3D-Calibration-VCam

Procedure (motorized rig)

Preconditions:

• Headset tilt up
• Camera down

Steps:

1. Do v2 monitor, python graycodeCalibration.py 0
2. Rename produced files, HeightCalibration_blur.png -> MD_HeightCalibration.png, WidthCalibration_blur.png -> MD_WidthCalibration.png
3. Move camera up using controller.py
4. Do v2 monitor, python graycodeCalibration.py 0
5. Rename produced files, HeightCalibration_blur.png -> MU_HeightCalibration.png, WidthCalibration_blur.png -> MU_WidthCalibration.png
6. Capture pattern with t265, python triangulateChecker2.py t265
7. Move camera down using controller.py
8. Tilt headset down using controller.py
9. Do v2 headset, python graycodeCalibration.py 1
10. Rename produced files, HeightCalibration_blur.png -> CD_HeightCalibration.png, WidthCalibration_blur.png -> CD_WidthCalibration.png
11. Move camera up using controller.py
12. Do v2 headset, python graycodeCalibration.py 1
13. Rename produced files, HeightCalibration_blur.png -> CU_HeightCalibration.png, WidthCalibration_blur.png -> CU_WidthCalibration.png
14. Capture pattern with lmc, python triangulateChecker2.py lmc [index]
15. Align ET cams using eyeCameraAligner.py
16. Get relative poses between sensors based on observations from steps 6, 14, 15 using kabschPoints.py
17. Copy/move produced PNG files to root directory of this project
18. Update config.json and cameraCalibration.json to match your setup. In my case distCoeffs are set to 0 because gradients are computed based on already undistorted images. If you are using only one stereo camera make sure that camera attributes are the same for both devices under deviceCalibrations.
19. Open project in Unity, run scene Callibration-Vcam, do v1 without 2) Create Reflector Mask

https://www.youtube.com/watch?v=SqglkrRwO90

Motorized rig files:

• model
• code
• alternative mount