JavaCV and OpenCV Camera Calibration with sample code

[jviolette123]

We calibrated the camera to remove the barrel distortion.

We are counting pixels to determine height and width for the backboard rectangle. From the height and width in pixels, we can determine range and bearing between the camera and the backboard.

Using a radial target pattern, we determined there was a 25% difference in pixel count at the center of the camera and the edge of the camera field of view. Specifically, 41 pixels per cm at the center and 31 pixels per cm at the edge.

An error of up to 25% due to the backboard placement in the field of view would lead to range errors greater than the diameter of the hoop, and so we would not be able to determine how far to launch the ball.

If we were to reduce the distortion error, our subsequent calculations for range and bearing would improve and our chances of launching the ball on the correct trajectory would be much better.