realsense-apriltags-calibration-unity
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This is an example project showing how to align multiple RealSense D400+ cameras using an April Tag inside of Unity.
Multi-camera Calibration for RealSense in Unity
Not Calibrated | Calibrated |
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This is an example project showing how to align multiple RealSense D400+ cameras using an April Tag inside of Unity.
Why was it created?
I have been using multiple Intel RealSense cameras for a few projects and wanted to create an alternative to using OpenCV.
Package Details
This project uses a custom version of keijiro/jp.keijiro.apriltag project that can be found here: ababilinski/jp.keijiro.apriltag My changes to the package allow users to set some refinement variables as well as the field of view and center point.
Project outline
An example of the alignment process:
Controls
Key | Action |
---|---|
Middle Mouse Button | Pan |
Left Click | Rotate |
Scroll | Zoom |
Setup
- Plugin your RealSense devices and print out marker (
Markers/full-page-marker.pdf
) - Click Play
- Select the cameras you wish to align
- Click Continue
- Click on the camera Serial Number to start the alignment. (the alignment finishes after 100 samples)
Setup Images: camera selection
Setup Images: Scene
Setup Images: calibration Step
Acknowledgements
Thank you to Keijiro Takahashikeijiro (@keijiro) for your open source projects. Your this could not have been done without your April Tags port to Unity.