Tab 2 — Calibration

Multi-camera calibration using a printed charuco board: lens parameters (intrinsic), camera positions and orientations (extrinsic), and the lab coordinate system (origin). The algorithms are adapted from Caliscope.

🚧 TODO: screenshot of the tab with each panel labelled.

Charuco Board Config

Set board dimensions, square size (use the measured printed size) and ArUco dictionary. Save Board Image exports a printable board image (default A1).

Intrinsic Calibration

Per-camera lens calibration from a video of the board, using smart frame selection for orientation and spatial coverage diversity. Procedure: Intrinsic calibration.

Extrinsic Calibration

Multi-camera pose estimation from synced videos of the board moving through the shared volume — PnP solving, outlier rejection, graph bridging, triangulation and bundle adjustment. Browse to the trial's synced/ folder and click Calibrate Extrinsics.

🚧 TODO: extrinsic quality metrics (RMSE etc.) are on the roadmap — document thresholds and a pass/fail heuristic once implemented.

Set Origin

Stand the board vertically, in portrait, at the desired world origin (origin corner 790 mm above the floor). A short recording on all cameras is trimmed to a common duration — audio sync is skipped, since the board is static — and the coordinate system is aligned with a Umeyama similarity transform. Can be re-run after loading a saved calibration to redefine the axes.

🚧 TODO: the 790 mm vertical offset is planned to become user-editable — update once it is.

Save / Load

Save Calibration persists results to config/calibration/calibration.json and auto-exports camera_array_go2kin.toml for Pose2Sim. Load restores a saved calibration; the top-bar indicator reflects its age.