This repository include implementation of calibrating intrinsic and extrinsic camera parameter for distance calculation
Implementation of calibrating intrinsic and extrinsic camera parameter with pso optimization and quaternion rotation for distance calculation .
sudo apt install libopencv-dev cmake
First, set the camera in a fixed position then place the chessboard in front of it at a fixed distance, as shown below :
cmake .
make all
./Calibration
generally you should first set the actual distance in "realPoint" array in main.cpp file just note that the array is as follows :
This part of process very important because pso algorithm
highly parameter based so pay attention to the parameters.
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 :
Field2Image function get distance "milimeter" and calculate pixel .
vice versa :)
If you want read more about euler angles and quaternions i suggest you read the following paper :
A Tutorial on Euler Angles and Quaternions
This project is licensed under the MIT License - see the LICENSE file for details
Report any comment or bugs or question to:
[email protected]