calibrate camera to remove lens distortion

Description: Associate single RGB image from a single camera to a single pointcloud frame for debugging purposes

How to run:

• d / --dataset : path to calibration dataset (create dataset by taking pictures of calibration board using camera)
• i / --image : image to remove distortion
• t / --type : Type of board, 0 = chessboard | 1 = aruco | 2 = charuco

$ python calibrate.py -d path/dataset -i imageToUndistort.jpg -t 0

Description: Generate aruco or charuco board

How to run:

• t / --type : 0 = aruco board | 1 = charuco board
• o/ --output : output path to board
• c / --cols : specify number columns of board | default = 5
• r / --rows : specify number rows of board | default = 7

$ python calibrate.py -t 0 -o result -c 10 -r 10

Description: Generate aruco or charuco board

How to run:

• o / --output : output file (default out.svg)
• r / --rows : pattern rows (default 11)
• c / --columns : pattern columns (default 8)
• T / --type : type of pattern, circles, acircles, checkerboard, radon_checkerboard (default circles)
• s / --square_size : size of squares in pattern (default 20.0)
• R / --radius_rate : circles_radius = square_size/radius_rate (default 5.0)
• u / --units : mm, inches, px, m (default mm)
• w / --page_width : page width in units (default 216)
• h / --page_height : page height in units (default 279)
• a / --page_size : page size (default A4), supersedes -h -w arguments
• m / --markers : list of cells with markers for the radon checkerboard
• H / --help : show help

• combine aruco, charuco and chessboard all in one file
• Convert code to C++
• remove need for svgfig dependency in create_chessboard.py