├── .coveragerc ├── .github └── workflows │ └── test.yml ├── .gitignore ├── .travis.yml ├── CHANGELOG.md ├── LICENSE.txt ├── README.md ├── docs ├── Makefile └── source │ ├── api_reference.rst │ ├── camera_model.rst │ ├── conf.py │ ├── emit_sample_pymvg_file.py │ ├── images │ ├── camera_model.png │ └── camera_model.svg │ ├── index.rst │ ├── plotting_utilities.rst │ ├── pymvg_camsystem_example.json │ ├── pymvg_file_format.rst │ └── pyplots │ └── plot_camsystem_example.py ├── examples ├── plot_camera_system.py ├── plot_cameras.py ├── ros │ ├── draw_rviz_frustum.py │ ├── publish_sample_cameras.py │ └── ros_rviz_config.vcg └── triangulate_point.py ├── pymvg ├── __init__.py ├── align.py ├── calibration.py ├── camera_model.py ├── extern │ ├── __init__.py │ ├── opencv │ │ ├── __init__.py │ │ └── npcv.py │ └── ros │ │ ├── __init__.py │ │ ├── ros_publisher.py │ │ └── rviz_utils.py ├── multi_camera_system.py ├── plot_utils.py ├── quaternions.py ├── ros_compat.py └── util.py ├── pyproject.toml └── tests ├── external ├── mcsc │ ├── __init__.py │ ├── mcsc_output_20130726 │ │ ├── Ce.dat │ │ ├── Cst.dat │ │ ├── IdMat.dat │ │ ├── Pmatrices.dat │ │ ├── Pst.dat │ │ ├── Re.dat │ │ ├── Res.dat │ │ ├── STDERR │ │ ├── STDOUT │ │ ├── Xe.dat │ │ ├── basename1.cal │ │ ├── basename1.rad │ │ ├── basename2.cal │ │ ├── basename2.rad │ │ ├── basename3.cal │ │ ├── basename3.rad │ │ ├── basename4.cal │ │ ├── basename4.rad │ │ ├── cam1.points4cal.dat │ │ ├── cam2.points4cal.dat │ │ ├── cam3.points4cal.dat │ │ ├── cam4.points4cal.dat │ │ ├── camera1.Pmat.cal │ │ ├── camera2.Pmat.cal │ │ ├── camera3.Pmat.cal │ │ ├── camera4.Pmat.cal │ │ ├── camera_order.txt │ │ ├── multicamselfcal.cfg │ │ ├── original_cam_centers.dat │ │ └── points.dat │ └── test_mcsc.py ├── opencv │ ├── __init__.py │ └── test_versus_opencv.py └── ros │ ├── __init__.py │ └── test_full_ros_pipeline.py ├── fill_polygon.py ├── pymvg_camsystem_example.json ├── roscal.yaml ├── skew_pixels.json ├── skew_pixels_no_distortion.json ├── 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