[Task] Camera Calibration and Projection to 3D

[mjorgecruz]

Description

Calibrate Your Camera:

• Intrinsic Parameters: Determine the focal lengths, principal point, and distortion coefficients.
• Extrinsic Parameters: Establish the camera’s position and orientation relative to the world.

Projection Methods:

• Homography (Flat Road Assumption): If the road is flat (assuming Z = 0), compute a homography transformation that maps 2D image points to 3D ground coordinates.
• Back-Projection: For each 2D centerline point, back-project the ray using your intrinsic parameters and intersect it with the known ground plane (using extrinsic parameters).

Outcome: You obtain a set of 3D coordinates representing your planned trajectory in the world space.

Priority

Medium

[luis-ffe]

Created there necessary files and calibrated the camera, implementation of the code for remaping the image in the laneDetectorCV.cpp