Chessboard Pose Estimation

A modular system for camera calibration and chessboard pose estimation using OpenCV.

Features

• Camera calibration using chessboard pattern
• Batch processing of images for pose estimation
• Real-time pose estimation using Intel RealSense cameras
• Visualization of 3D coordinate axes on detected chessboards

Installation

1. Clone this repository
2. Install dependencies:

   pip install -r requirements.txt
   

Usage

1. Camera Calibration

Place calibration images in a directory and run:

python calibrate.py --image_dir path/to/calibration/images --output config/calibration_params.npy

2. Batch Pose Estimation

Process a directory of images:

python estimate.py --image_dir path/to/input/images --output_dir path/to/output/directory

3. Real-time Pose Estimation

Run real-time pose estimation with a RealSense camera:

python realtime.py --record --save_dir path/to/save/frames

Press 's' to save a frame, 'q' to quit.

Project Structure

• calibrate.py: Camera calibration script
• estimate.py: Batch image processing script
• realtime.py: Real-time pose estimation script
• utils/: Modular utility classes
  • camera.py: Camera calibration utilities
  • chessboard.py: Chessboard detection and pose estimation
  • visualization.py: Visualization utilities
• config/: Configuration directory for calibration parameters