{"id":50153262,"url":"https://github.com/henriktrom/multi-camera-calib","last_synced_at":"2026-05-24T09:05:05.690Z","repository":{"id":296886946,"uuid":"991966353","full_name":"HenrikTrom/multi-camera-calib","owner":"HenrikTrom","description":"Package for calibrating synchronized multi-camera setups, designed for robotic platforms. 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It captures calibration data, runs ChArUco-based calibration, and validates the results with 3D backprojection.\n\n![backprojection](content/back_projeced3d.jpg)\n\n---\n\n## 📑 Citation\n\nIf you use this software in your work, please cite it using the **“Cite this repository”** button on the top-right of this page.\n\n## 🔧 Installation\n\n### Dependencies\n\nThis package forms an essential part for my [docker-based real-time 3d tracker](https://github.com/HenrikTrom/ROSTrack-RT-3D). It mainly depends on these two modules\n\n* [cpp_utils](https://github.com/HenrikTrom/cpp_utils)\n\n* [flirmulticamera](https://github.com/HenrikTrom/flirmulticamera)\n\nTo build the package, simply run:\n\n```bash\n./scripts/build.sh\n```\n\n## Usage\n\n### 1. Prepare a Calibration Target\n\nUse a ChArUco board similar to the one shown in the example image above.\n\nTo get you started we provide a bitmap file in `./content/board_pattern.MCC_Patt1040x720.bmp`. You can use [GIMP](https://www.gimp.org/) to rescale and print the file with a size of 1040 x 720 mm, including the white border. The configuration bellow matches this exact calibration target.\n\n### 2. Configure Calibration Settings\n\nEdit the configuration file `./cfg/CameraCalibrationSettings.json` to match your setup:\n\n```json\n{\n    \"pattern_size_first\": 11,\n    \"pattern_size_second\": 7,\n    \"charuco_params_border_size\": 1.0, # pixels\n    \"charuco_params_dict\": 0, # dict id\n    \"charuco_params_marker_border_pixel\": 1,\n    \"charuco_params_marker_to_square_ratio\": 0.75, \n    \"charuco_params_square_size\": 80.0, # mm\n    \"savedir\": \"/home/docker/workspace/workspace/multi-camera-calib/data/results\"\n}\n```\n\n### 3. Run the calibration routine\n\nStart the calibration process:\n\n```bash\n./scripts/calibration.sh\n```\n\n#### What the script does:\n\n* Waits 10 seconds for you to get the calibration board into view\n* Records video for 15 seconds from each camera\n* Extracts frames from the video streams\n* Runs the calibration using the extracted frames\n* Validates the calibration and stores results in `./test`\n\nMake sure to move the calibration board smoothly and visibly during the recording phase (approx. 25 seconds total).\n\n## Acknowledgements\n\nThe core of the calibration code is adapted from [Multi\\_Camera\\_Calibration](https://gitlab.com/ungetym/Multi_Camera_Calibration/-/blob/master/LICENSE?ref_type=heads). To streamline re-calibration, the GUI was removed and replaced with JSON-based configuration.","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhenriktrom%2Fmulti-camera-calib","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fhenriktrom%2Fmulti-camera-calib","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhenriktrom%2Fmulti-camera-calib/lists"}