How To Run

0. Preprocess

Before start, take images for calbibration using a planar target with the circular pattern. See the Guidance section.

1. Prepare runfiles

Option 1) Download runfile (Easy but only works on Ubuntu PC)

Option 2) Build with docker (Supports all architectures)

$ git clone https://github.com/chaehyeonsong/discocal.git
$ cd discocal
$ docker compose up

After build, runfiles will be created in discocal folder

Tip

If docker compose command is not installed or doesn’t work, try this

$ docker build -t chaehyeonsong/discocal . -f dockerfile
$ docker run --rm --entrypoint sh chaehyeonsong/discocal -c "tar -C /app/dist -cf - ." | tar -xf -

2. Modify the config file

  • intrinsic.yaml: This is a config template of instrinsic calibration

  • extrinsic.yaml: This is a config template of extrinsic calibration.
    With DiscoCal, extrinsic calibration for n cameras can be performed simultaneously.
    The relative poses of all cameras are estimated with respect to the first camera.

3. Run

  • Intrinsic calibration 
    $ sudo chmod +x run_mono && ./run_mono [config_path]
  • Extrinsic calibration 
    $ sudo chmod +x run_stereo && ./run_stereo [config_path]

You can download sample images in here

Demo video

Video Label