Multi-camera Calibration for RealSense in Unity

Not Calibrated	Calibrated

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

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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)

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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.