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| documentation:vision:camera_calibration [2023/01/23 07:51] – pontusr | documentation:vision:camera_calibration [2023/01/25 05:49] (current) – marcusn |
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| ===== OpenCV ===== | ===== OpenCV ===== |
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| This approach is based on the opencv documentation for camera calibration in the following [[https://docs.opencv.org/4.x/dc/dbb/tutorial_py_calibration.html | link]]. The repository in the following [[https://git.cs.lth.se/robotlab/camera_calibration | link]] implements camera calibration with as well as picture taking with realsense cameras. This repository was written by Pontus Rosqvist, Josefin Gustafsson, Markus Nagy and Martin Lyrå. | This approach is based on the opencv documentation for camera calibration in the following [[https://docs.opencv.org/4.x/dc/dbb/tutorial_py_calibration.html | link]]. The repository in the following [[https://git.cs.lth.se/robotlab/camera_calibration | link]] implements camera calibration with as well as picture taking with realsense cameras. This repository was written by Pontus Rosqvist, Josefin Gustafsson, Marcus Nagy and Martin Lyrå. |
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| The code for camera calibration expects images of checkerboards taken with the camera for which we need to compute the instrinsic camera parameters. The size of the checkerboard needs to be supplied since the opencv function [[https://docs.opencv.org/4.x/d9/d0c/group__calib3d.html#ga93efa9b0aa890de240ca32b11253dd4a | findChessboardCorners]] needs to know how many points it is looking for and the entire chessboard needs to be visible in every image. The height and width of the chessboard which needs to be specified is not the height and width of the chessboard in squares but rather the heigth and width of the inner corners (points between squares). For example a normal chessboard is 8 by 8 if you count the squares but if we count the inner corners it is 7 by 7 so we would supply 7 by 7 to the function. | The code for camera calibration expects images of checkerboards taken with the camera for which we need to compute the instrinsic camera parameters. The size of the checkerboard needs to be supplied since the opencv function [[https://docs.opencv.org/4.x/d9/d0c/group__calib3d.html#ga93efa9b0aa890de240ca32b11253dd4a | findChessboardCorners]] needs to know how many points it is looking for and the entire chessboard needs to be visible in every image. The height and width of the chessboard which needs to be specified is not the height and width of the chessboard in squares but rather the heigth and width of the inner corners (points between squares). For example a normal chessboard is 8 by 8 if you count the squares but if we count the inner corners it is 7 by 7 so we would supply 7 by 7 to the function. |