Vision & camera calibration

camera_calibration is a standalone package for camera calibration and ArUco marker detection — independent of the rest of the workspace (nothing here imports the teleop or SDK packages). All visualization goes through Rerun — no cv2.imshow, no matplotlib windows, works headless with --no-spawn.

pip install -e .   # requires Python ≥3.10, opencv-python>=4.7, numpy>=1.24, rerun-sdk>=0.22

CLI

camera-calibration <subcommand> [options]
python -m camera_calibration <subcommand> [options]

Subcommand	Description
capture	Capture chessboard images from webcam and calibrate
calibrate	Load an existing calibration file; optionally run a live undistortion test
detect	Live ArUco detection monitor
generate	Generate ArUco marker PNG files
estimate	Estimate camera intrinsics from a preset or auto-detection
record	Stream raw camera feed to Rerun
view	Load a calibration JSON and display its summary in Rerun

Every subcommand accepts --no-spawn (don't open the Rerun viewer window) and --rerun-save FILE (save the recording to .rrd).

camera-calibration capture --images 20                       # auto-mode chessboard capture
camera-calibration capture --images 20 --manual               # press Enter per frame instead
camera-calibration view --calibration-file data/my_calibration.json
camera-calibration detect --highlight-ids 0 1 2 3              # live ArUco, DICT_6X6_250
camera-calibration generate --marker-ids 0 1 2 3 4              # marker PNGs
camera-calibration capture --images 15 --no-spawn --rerun-save capture.rrd   # headless

Calibration data format

Results are saved to data/ as JSON:

{
  "camera_matrix": [[fx, 0, cx], [0, fy, cy], [0, 0, 1]],
  "dist_coeffs": [k1, k2, p1, p2, k3],
  "resolution": [width, height],
  "rpe": 0.42,
  "num_images": 20,
  "metadata": { "timestamp": "..." }
}

Status

Not currently wired into the teleop pipeline — built for future eye-in-hand and workspace-calibration work. See Architecture for how it fits (or doesn't yet) into the rest of the workspace's data flow.