Camera calibration is the estimation of the internal (intrinsic) parameters of a
camera. It is an important step in order to correct any optical distortion artifacts.
Equation (1) shows the intrinsic matrix (also called camera matrix) containing 5
intrinsic parameters. cx and cy represent the coordinates of the principal point,
which would be ideally at the image center. ∞x and ∞y represent the focal length
Markerless Tracking for Augmented .
and s is the skew coefficient. Intrinsic parameters are specific to a camera, so once
calculated; it can be stored for future purposes. There are many approaches used to
calibrate a camera. One of them is to take a number of images of a planar pattern by
the targeted camera from different distances and points of view . The pattern
used in our case is a chessboard.