This repository contains some sources to calibrate the intrinsics of individual cameras and also the extrinsics of a stereo pair using OpenCV. It is an attempt to calibrate a generic camera pair as well as RGB-D cameras. Stores calibration data in YAML format.

• OpenCV
• NumPy
• YAML

python3 calibrate.py

Once you have the intrinsics calibrated for both the left and the right cameras, you can use their intrinsics to calibrate the extrinsics between them.

For example, if you calibrated the left and the right cameras using the images in the calib_imgs/1/ directory, the following command to compute the extrinsics.

Once you have the stereo calibration data, you can remove the distortion and rectify any pair of images so that the resultant epipolar lines become scan lines.

• ROS based calibrator: https://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration

• Visual Inertial Calibrator vis-calib: https://github.com/arpg/vicalib

• The concept is trivial but some discussion for Kinect is in these two papers: https://www.mas.bg.ac.rs/_media/istrazivanje/fme/vol43/1/8_bkaran.pdf https://www.cse.oulu.fi/~dherrera/papers/2012-KinectJournal.pdf

• Related: https://github.com/erget/StereoVision/tree/master/stereovision