Implementation of calibrating intrinsic and extrinsic camera parameter with pso optimization and quaternion rotation for distance calculation .

sudo apt install libopencv-dev cmake

First, set the camera in a fixed position then place the chessboard in front of it at a fixed distance, as shown below :

cmake .
make all
./Calibration

generally you should first set the actual distance in "realPoint" array in main.cpp file just note that the array is as follows :

This part of process very important because pso algorithm highly parameter based so pay attention to the parameters.

After the setup environment and code, compile and run code . if print "pattern not found" there is a problem in your chessboard check that if print "pattern found" that's ok . after calibration process you have 10 parameter . now you can use that and calculate distance or pixel . for this work there is two function :

Field2Image function get distance "milimeter" and calculate pixel .

vice versa :)

If you want read more about euler angles and quaternions i suggest you read the following paper :
A Tutorial on Euler Angles and Quaternions

This project is licensed under the MIT License - see the LICENSE file for details

Report any comment or bugs or question to:
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