nonlinear1 / mulikincalib

A multiple Kinect V2 Calibration tool

MultiKinCalib

Multiple Kinect V2 Calibration

Run main script to display the main GUI. Connect a Kinect V2 to the local computer and one or more Kinect V2 to remote computers on the same LAN. Run each step of the main GUI.

Setup

Setup calibration parameters such as: Computer role: Server(local machine) or client. Cameras: Number of cameras. Images to save: Number of acquisition images (minumum 2). Output directory: Where to save the data acquisition and the intermediate results, Marching distance: Point cloud matching distance in millimeters. Skew: Calibrate with skew parameter (yes or no). Radial dist Coeff: Number of radial distortion parameters (2 or 3). Tangential dist coeff: Calibrate with tangential distortion (yes or no). Points on calib object: Number of collinear points on the calibration object. Calib oject length: Length of calib object.

Data Acquisition

In this step, the server communicates with the remote clients to begin syncrhonized data acquisition.

Precalibration

With the data acquired in the previous step, the system estimates the pose of each camera.

Matching

Using the estimates of the pose of each camera, the system gathers matching points between adjacent views.

Intrinsic Initialization

With the multiple matching points from the previous step, the system estimates an initialization of the intrinsic parameters.

Non-linear optimization

Perform a non-linear optimization of the intrinsic and extrinsic parameters for each camera.

Point Cloud

Merge point cloud data using all the cameras.