2-calibrate-the-camera.md

Step 2: Calibrate the camera

To estimate the pose of the camera using correspondences, we will first need to specify the camera calibration parameters.

We have made a camera interface CalibratedCamera, which supports both Realsense cameras through the implementation CalibratedRealSenseCamera, and OpenCV cameras through CalibratedOpencvCamera. These classes also contain the camera calibration.

As in lab-stereo, you will need the tek5030 camera-library for the lab. Head over to the repository and follow the installation instructions.
Note: The camera-library is preinstalled on the lab computers and in the tek5030/devcontainer Docker image.

You have the following choice of cameras:

• Use CalibratedRealSenseCamera with the precalibrated RealSense camera available at the lab.

  This is the recommended choice.

• Use CalibratedOpencvCamera with a web camera available at the lab.

  In this case, you can use the calibration results in cameraParameters.xml from lab "Pose estimation". We have already filled in these data in the camera interface.

• Use CalibratedOpencvCamera with your own camera.

  In this case, you will have to calibrate the camera, and setup the parameters in setupCalibration() in calibrated_opencv_camera.cpp:3

1. Choose the camera and, optionally, specify the camera calibration

Goto main.cpp and choose the camera you want to use (by commenting out the code you do not want to use ;) ).

If you are using your own camera, you need to calibrate it, and update the calibration parameters in setupCalibration() in calibrated_opencv_camera.cpp:3.

Then, please continue to the next step.