Camera calibration is important for doing accurate 3D measurement. This project explore techniques to calibrate Wave share Stereo Camera using opencv Python for building a 3D sensor using Jetson Nano.
To get started with the basic of CSI camera, go to the original repository.
Purposes:
- correct artifacts of camera lenses such as distortion.
- estimate accurate focal length of the camera.
- output camera matrix to correct future images.
- pose estimation
- get camera distance
- get camera rotation and translation matrix
Usage:
capture calibration image series by runing the program:
python3 capture_image_series.py
press space to the capture images.
Run intrinsic calibration to get camera matrixs for both left and right cameras. This would do both extrinsic and intrinsic calibration.
python3 calibration.py
Using EXtrinsic and Intrinsic calibration result to calculate disparity map and do depth reconstruction.
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