Can multical be used for multi cameras both intrinsic and extrinsic calibration together?

[chaytonmin]

Can multical be used for multi cameras both intrinsic and extrinsic calibration together?

[oliver-batchelor]

Yes.

On Tue, 4 May 2021 at 1:40 PM, minchen @.***> wrote:

Can multical be used for multi cameras both intrinsic and extrinsic calibration together?

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[chaytonmin]

I met the error as above. However, I have installed the packege of apriltags2-ethz.

[chaytonmin]

I met the error as above. However, I have installed the packege of apriltags2-ethz.

The problem was caused by that multical uses another python.

[chaytonmin]

Can you provide the pdf format of Calibration Target for example_boards? Thanks!

[oliver-batchelor]

Ah - thanks for checking.

Here's my workflow for making board images:

multical show_boards example_boards/charuco_16x22.yaml --paper_size A2 --pixels_mm 10 --write images
Using boards:
charuco_16x22 CharucoBoard {type='charuco', aruco_dict='4X4_1000', aruco_offset=0, size=(16, 22), marker_length=0.01875, square_length=0.025, aruco_params={}}
Wrote images/charuco_16x22.png

Then open up images/charuco_16x22.png in gimp and print-to-file with the margins set to zero and the paper size set to A2. The 9x9 Aprilgrid board can work the same way, except that it's square so does not have a standard paper size - I think ours is 800x800mm, so you can make an image for it e.g.

multical show_boards example_boards/aprilgrid_9x9.yaml --paper_size_mm 800x800 --pixels_mm 10 --write images

But I'm not entirely sure how to convert that to a square pdf. I think we just sent it to the print shop as a png image to get that one printed.

[chaytonmin]

Ah - thanks for checking.

Here's my workflow for making board images:

multical show_boards example_boards/charuco_16x22.yaml --paper_size A2 --pixels_mm 10 --write images
Using boards:
charuco_16x22 CharucoBoard {type='charuco', aruco_dict='4X4_1000', aruco_offset=0, size=(16, 22), marker_length=0.01875, square_length=0.025, aruco_params={}}
Wrote images/charuco_16x22.png

Then open up images/charuco_16x22.png in gimp and print-to-file with the margins set to zero and the paper size set to A2. The 9x9 Aprilgrid board can work the same way, except that it's square so does not have a standard paper size - I think ours is 800x800mm, so you can make an image for it e.g.

multical show_boards example_boards/aprilgrid_9x9.yaml --paper_size_mm 800x800 --pixels_mm 10 --write images

But I'm not entirely sure how to convert that to a square pdf. I think we just sent it to the print shop as a png image to get that one printed.

Thanks a lot! I will try it.