Omnidirectional-Multi-Camera-Calibration

Calibration method of Omnidirectional Multi-camera whose scene has no overlap.

Camera setting

Getting started

Environment : Ubuntu

Requirements

• pyrealsense2
• pyfreenect2
• numpy
• scipy

Directory

root/
  ├ capture/
  ├ calib/
  ├ utils/
  ├ reconst/
  ├ config.py
  |
  └ Captures/

Directory	Description
capture	Capture codes for RealSense and Kinect.
calib	Caliblation codes. Calcurate each extrinsic parameters between RealSense and Kinect. Calcurate extrinsic parameters of omnidirectional multi-cameras.
reconst	Reconstruct 3D point cloud and accumulate them.
utils	Utility codes.
Captures	Root save folder.

capture/

Options

capture_realsense.py

• save folder name
• camera number
• capture index (optional)

capture_kinect.py

• save folder name
• camera number
• capture index (optional)

calib/

Calibration using PLY file by MeshLab.

• calc_extrinsic.py
• eval_extrinsic.py
• edit_ply_realsense.py
• edit_ply_kinect.py

utils/

• depth_tools.py
• file_tools.py
• realsense_tools.py

Tutorial

Folder

In all capturing and calibration sessions, you shold use same folder name to save. If you have 3 cameras to calibrate, sub-folder name shold be 'cam12', 'cam23', and 'cam31'. Example of folder name is '210715'.

Captures/
  └ 210715/
      ├ cam12/
      |   ├ realsense/
      |   └ kinect/
      ├ cam23/
      |   ├ realsense/
      |   └ kinect/
      └ cam31/
          ├ realsense/
          └ kinect/

Capture

Change directory to root/capture/.

cd capture

To calibrate RealSense 1 and 2, capture by RealSense 1 and Kinect, and then, capture by RealSense 2 and Kinect.

Capture the same object by RealSense 1 and Kinect.

Capture by RealSense 1

python capture_realsense.py 210715/cam12 1

Capture by Kinect

python capture_kinect.py 210715/cam12 1

Then, move the oject in scene of RealSense 2, capture in the same way.

python capture_realsense.py 210715/cam12 2
python capture_kinect.py 210715/cam12 2

Capture by RealSense 2 and 3, and Kinect.

python capture_realsense.py 210715/cam23 2
python capture_kinect.py 210715/cam23 2
python capture_realsense.py 210715/cam23 3
python capture_kinect.py 210715/cam23 3

Capture by RealSense 3 and 1, and Kinect.

Extrinsic Parameters between RealSense and Kinect

Change directory.

cd ../calib

Since the PLY file of RealSense is saved in metric units and the PLY file of Kinect is saved in millimeters, convert the file of RealSense to millimeters.

python edit_ply_realsense.py 210715

Load PLY files in MeshLab. Calcurate RT (Realsense to Kinect).

For example. Capture/210715/cam12/

cam12/
  ├ kinect/
  ├ realsense/
  ├ param_r1-k.txt
  └ param_r2-k.txt

Calcurate RT (RealSense 1 to Kinect). Load kinect/ply_1-0.ply and realsense/ply_1-0_[mm].ply .

Extrinsic Parameters between RealSense and RealSense

python calc_extrinsic.py 210715