Camera Calibration

Python script for calibrating a single realsense Intel camera by using CV2

Installation

Install depensdencies from rquirements.txt

pip install -r requirements

Setup

To calibrate, chessboard images captured by this camera need to be provided. Then, this script allows to get images and use them to calibrate the REalsense Intel Camera.

Execution

By runing the below script, and facing the camera to the chessboard, it should create a directory captured_images with all the images and for calibrating part, it should create corners_images with corners on images to help outliers.

python3 calibration.py --images_acquisition {TrueOrFalse} --number_or_images {number} --period_of_capture {time[s]} --serial_number {TrueOrFalse}

Parameters:

command	description	default value
-h, --help	show help and exit	-
--images_acquisition	set if want to acquire images	True
--number_or_images	the number of images to captures	10
--period_of_capture	The delay time between 2 captures	2
--serial_number	give the serial number to upload cmears parameters	False

---

Camera new parameters uploding

Tool installation

Install librscalibrationtool by following :

1. apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE 

2. add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u 

3. sudo apt-get update && apt-get install -y --no-install-recommends librscalibrationtool 
   

Parameters uploading

To upload with the serial number and the .xml file updated with the new obtained parameters

1.  /usr/bin/Intel.Realsense.CustomRW -sn {serial_number} --write --file {parameters}

To check if upload succeeded

1.  /usr/bin/Intel.Realsense.CustomRW -sn {serial_number} -r 
    

Realsense Camera Calibrated 🎉 🎉 🎉 !!!!!!!