Ex 6.7: Target-based calibration
Use a three-dimensional target to calibrate your camera.
1. Construct a three-dimensional calibration pattern with known 3D locations. It is not easy
to get high accuracy unless you use a machine shop, but you can get close using heavy
plywood and printed patterns.
2. Find the corners, e.g, using a line finder and intersecting the lines.
3. Implement one of the iterative calibration and pose estimation algorithms described in
Tsai (1987); Bogart (1991); Gleicher and Witkin (1992) or the system described in
4. Take many pictures at different distances and orientations relative to the calibration target
and report on both your re-projection errors and accuracy. (To do the latter, you may
need to use simulated data.)