This is a project for intrinsic calibration and evalution.

It mainly includes two part: intrinsic calibration, distortion measurement.

• Cmake
• opencv 2.4
• eigen 3

Compile in their respective folders

# mkdir build
mkdir -p build && cd build
# build
cmake .. && make

• <calibration_image_dir>: contains only seleted chessboard calibration image
• <distortion_image_path>: distortion harp image

Camera intrinsic calibration board, size 900 * 1000 mm, each grid size 100 * 100 mm

Camera intrinsic calibration board, size 900 * 1000 mm, each grid size 50 * 50 mm

Camera distortion measurement board, size 900 * 1000 mm

1. run command:

# run intrinsic calibration
./bin/run_intrinsic_calibration <calibration_image_dir>
# run distortion measurement
./bin/run_distortion_measure <distortion_image_path>

• Intrinsic Calibration: Program will automatically run intrinsic calibration. Corner-detect result will be displayed. All input calibration images will be undistorted and save to <calibration_image_dir>/undistort/ dir.

• Distortion Evaluation: Sampled points of original and undistorted images will be displayed. Undistorted distortion_image will be save to <output_dir>.

2. Run the test sample:

# run intrinsic calibration
cd ./intrinsic_calib/
./bin/run_intrinsic_calibration ./data/

# run distortion measurement
cd ./calib_verification/
./bin/run_distortion_measure data/test.png

This distortion evaluation code is based on the research below:

@article{tang2012high,
  title={High-precision camera distortion measurements with a “calibration harp”},
  author={Tang, Zhongwei and von Gioi, Rafael Grompone and Monasse, Pascal and Morel, Jean-Michel},
  journal={JOSA A},
  volume={29},
  number={10},
  pages={2134--2143},
  year={2012},
  publisher={Optical Society of America}
}