camera_calibration_and_stereo

Marker tracking using a pair of cameras is a common task, however setting up and calibrating the cameras can be challenging
In the SoRo Adhesives project, we designed a stereo-vision setup; this setup can be adapted to different projects
The scripts used are based on the work of Temuge Batpurev which is hosted on GitHub

Camera calibration relies on acquiring images of a checkerboard using two cameras (see image below)
This file can be used to generate checkerboards for calibration
In the camera calibration function, you must set three parameters: rows, columns and world_scaling
- Rows and columns refer the number of “crosses” in each axis of the checkerboard
- In the image below:
```
rows = 5
```
```
columns = 7
```
- 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, it is up to you to choose the unit
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