E4E Camera Calibration tool

This repo contains a camera calibration tool and procedure.

Perform Stereo Camera Calibration

python e4e_camera_calibration calibrate --display-error --camera qoocam-ego --calibration-directory ./data/qoocam/calibration --output ./calibration-output.dat

Perform Disparity Parameter Search

This leverages Sherlock to perform a parameter search to choose the best parameter for generating the disparity map. It does this by generating a disparity map for each of parameter sets that Sherlock chooses. It then calculates the size of checkerboard squares and compares those with the known ground truth. It calculates the RMSE error and attempts to optimize that error.

python ./e4e_camera_calibration tune-disparity  --display-error --camera qoocam-ego --calibration-directory ./data/qoocam/calibration --calibration-tables ./calibration-output.dat