Camera Calibration

• Connect the CSI camera to the Raspberry Pi camera interface, ensuring that the blue side of the cable faces the black switch cover;
• Connect the Raspberry Pi to a display and open the terminal to input commands;

• Select Interface option and then choose P1 Camera;

• Save and exit, then reboot the Raspberry Pi

• Prepare a chessboard as shown in the picture, assigning coordinates (0,0,0), (1,0,0), (2,0,0) … (11,8,0) to the chessboard;

• Open the terminal on the Raspberry Pi and input the command to activate the camera;

cheese

• Select the external camera and take multiple photos of the chessboard from different angles;

• Save the photos taken into a folder, renaming them as ‘1.jpg’、‘2.jpg’、…

• Copy the photos to the computer, placing them in the same directory as the code file (link at the end)

• Open the code with pycharm (calib_camera), add the libraries used in settings numpy、opencv-python、glob

• Modify path 1 to the path where the chessboard photos are stored, modify path 2 to the path for the test photo (using the 17th photo as an example)

• Run the program to obtain the corrected photo, which will be automatically stored in the same path as the captured photos

• Record the camera’s parameter matrix

Monocular Distance Measurement

(Detailed operations can refer to the video)

Layout: SUSU