This objective of this project was to calculate the camera parameters for pose estimation.
- Camera Calibration - Extrinsic and Intrinsic parameters
- Importance of Fiducial Markers
- Pose Estimation
Rotation and Translation matrices were used to transform from the world coordinate system to camera coordinate system. Rotation matrix used for this is usually a matrix of dimension = (3, 3). The output (rvec) I got from cv2.calibrateCamera() was a vector of dimension = (1,3). Later I found out that rvec is a Rodrigues vector and we need OpenCV's Rodrigues function to convert this into a rotation matrix of dimension = (3,3)
This task was really fun to do! I also learnt a lot about AruCo Tags and Camera calibration.