ErfanFathi / camera-calibration

This repository include implementation of calibrating intrinsic and extrinsic camera parameter for distance calculation

Camera Calibration

Implementation of calibrating intrinsic and extrinsic camera parameter with pso optimization and quaternion rotation for distance calculation .

Dependencies

sudo apt install libopencv-dev cmake

Environment Setup

First, set the camera in a fixed position then place the chessboard in front of it at a fixed distance, as shown below :

Compilation

cmake .
make all
./Calibration

Code Setup

In "main.cpp" file i write some comments which that helps you ...

1) Input Real Points :

generally you should first set the actual distance in "realPoint" array in main.cpp file just note that the array is as follows :

2) Set Optimization Parameter :

This part of process very important because pso algorithm highly parameter based so pay attention to the parameters.

How To Use ?

After the setup environment and code, compile and run code . if print "pattern not found" there is a problem in your chessboard check that if print "pattern found" that's ok . after calibration process you have 10 parameter . now you can use that and calculate distance or pixel . for this work there is two function :

F1) Field2Image

Field2Image function get distance "milimeter" and calculate pixel .

F2) Image2Field

vice versa :)

Detected Corners

Projected Corners After Calibration

Euler angles and quaternions

If you want read more about euler angles and quaternions i suggest you read the following paper :
A Tutorial on Euler Angles and Quaternions

License

This project is licensed under the MIT License - see the LICENSE file for details

Finale

Report any comment or bugs or question to:
[e-mail]