Approach

Camera Calibration -- Camera calibration is the first step in any visual system. It was carried out using standard OpenCV method using C++.

​

Target Pose Estimation -- Detect target image, checkerboard in this case, in each frame and calculate target's pose using the cv::solvePnP function.

​

Point Projection -- 3D world points corresponding to the target image were projected on the image plane of the camera using the cv::projectPoints function. This created 3D virtual objects in the video frame.

​