2-camera-calibration.md

Step 2: Camera calibration

To estimate the pose of the camera using map-image correspondences, we will first need to specify the camera calibration parameters.

1. Specify the camera calibration

Fill the correct calibration matrix and distortion parameters into setup_camera_model() in lab_pose_estimation.py.

• If you are using the lab webcams, you can use the calibration results in cameraParameters.xml.

• If you are using your own camera, you need to calibrate it.

  You might want to take a look at Thomas' tutorial on canvas.

Then, please continue to the next step.