multi-camera-calib -

📷 multi-camera-calib - v1.0.0

multi-camera-calib is a package for calibrating synchronized multi-camera setups, designed for robotic platforms. It captures calibration data, runs ChArUco-based calibration, and validates the results with 3D backprojection.

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📑 Citation

If you use this software in your work, please cite it using the “Cite this repository” button on the top-right of this page.

🔧 Installation

Dependencies

This package forms an essential part for my docker-based real-time 3d tracker. It mainly depends on these two modules

• cpp_utils

• flirmulticamera

To build the package, simply run:

bash ./scripts/build.sh

Usage

1. Prepare a Calibration Target

Use a ChArUco board similar to the one shown in the example image above.

2. Configure Calibration Settings

Edit the configuration file ./cfg/CameraCalibrationSettings.json to match your setup:

json { "pattern_size_first": 11, "pattern_size_second": 7, "charuco_params_border_size": 1.0, # pixels "charuco_params_dict": 0, # dict id "charuco_params_marker_border_pixel": 1, "charuco_params_marker_to_square_ratio": 0.75, "charuco_params_square_size": 80.0, # mm "savedir": "/home/docker/workspace/workspace/multi-camera-calib/data/results" }

3. Run the calibration routine

Start the calibration process:

bash ./scripts/calibration.sh

What the script does:

• Waits 10 seconds for you to get the calibration board into view
• Records video for 15 seconds from each camera
• Extracts frames from the video streams
• Runs the calibration using the extracted frames
• Validates the calibration and stores results in ./test

Make sure to move the calibration board smoothly and visibly during the recording phase (approx. 25 seconds total).

Acknowledgements

The core of the calibration code is adapted from Multi_Camera_Calibration. To streamline re-calibration, the GUI was removed and replaced with JSON-based configuration.

- C++
Published by HenrikTrom 9 months ago