camera_calibration_and_stereo_vision
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| camera_calibration_and_stereo_vision [2024/04/24 11:48] – created wilfred | camera_calibration_and_stereo_vision [2024/04/24 21:31] (current) – wilfred | ||
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| === Summary === | === Summary === | ||
| * Marker tracking using a pair of cameras is a common task, however setting up and calibrating the cameras can be challenging | * Marker tracking using a pair of cameras is a common task, however setting up and calibrating the cameras can be challenging | ||
| - | * In the [[private: | + | * In the [[private: |
| - | * The scripts used are based on the work of [[https:// | + | * The scripts used are based on the work of Temuge Batpurev which is hosted on [[https:// |
| + | |||
| + | === Key Points === | ||
| + | * Camera calibration relies on acquiring images of a checkerboard using two cameras (see image below) | ||
| + | * This {{ : | ||
| + | * In the camera calibration function, you must set three parameters: rows, columns and world_scaling | ||
| + | * Rows and columns refer the number of " | ||
| + | * In the image below: < | ||
| + | * Note that OpenCV will throw an error if the number of rows and columns is incorrect | ||
| + | * world_scaling is the physical dimension of a square on the checkerboard, | ||
| + | * Checkerboard images are used to obtain the intrinsic matrices and distortion coefficients of each camera individually | ||
| + | * The camera calibration process also outputs a value related to the quality of the calibration (RMSE) which should be less than 0.30 | ||
| + | * Note that both camera frames must have the __same__ dimensions for stereo calibration | ||
| + | |||
| + | {{ : | ||
| + | |||
| + | * It is often important to define a world frame | ||
| + | |||
camera_calibration_and_stereo_vision.1713973683.txt.gz · Last modified: 2024/04/24 11:48 by wilfred