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README.md
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---
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pretty_name: MultiCam 4D Stereo Dataset
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tags:
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- stereo
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- multi-view
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- 4d-reconstruction
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- foundationstereo
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- charuco-calibration
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---
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# MultiCam 4D Stereo Dataset
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同步 **8 目立体相机** 4D 采集数据。8 台 DECXIN/Nori 并排立体模组由**单个 ESP32 门控触发器**并联驱动,跨相机同步 **~0.4µs(亚微秒)**。每台相机自带用屏幕 ChArUco 标定出的**双目内参**。
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## 相机
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每台相机有唯一动物名(对应物理标签):`Cat` `Pig` `Cow` `Fish` `Tiger` `Sheep` `Dog` `Mouse`。
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## 文件(每个 zip = 一段截取)
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| 文件 | 会话 | 帧范围 | 每台每目帧数 |
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|---|---|---|---|
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| `ui_1784818172_8s到结尾_8台命名带内参.zip` | ui_1784818172 | 8s→结尾 | 353 |
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| `ui_1784817901_4s到7s_8台命名带内参.zip` | ui_1784817901 | 4s→7s | 90 |
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| `ui_1784817901_10s到结尾_8台命名带内参.zip` | ui_1784817901 | 10s→结尾 | 291 |
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(帧范围按 30fps 换算;每 zip 解压得到一个 `dataset_<session>_<range>/` 顶层目录。)
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## 目录结构
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```
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dataset_<session>_<range>/
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├── capture_info.json # 元信息(相机/帧范围/同步抖动/含标定清单)
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├── README.txt # 用法说明
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├── Tiger/
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│ ├── left/ 000000.jpg … NNNNNN.jpg
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│ ├── right/ 000000.jpg … NNNNNN.jpg
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│ └── calibration/
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│ ├── foundationstereo_K.txt # 校正后 K + 基线(FoundationStereo 格式)
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│ ├── stereo_calibration.npz # K/D/R/T + 极线校正映射 left_map/right_map
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│ └── stereo_calibration_summary.json
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├── Fish/ … Cat/ … Pig/ … Cow/ … Sheep/ … Dog/ … Mouse/ …
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```
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## 对齐约定
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- 同一相机 `left/NNNNNN.jpg` 与 `right/NNNNNN.jpg` = **同一原始帧**。
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- 不同相机的**同名帧** = **同一触发瞬间**(亚微秒同步)。
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- `left`/`right` 为原始拆分(相机倒装已转正,**未极线校正**);视差约定 `x_left - x_right > 0`,符合 FoundationStereo。
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## 使用 (FoundationStereo)
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送 FoundationStereo 前,对每台的 `left`/`right` 用其 `calibration/stereo_calibration.npz` 里的 `left_map`/`right_map` 做 `cv2.remap` 极线校正,再配 `foundationstereo_K.txt`:
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```python
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import numpy as np, cv2
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c = np.load("Tiger/calibration/stereo_calibration.npz")
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L = cv2.remap(cv2.imread("Tiger/left/000000.jpg"), c["left_map_x"], c["left_map_y"], cv2.INTER_LINEAR)
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R = cv2.remap(cv2.imread("Tiger/right/000000.jpg"), c["right_map_x"], c["right_map_y"], cv2.INTER_LINEAR)
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# 校正后的 L/R + foundationstereo_K.txt -> FoundationStereo
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```
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## 标定质量
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每台屏幕 ChArUco 双目标定:stereo RMS ≈ 0.6px、基线 ≈ 59.5mm(8 台聚集在 59.35–59.83mm,硬件一致)。
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