Having completed camera calibration last week, we can now begin applying those results to our angle calculation, to hopefully see more accurate results.

Shown above are a pair of images at two different steps in the angle calculation pipeline. Though the difference is not that significant at first glance, you’ll notice that in the second set of images, they are not perfect rectangles, and the frame is slightly curved, particularly near the corners. This is the result of undistorting the images, straightening them out to account for the distortion caused by the camera lens.

Despite the difference not being all that visually significant, in the context of angle calculation, a pixel being slightly off could translate to a difference of several feet, which would then throw off our angle calculation, so in order to ensure our results are as accurate as possible, this is an important and necessary step.