Pinhole Camera Model and Camera Calibration

Today

  • Robots and society discussion: Privacy!
  • Pinhole camera model and calibration

For Next Time

  • Keep on working on the computer vision project
  • Readings for next Robots and Society discussion
    • Job Loss and Replacement

Robots and Society Discussion

  • Privacy: Slides here

Pinhole Camera Model

The slides for today are available here

Camera Calibration Resources

If you are running your computer vision project on the simulator, you should not need to do camera calibration; as Gazebo does not inject distortion into the image. However if you for some reason wanted to do this, here are a few resources:

  • Gazebo article on creating distortion
  • A github repo for camera calibration in Gazebo (note that we haven’t had a chance to try this yet.)

If you want to work with real Neatos in the future, or want to calibrate a different camera (e.g. your webcam):

  • ROS tutorial on monocular camera calibration
  • ROS tutorial on stereo camera calibration

Note that you’ll need checkerboards!

Additional Resources

  • Open CV tutorial on distortion and camera calibration
  • An article on What is the Center of an Image?
  • Youtube lecture on pinhole camera model

    (includes a fun demo on finding the focal length of your phone camera at around 7:30)