Calibu

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Dependencies:

System Dependencies:

sudo apt-get install libgflags-dev libsuitesparse-dev libgoogle-glog-dev libatlas-base-dev libeigen3-dev libprotobuf-dev

Other Dependencies

Calibu requires libraries for which apt-get does not provide binaries. CMakes external project utility can be used to build these dependencies.

Build

Building Calibu is a bit tricky because of a circular dependency. HAL requires Calibu and calibgrid-hal requires HAL. The solutions is a two step build process:

First build all external dependencies except HAL

cd Calibu
cd external
cmake .
make

Next we build Calibu without HAL support

cd ..
mkdir build
cd build
cmake ..
make

Now we can go back to the dependencies and build HAL

cd ..
cd external
rm CMakeCache.txt
cmake .
make

Finally we can build Calibu with HAL support

cd ..
cd build
make

Run application

With dc1394 cameras:

calibgrid-hal dc1394:[[fmt=FORMAT7_0,size=640x480,iso=400,dma=10]//[0,1]

From image files:

calibgrid-hal files:///images/[left,right]*.jpg

Operation:

Once the application is started, make sure "Add Frames" is checked. Grab images for a while (~20-30 sec). Then unckeck "Add Frames" and press '[' to start the optimization. Observe the console output and once you see "FUNCTION TOLERANCE" the optimization has converged. Now you can terminate the application by pressing 'ECS'. The camera calibration is in cameras.xml.