camera_calibration

This is a demo using OpenCV to calibrate camera and save params as .yaml file.

In 'pictures' folder 20 pictures of 4 x 11 circle pattern provided to calculate cameraMatrix.

Please using roslaunch to run nodes else the pictures cannot be loaded

roslaunch camera_calibration camera_calibration.launch

rosservice call /calibrate

Photoing Phone	Image Size
SAMSUMG NOTE 8	4032x1960

Remaining problems:

1. findCirclesGrid only works when pyrDown executed three times which means images are 1/64 as big as origin(same in using resize).

2. some centers of some pictures are not accurate.

Both problems may be solved by adjusting Params of SimpleBlobDetector and TermCriteria of cornerSubPix.

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For more details: Calibrate_camera_intrinsics_with_circle_pattern