@KnightHawk06 , Please try building the calibration app from this branch : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-camera-calibration/-/tree/fisheye-stereo?ref_type=heads
Some time ago i fixed it up to work with fisheye stereo calibration, but also changed one parameter in thresholding to make it more smooth : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-camera-calibration/-/commit/0bce9a25c67e64a229cfcbad4b6ace3a5837ee1b#f221083d30a7ca966318f904682ecf4970341657 -- in threshold.cpp change the number of tiles from 3 to 5, so that the image thresholding is more smooth across the image (even a larger number like 7 should work even better, but i am not sure if i tried).
In the same branch I also slightly reduced the percentage of the windows that needs to be filled up with the checkerboard pattern, so that it is easier to have the calibration accept the pattern.
Another thing to try, to just reduce the cpu load, just temporarily drop the FPS to 15, so that there are not so many frames to process (you can change it in voxl-camera-server.conf)
I am going to take a look again at this soon and potentially integrate these fixes as options to camera calibration app (number of tiles, frame skip, etc)
Alex
