..on camera calibration

A simple image is not an exact projection of the actual object. Some informations are lost. The task is to recover these lost details. And one of the important step is camera calibration. The goal is to know the transformation from the 3D world coordinates to the 2D image coordinates.
















Below is an image of a 3D calibration checkboard. We designated an origin and using a right-hand coordinate system, we chose 25 square corners and measured their coordinates (Yi, Zi) with respect to the origin. We also determined their real world coordinates (Xo, Yo, Zo).




















We now proceed with determining the transformation matrix a. The equation is given by














Finally, we solve for a using




To check for the accuracy, we randomly chose 4 points on the checkboard and using their real world coordinates, we calculated for their image coordinates. We measured the deviation from the theoretical value using the eucleadian distance. The results are: 1.12, 1.31, 1.44, and 0.98. These values shows that the calculated coordinates are less than 2 pixels away from the actual location. the accuracy is amazing.I was able to finish the activity with high accuracy. I want to give myself a 10.