multicam_calibration
A ROS-based tool for calibrating intrinsic and extrinsic parameters of multiple cameras using AprilTag targets.
What is multicam_calibration?
multicam_calibration is a ROS package for calibrating intrinsic and extrinsic parameters of multiple cameras. It solves the problem of accurately determining camera lens distortions, focal lengths, and relative positions between cameras, which is critical for applications like 3D reconstruction, visual odometry, and sensor fusion in robotics.
Robotics engineers and computer vision researchers working with multi-camera systems, especially those using ROS and requiring precise calibration for perception tasks.
Developers choose multicam_calibration because it provides a robust, open-source solution specifically designed for multi-camera calibration within the ROS ecosystem, with support for AprilTag targets and flexible calibration workflows.
Overview
multicam_calibration is a ROS package designed for calibrating both intrinsic (lens distortion, focal length) and extrinsic (position and orientation) parameters of multiple cameras. It is essential for robotics and computer vision applications where accurate camera calibration is required for 3D reconstruction, visual odometry, and multi-sensor fusion.
Key Features
- AprilTag-based calibration — Uses AprilTag grids as calibration targets, following Kalibr conventions for reliable detection.
- Multi-camera support — Calibrates intrinsic and extrinsic parameters for multiple cameras simultaneously.
- Flexible initialization — Allows users to provide initial guesses for camera parameters to improve convergence.
- Managed calibration sequences — Supports step-by-step calibration workflows (e.g., intrinsics first, then extrinsics) via Python scripts.
- Reprojection error analysis — Provides detailed error metrics to assess calibration quality.
- Corner data persistence — Can save and reload detected corners from files for repeated calibrations without raw images.
Philosophy
The project emphasizes robustness and flexibility, leveraging established computer vision libraries and ROS infrastructure to provide a reliable calibration solution for complex multi-camera setups.
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