Extrinsic Calibration for Multiple Azure Kinect Cameras

This calibration tool only requires 1 frame of recording mkv files from each Azure Kinect camera. It first uses color frame for AprilTag marker or ChArUco board detection and initial camera pose estimation. Then depth image from each camera is transformed to color camera to generate colored point cloud, which is used for Colored ICP algorithm.

The final result is saved as JSON file to be used in other software and PLY file for verifying calibration conveniently in any point cloud viewing software such as MeshLab.

Prerequisites

Azure Kinect SDK
OpenCV
AprilTag
Open3D

Building

Tested on Ubuntu 18.04 and 20.04

mkdir build && cd build
cmake ..
make

Running

./calib_k4a <master.mkv> <sub1.mkv>...

Important Note

The final extrinsic is transformed into depth camera coordinate system and also into OpenGL convention.

Todo

Test with Teaser++ for initial pose estimation