... | ... | @@ -4,6 +4,8 @@ Intrinsic calibration uses OpenCV's `calibrateCamera()`. Only checkerboard patte |
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Intrinsic parameters are used to correct lens distortions, so it is important that the pattern is on as flat surface as possible (so distortion from board's shape is much less than lens distortion). For focal length and principal point, pattern should be shown in various angles and cameras, however extreme angles (over 45 degrees) should be avoided as corners might not be detected as accurately. The field of view should be completely covered by the calibration patterns. For distortion parameter calibration, focal length and principal point should be fixed to get a stable calibration.
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Initial values can (and should) be provided by user, but are not required. When calibrating distortion coefficients, it is good idea to fix focal length and principal point. Options for intrinsic calibration are documented in OpenCV documentation for `calibrateCamera()` and are also displayed in option checkbox tooltip.
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## Extrinsic calibration for all cameras
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Extrinsic calibration will calculate pose of each all camera. Rectification parameters are calculated from poses. Additionally intrinsic parameters can be further adjusted. It is a good idea to fix as many parameters in advance as possible, distortion coefficients at minimum.
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