Classic Zhang Zhengyou's Two-Step Camera Calibration Procedure

This text introduces the classic Zhang Zhengyou's two-step camera calibration procedure, which includes both monocular calibration and stereo calibration programs. These implementations are developed using MATLAB programming environment. The primary objective of calibration procedures is to determine camera intrinsic parameters (focal length, principal point, distortion coefficients) and extrinsic parameters (rotation and translation matrices) through specialized algorithms. This enables accurate measurement and reconstruction of object dimensions and positions in subsequent image processing and computer vision tasks. The monocular calibration procedure utilizes chessboard pattern detection and nonlinear optimization techniques to calibrate individual cameras, typically implementing Zhang's method through functions like `cameraParameters()` and `estimateCameraParameters()`. The stereo calibration program extends this approach to multiple cameras, employing epipolar geometry constraints and bundle adjustment algorithms to establish precise spatial relationships between cameras. This facilitates enhanced 3D reconstruction accuracy and depth perception capabilities. Through these calibration procedures, researchers can obtain reliable and accurate camera parameters, significantly improving the quality and effectiveness of various image processing and computer vision applications. The MATLAB implementation typically involves key functions such as `detectCheckerboardPoints()` for feature extraction, `estimateCameraParameters()` for parameter calculation, and `stereoParameters()` for multi-camera system calibration.