Note: I don't actively maintain this repository anymore. PRs are more than welcome to help improve it.

This contains a source file to calibrate a stereo system comprising of fisheye lenses. It calibrates the extrinsics and the intrinsics of the cameras without any initial guesses. If you are looking for stereo calibration with lenses which follow the pinhole model check here.

• OpenCV
• popt

Compile all the files using the following commands.

mkdir build && cd build
cmake ..
make

Make sure your are in the build folder to run the executables.

Some sample calibration images are stored in the imgs folder.

Run the executable with the following command

./calibrate -w [board_width] -h [board_height] -s [square_size] -n [num_imgs] -d [img_dir] -l [left_img_prefix] -r [right_img_prefix] -o [calib_file]

For example if you use the images in the imgs folder run the following command

./calibrate -w 9 -h 6 -s 0.02423 -n 29 -d ../imgs/ -l left -r right -o cam_stereo.yml