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Zhang's Camera Calibration

Complete python implementation of camera intrinsics calibration module based on the Zhang's seminal paper on auto calibration

Images before & after rectification

To Run

python code/Wrapper.py

Intrinsics including distortion estimates

Initial estimate:

camera matrix: [[ 2.05385953e+03 -5.57111936e-01  7.62314384e+02]
                [ 0.00000000e+00  2.03798105e+03  1.35161472e+03]
                [ 0.00000000e+00  0.00000000e+00  1.00000000e+00]]

distortion coefficients: 
                [0.0,0.0]

Final estimates after nonlinear optimization:

camera_matrix: [[ 2.04890946e+03 -1.81820384e+00  7.57250677e+02]
                [ 0.00000000e+00  2.04013918e+03  1.34345822e+03]
                [ 0.00000000e+00  0.00000000e+00  1.00000000e+00]]

distortion coefficients: 
                [0.16892840826939845,-0.7347718067455832]

Projection errors before and after nonlinear optimization

Image #1 #2 #3 #4 #5 #6 #7 #8 #9 #10 #11 #12 #13
Before 2.41 1.14 1.68 0.82 2.29 1.19 5.93 1.17 1.96 2.00 1.37 3.32 2.12
After 0.71 0.43 0.59 0.56 0.96 0.82 0.85 0.65 0.49 0.54 0.72 0.80 0.54