Use the Matlab calibration package to get the extrinsic calib params (Camera Calibration)

vortexntnu / vortex-cv

A repository for a set of perception and robotic vision modules, developed by students in Vortex NTNU for use in the AUV and ASV software stacks.

MIT License

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Use the Matlab calibration package to get the extrinsic calib params (Camera Calibration) #46

Closed theBadMusician closed 2 years ago

theBadMusician commented 2 years ago

Time estimate: 20 hours

Description of task: Test the calibration package found in Matlab, and see if it possible to calibrate both, the intrinsic and the extrinsic, camera parameters using it. It is a good idea to test this on a Linux version so that we know it can be done with the computers present at the office.

Bruglen commented 2 years ago

We have managed to use matlab in order to go through camera calibration. We get both intrinsics and extrinsics. However we need to test how good the extrinsics are.

KristianSem commented 2 years ago

Calibrating the intrinsic beforehand and utilizing these, generates more accurate extrinsic than doing an all in one intrinsic and extrinsic calibration. The steroCameraCalibrator requires fixed intrinsic parameters in the structure that the cameraCalibrator (single camera) exports its values in (a struct). But values are still of by quite alot in comparison with the true values.

All in one result: extrinsic_params_ZY

Pre calibrated intrinsics: 20pairs_extrinsic

The calibration steps were inspired by the research paper from Vision based obstacle avoidance and motion tracking for autonomous behaviors in underwater vehicles

KristianSem commented 2 years ago

Remeber that the intrinsic parameters are in the shape for matlab:

theBadMusician commented 2 years ago

Closing this, as we got satisfactory params.