README.md

Camera calibration:

1. initial_camera_calibration

• it is used to calibrate the camera from a set of chess board images.
• use camera calibration pattern
• chessboard images must be more than ten images taken from different orientations.
• saves the camera calibration data in ../camera_data
• for more information follow the instructions under: https://docs.opencv.org/3.3.0/dc/dbb/tutorial_py_calibration.html

2. initial_perspective_calibration.py

• it is used to calibrate the presepective projection on the camera setting including the depth to the object plane.
• use perspective calibration pattern
• during the prespective calibration, if any pixel coordinate is needed, run $ python cvImage.py and get the desired pixel coordinate.
• for more information follow the instructions under: https://www.fdxlabs.com/calculate-x-y-z-real-world-coordinates-from-a-single-camera-using-opencv/

3. camera_toXYZ.py

• once the camera and the perspective_projection are calibrated:
  • We have an estimate of the depth from the camera to the object plane
  • have access to all the ./camera_data generated from the calibration scripts.
• use the above calculated data to convert a pixel cooudinate (u,v) to a 3D real world co-coordinate (X,Y,Z)