thanhndv212/soarm-ws/soarm-camera-calibration

camera_calibration — Intrinsics & ArUco

Path: camera_calibration/ · v0.1.0 · setuptools, flat layout · Python ≥3.10 · deps opencv-python, numpy, rerun-sdk

Standalone. It has no dependency on soarm_sdk, imu_sdk, or anything else in the workspace, and nothing depends on it. Treat it as its own project that happens to live here — cross-package rules from soarm-workspace mostly don't apply.

The CLI — camera-calibration <subcommand>

Installed as a console script (camera_calibration.__main__:main). Five subcommands:

All take --camera ID (default 0). There is a shared rerun argument group for visualisation — Rerun is the display path throughout, not cv2.imshow windows.

Defaults worth knowing before debugging a failed capture: pattern is 10x7 inner corners, square size 25 mm, and the default ArUco dictionary is `DICT_6X6_250`. A detection that finds nothing is usually a pattern-size or dictionary mismatch, not a camera problem.

Module map

__main__.py    argparse CLI, subcommand wiring
calibrator.py  intrinsics computation / calibration objects
detector.py    ArUco detection
markers.py     marker generation
estimator.py   camera parameter / pose estimation
_shared.py     shared helpers (tested)
_viz.py        Rerun visualisation
patterns/      chessboard_pattern.png + pre-generated ArUco marker PNGs
data/          dated calibration outputs (.json + .csv), plus a figaroh-format export

patterns/ is the printable input side, data/ the output side. data/README.md documents the capture sessions. One artifact there (camera_calibration_20250607_174327_figaroh.py) is an export for the FIGAROH calibration toolbox in the sibling figaroh-ws workspace — if the user asks about robot-camera calibration downstream of this, that is the link.

Testing

cd camera_calibration && pytest tests/ -v

tests/test_shared_helpers.py, tests/test_camera_window.py — hardware-free. No CI. Lint with ruff check (see the ruff caveat in soarm-workspace).

Keep new tests off the camera: anything requiring a live --camera 0 cannot run in this suite.

Traps

• Relicensed Apache-2.0 → MIT along with imu_sdk.
• Changelog: camera_calibration/CHANGELOG.md. Read it before git log.