This repository is for scripts and executables that we can use to calibrate and undistort images from different cameras. Until our long-term needs are further clarified, it is not yet a unified process, so please refer to this README for specific instructions.

First, you'll need OpenCV. (TODO in future: Add to repo as a static lib.) https://linuxize.com/post/how-to-install-opencv-on-ubuntu-20-04/

Then, in the repository directory,

mkdir build && cd build
cmake ..
cmake --build .

Given a directory with chessboard images, this program will calculate and save calibration and undistortion parameters to a .yaml file.

./generate_calibration --inputDir ~/your/input/imgs --outputDir ~/your/output/txt --cameraType type --chessboardW width --chessboardH height

Where type can be:

• mdc3_120
• mdc3_60
• kowa3_5mm
• TODO? Smount
• TODO? 6mm_1_8

The output .yaml file will include: camera matrix, distortion coefficients, undistortion map1, undistortion map2

Example:

./generate_calibration --inputDir /home/avelasco/CalibFiles/mdc3_60/original --outputDir /home/avelasco/CalibFiles/mdc3_60/ --cameraType mdc3_60 --chessboardW 5 --chessboardH 8

undistort_images uses a set of pre-computed calibrations and applies an undistortion to the images in the given directory.

./undistort_images --inputDir home/calibration/distorted_images/ --outputDir home/calibration/undistorted_images/  --cameraType type

Where type can be:

• mdc3_120
• mdc3_60
• kowa3_5mm
• TODO? Smount
• TODO? 6mm_1_8

Example:

.undistort_images --inputDir /home/avelasco/CalibFiles/mdc3_60/original/ --outputDir /home/avelasco/CalibFiles/mdc3_60/undistorted/ --cameraType mdc3_60