CentralCamera.images2C#

classmethod CentralCamera.images2C(images, gridshape: tuple[int, int] = (7, 6), squaresize: float = 0.025) → tuple[ndarray, ndarray, list] | None[source]#

Calibrate camera from checkerboard images

Parameters:

images (ImageSource) – an iterator that returns Image objects
gridshape (tuple, optional) – number of grid squares in each dimension, defaults to (7,6)
squaresize (float, optional) – size of the grid squares in units of length, defaults to 0.025

Returns:

camera calibration matrix, distortion parameters, image frames

Return type:

ndarray(3,4), ndarray(5), list of named tuples

The distortion coefficients are in the order \((k_1, k_2, p_1, p_2, k_3)\) where \(k_i\) are radial distortion coefficients and \(p_i\) are tangential distortion coefficients.

Image frames that were successfully processed are returned as a list of named tuples CalibrationFrame with elements:

element - type - description

image - Image - calibration image with overlaid annotation

pose - SE3 - pose of the camera with respect to the origin of this image

id - int - sequence number of this image in images

Note

The units used for squaresize must match the units used for defining 3D points in space.

References:

P. Corke, Robotics, Vision & Control for Python, Springer, 2023, Section 13.7.

Seealso:

C points2C decomposeC SE3