OpenCV C++ multi focal stereo Camera Calibration

Attention: The calibration program is modified by stereo-calibration, which can calibrate multi focal length stereo camera for MF-SLAM.

[MF-SLAM] Mingchi Feng, Jinglin Liu, Xin Wang, Chengnan Li, MF-SLAM: Multi-focal SLAM.

DOI: 10.1007/978-3-030-89134-3_45.

This repository contains some sources to calibrate the intrinsics of individual cameras and also the extrinsics of a stereo pair.

Dependencies

• OpenCV
• popt

Compilation

Compile all the files using the following commands.

mkdir build && cd build
cmake ..
make

Make sure your are in the build folder to run the executables.Cancel changes

Stereo calibration for extrinisics

First, you must use stereo-calibration to get the intrinsics calibrated for both the left and the right cameras(cam_left.yml and cam_right.yml).

Second, Once you have the intrinsics calibrated for both the left and the right cameras, you can use their intrinsics to calibrate the extrinsics between them.

./calibrate_stereo -n [num_imgs] -u [left_cam_calib] -v [right_cam_calib] -L [left_img_dir] -R [right_img_dir] -l [left_img_prefix] -r [right_img_prefix] -o [output_calib_file] -e [file_extension]

For example, if you calibrated the left and the right cameras using the images in the calib_imgs/1/ directory, the following command to compute the extrinsics.

./mycalib_stereo -n 27 -u cam_left.yml -v cam_right.yml -L ../calib_imgs/1/ -R ../calib_imgs/1/ -l left -r right -o cam_stereo.yml -e jpg