IntrinsicOptions

SUMMARY

IntrinsicOptions tunes the corner detector and cv::calibrateCamera solve used by IntrinsicCalibrator, EyeInHandCalibrator, and MultiCameraCalibrator. Defaults match a standard cv::calibrateCamera run.

The Skill

from telekinesis.axon import IntrinsicOptions

The Code

from telekinesis.axon import IntrinsicCalibrator, IntrinsicOptions
from telekinesis.axon.targets import CharucoTarget

target = CharucoTarget(squares_x=6, squares_y=9, square_length=0.012, marker_length=0.009)

options = IntrinsicOptions()
options.per_view_error_threshold = 0.8

calibrator = IntrinsicCalibrator(target, options)

Initialization

Constructed with no arguments, every field is set as an attribute after construction. Defaults match a standard cv::calibrateCamera run.

Field	Type	Default	Description
criteria	TermCriteria	EPS + MAX_ITER, 30, 0.001	Termination criteria for sub-pixel refinement and RO calibration.
chessboard_corner_detector	str	"Default"	"Default" (findChessboardCorners) or "Sector Based" (findChessboardCornersSB). Chessboard targets only.
chessboard_flags	int	0	Bitmask for the chessboard corner finder. Chessboard targets only.
sub_pixel_detection_window_size	int	11	cornerSubPix window size (chessboard "Default" detector only).
sub_pixel_detection_zero_zone_size	int	-1	cornerSubPix zero-zone size; -1 disables the dead zone.
calibrate_camera_method	str	"Default"	"Default" (calibrateCameraExtended) or "Release Object" (calibrateCameraROExtended).
calibrate_camera_flags	int	0	cv::CALIB_* bitmask for calibrateCamera*.
index_of_fixed_3d_point	int	0	iFixedPoint for the Release Object method.
intrinsic_matrix_guess	ndarray | None	None	Initial K; required when CALIB_USE_INTRINSIC_GUESS is set.
distortion_coefficients_guess	ndarray | None	None	Initial distortion coefficients.
per_view_error_threshold	float	1.0	Views with a per-view reprojection error above this (px) are excluded from low_view_error_indices.