... | ... | @@ -4,7 +4,7 @@ In the following the basic calibration workflow will be described. |
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![pattern creation](https://gitlab.com/ungetym/Multi_Camera_Calibration/raw/master/images/tutorial_basic_01.png "Pattern creation")
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To do this, modify the parameters in the marked box and click "Generate Pattern". Now the pattern is shown in the pattern preview.
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![pattern creation](https://gitlab.com/ungetym/Multi_Camera_Calibration/raw/master/images/tutorial_basic_10.png "Pattern creation")
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If you are satisfied with the pattern, save it by clicking "Save Pattern".
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If you are satisfied with the pattern, save it by clicking "Save Pattern". **Note:** The pattern square size has at this point no influence on your pattern since the board image is reduced to the minimal number of pixels able to show the desired pattern. The square size value is only used for the optimization and should be set after printing the pattern and measuring its square size.
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2. Now print the saved pattern and take shots with your multi camera setup. In order to get a good calibration, the position and rotation of the calibration pattern should heavily vary throughout the whole dataset. For further processing the tools assumes filenames with the namescheme $CameraID_$Timestamp.$Filetype, e.g. rgb0_000.png, rgb0_001.png, ... , kinect27_000.png, kinect27_001.png.
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For batch renaming files you might also want to have a look at my [File Renaming Tool](https://gitlab.com/ungetym/File_Renamer).
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... | ... | @@ -27,6 +27,7 @@ The loaded or estimated intrinsics can now be viewed (and modified) in the camer |
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![Optimization](https://gitlab.com/ungetym/Multi_Camera_Calibration/raw/master/images/tutorial_basic_41.png "Optimization")
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The extrinsic results as well as the RSME will be printed to the logger as shown here.
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![Optimization](https://gitlab.com/ungetym/Multi_Camera_Calibration/raw/master/images/tutorial_basic_50.png "Optimization")
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**General note:** For the coordinate systems the [OpenCV convention](https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html) is used, i.e. the camera coordinate system is a right-handed system with x pointing to the right, y pointing down and the camera looking into the same direction as z. The image coordinates (u,v) have their origin in the upper left corner of an image with u pointing to the right and v pointing down.
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(6.) There are some further options, that will be listed in the following:
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- Cameras can be excluded from the intrinsic parameter refinement in the final optimization. To exclude all cameras, set the "Refine Intrinsics" drop down menu to "of no camera". To exclude single cameras, select "according to GUI setting" and uncheck "Refine intrinsics of this camera" in the camera parameter view for the cameras to be excluded.
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