Closed antoan-flox closed 1 year ago
If you have pairs of overlapping cameras, then there should be no issues. You can take a look through the wiki also: https://github.com/ethz-asl/kalibr/wiki/multiple-camera-calibration#an-example-run-using-a-sample-dataset
Thank you for reply.
I would be grateful if you could point me to somewhere that would help me determine the calibration target size that would be optimal for the distances involved in my case.
I plan to have my target moving on the ground plane facing the cameras on the ceiling which are about 3 meters high?
"Typically, you can achieve pose accuracy up to about 2.4 meters. Beyond this level, the results tend to vary substantially. Consequently, a robot shouldn't localize unless within the 2.4-meter threshold range." https://www.foamcoreprint.com/apriltag-targets
Thanks again.
I don't have any specific recommendation, but I think what you linked seems reasonable. It might be something that would need to be determined experimentally, as it should depend on resolution + depth to target.
I'd like to determine if I can use Kalibr to calibrate extrinsics of a multi camera setup. I am a bit unsure as to whether it would be feasible in my case as the cameras I'd like to calibrate are not situated on a robot and in close proximity.
My setup:
I have a row of 5 ceiling mounted, fisheye cameras situated 3+ meters above ground, facing down with overlapping fields of view, separated by about 9 meters.
Any thoughts would be greatly appreciated.