This chapter covers the following recipes:
- Pinhole camera model calibration
- Fisheye camera model calibration
- Stereo rig calibration - estimation of extrinsics
- Distorting and undistorting points
- Removing lens distortion effects from an image
- Restoring a 3D point from two observations through triangulation
- Finding a relative camera-object pose through the PnP algorithm
- Aligning two views through stereo rectification
- Epipolar geometry - computing fundamental and essential matrices
- Essential matrix decomposition into rotation and translation
- Estimating disparity maps for stereo images
- Special case 2-view geometry - estimating homography transformation
- Planar scene - decomposing homography into rotation and translation
- Rotational camera cas - estimating camera rotation from homography