Camera Calibration

The cameras that we use will have some distortion. Calibration is the process of figuring out and undoing this distortion. The process is more involved with stereo cameras.

For our purposes, we have created a calibration docker image

Calibration

To calibrate your camera, you can use the nimashoghi/calibration Docker image. Use the ./calibration command for mono calibration and ./calibration_stereo for stereo calibration.

Monocular Calibraion

Below is the docker-compose.yml file for mono calibration:

version: "3.1"
services:
    calibration_mono:
        image: nimashoghi/calibration
        environment:
            - DISPLAY=192.168.0.113:0.0
        volumes:
            - "./calib/:/output"
            - "./assets/config.xml:/app/assets/config.xml"

Stereo Calibraion

Below is the docker-compose.yml file for stereo calibration:

version: "3.1"
services:
    monocular:
        image: nimashoghi/calibration
        environment:
            - DISPLAY=192.168.0.114:0.0
        volumes:
            - "./calib_stereo/:/output"
            - "./assets/:/app/assets/"
            - "../snapshots/output/:/app/assets/stereo_input/"
        command: ./calibration_stereo /app/assets/stereo_calib.xml

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