Camera Calibrator

This is used to calibrate USB cameras - intrinsic and stereo extrinsic calibrations.

Setup

1. Install Docker - https://docs.docker.com/engine/install/ubuntu/
2. Install Visual Studio Code - https://code.visualstudio.com/download
3. Install local Nvidia drivers
   • For OpenGL Nvidia drivers you may need to change Line 80 of Dockerfile to use the correct driver for your GPU
4. Install nvidia-docker2 - https://github.com/NVIDIA/nvidia-docker
5. To view gui windows, run xhost + on the host

Run

1. Create build folder in base directory.
2. Go to build folder cd build
3. Run CMake cmake ..
4. Build the exectuable make -j$(nproc)
5. Get usage instructions with ./camera_calibrator --help

Additional Info

1. These calibrations required either a flat chessboard pattern or asymmetric circles grid pattern
2. For thermal calibration:
   • Cut and sand blast sheet metal about the size of your laptop
   • Spray black chalk paint on this with the asymmetric circles pattern taped off (metal circles, black background)
   • Rest the metal on a running laptop and it will be heated enough for the pattern to be detected