1.75055259e-06,  -1.20037917e-03],
       [ -1.20144000e-06,   9.52136218e-07,  -4.38838342e-02],
       [  9.25481179e-04,   4.26384886e-02,   1.00000000e+00]]))

Output Parameters

Intrinsic_mtx_1 – output first camera matrix

dist_1 – output vector of distortion coefficients (k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6]]) of 4, 5, or 8 elements. The output vector length depends on the flags.

Intrinsic_mtx_2 – output second camera matrix

dist_2 – output lens distortion coefficients for the second camera

R – Output rotation matrix between the 1st and the 2nd camera coordinate systems.

T – Output translation vector between the coordinate systems of the cameras.

E – Output essential matrix.

F – Output fundamental matrix.

More reference on R, T, E and F can be found here

Notes

Assumption here is that given image path contains two folders of checkerboard images named LEFT and RIGHT. User can change these relative folder paths.
User may also change flags as per calibration output requirements.

References

Stereo Camera Calibration using OpenCV

bvnayak/stereo_calibration

bvnayak

Reviews

Repository Details