This repository is mainly for camera intrinsic calibration and hand-eye calibration.
Synthetic experiments are conducted in PyBullet simulator.
1. Test the accuracy of aruco board
python aruco_sim_test.py
2. Calibrate the camera
python chessboard_sim_test.py
3. Hand-eye calibration
python hand_eye_calibration_sim_test.py
Note
1 All .obj files in assets
folder are generated by CoppeliaSim.
2 The implementations of aruco detection and camera intrinsic calibration are based on OpenCV.
3 The implementation of hand-eye calibration is based on "Hand-Eye Calibration Using Dual Quaternions" by Konstantinos Daniilidis and "Robust Hand-Eye Calibration of an Endoscopic Surgery Robot Using Dual Quaternions" by Jochen Schmidt et al.
4 Some useful links are listed below:
How to decide on which ArUco marker dictionary you want to use?