+ HTj Rt^RIt^RIt^RIt^RIt^RIt^RIHtH t H t ^RI H t ^RI HtHt^RIHtHtHtR] R] R] /tR t]R 8Xd ]!4R#R#) u>Multi-frame PINHOLE intrinsics calibration for a named camera (scene / wrist). Same pinhole model as the rest of the pipeline (calib_utils.estimate_focal): principal point fixed at the image center, square pixels, ZERO distortion — we solve only the focal length. The only change from the old single-image estimate is that we feed it ~60 board views instead of one (a proper multi-view solve). No fisheye / distortion / pp offset. Hold the arm-base ArUco board in front of the camera and move it around. It auto-captures frames where the board is seen, then runs the pinhole solve and saves intrinsics/.json + registers the camera in cameras.json. Usage: python calibrate_camera.py [--index N] [--board arm_base] [--frames 60] Keys while collecting: 'c' capture now, 'q' finish early (>=8 frames), ESC abort. N)DICTARM_BASEUMI_V2) CALIB_BOARD) detect_boardsestimate_focal) open_indexregistersave_intrinsicsarm_baseumi_v2calibc  \P!4pVPRRR7VPR\^R7VPR\ \ 4RR7VPR\^9d8V\?R48XgVV , R8dV PAW,4Tp W>9pV'dR0MR1p\PB!VVP& R\)V 4 RVP* RV 2R2\PDRV^4\PF!RV4V\?R48Xd\)V 4^8dMHV^8XgEKVPI4\PJ!4\P !R4EKVPI4\PJ!4\)V 4^8d$\P !R\)V 4 R24\%R\)V 4 R 24\MWV3R!\OWx4,R"7wppp\PPR!^4p\%R#VR$ R%24\%R&VR3,R' R(^\PPT!\PPV!V^, VR3,, 44,R' R)VR4,R* R+VR5,R* R,2 4\YVP&VPWx4\[VP&VVWxV\)V 44\%R-VP& R.VP& R/24R #)6namez.camera role to save under (e.g. scene / wrist))helpz--index)typedefaultz--boardr )choicesrz--framesNzCamera z$ did not open / delivered no frames.z Calibrating 'z ' on camera z (xz ) with the z board.zQMove the board around to vary pose/position. 'c' capture, 'q' finish, ESC abort. gcg?z : captured /z markers gffffff?zcalibrate camera (c/q/ESC)qzAborted.zOnly u> frames — need at least 8. Try again with more board motion.z Pinhole solve over z frames...g?)f_guessz reprojection error: z.3fz pxz focal f = z.1fz px (fovy z! deg), principal point fixed at (z.0fz, )z Saved intrinsics/z1.json (pinhole, zero distortion) and registered 'z' in cameras.json.)r)rr) )rr)r)r).argparseArgumentParser add_argumentintlistBOARDS parse_argsboardcv2aruco ArucoDetectorrDetectorParametersrindexsysexitshapeprintrlenframesreadcvtColorCOLOR_BGR2GRAYr detectMarkerscopydrawDetectedMarkerswaitKeytimeordappendputTextFONT_HERSHEY_SIMPLEXimshowreleasedestroyAllWindowsrmaxnpzerosdegreesarctanr r )apaspecrdetectorcapfrWnHnviewslast_tokframegraydetscornersids_nviskeynowok_boardcolorKerrdists ar_view/calibrate_camera.pymainrc s  "BOOF!QOROOICO3OOItF|WOEOOJS"O5 A !''?D rns[   //#599 h&'; GAuH zFrd