Fine Tune of the Mapping Matrix for Camera Calibration using Particle Swamp Optimization

In the traditional camera calibration method, one of the core parameters affecting the calibration quality is the mapping matrices in the x- and y-direction. In this study, we first calculate the mapping matrices using the traditional method. And then adopt Particle Swamp Optimization (PSO) method to further fine tune the mapping matrices. In the experiments, we use OpenCV packages to perform the original calibration algorithm, and use Python to implement the PSO algorithm to fine tune the mapping matrices. Experimental results show that, we have only minor improvement in terms of re-projection error (since this quantity is coarse), but we do produce better vision effects, especially for the regions distant from the image center.