Calibrating the camera

Most cameras, especially wide-angle ones, exhibit large distortions. We can model such distortions as radial or tangential and compute the coefficients of that model using calibration algorithms. The camera calibration algorithms also obtain a calibration matrix that contains the focal distance and principle point of the lens and, hence, provide a way to measure distances in the world using the images acquired. In the case of stereo vision, it is also possible to retrieve depth information, that is, the distance of the pixels to the camera, as we will see later. Consequently, we have 3D information of the world up to an extent.

The calibration is done by showing several views of a known image named calibration pattern, which is typically a chessboard/checkerboard. It can also be an array of circles or an asymmetric pattern of circles; note that circles are seen as ellipses by the camera for skew views. A detection algorithm obtains the inner corner point of the cells...