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camera_calibration.html
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<title>Camera calibration | Clover</title><meta name="description" content="Clover Drone Kit">
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class="sidebar-item sidebar-heading" aria-label="Safety tips"><!--[--><!--]--> Safety tips <!--[--><!--]--></a><!----></li><li><p tabindex="0" class="sidebar-item sidebar-heading collapsible">Assembly <span class="right arrow"></span></p><!--[--><ul style="display:none;" class="sidebar-item-children"><!--[--><li><a href="/clover-vuepress/en/assembly.html" class="sidebar-item" aria-label="Clover drone assembly"><!--[--><!--]--> Clover drone assembly <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/assemble_4_2.html" class="sidebar-item" aria-label="Clover 4.2 assembly"><!--[--><!--]--> Clover 4.2 assembly <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/assemble_4_2_ws.html" class="sidebar-item" aria-label="Clover 4 assembly"><!--[--><!--]--> Clover 4 assembly <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/assemble_4.html" class="sidebar-item" aria-label="Clover 4 assembly"><!--[--><!--]--> Clover 4 assembly <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/assemble_3.html" class="sidebar-item" aria-label="Assembly of Clover 3"><!--[--><!--]--> Assembly of Clover 3 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/assemble_2.html" class="sidebar-item" aria-label="Clover 2 construction kit assembly instruction"><!--[--><!--]--> Clover 2 construction kit assembly instruction <!--[--><!--]--></a><!----></li><!--]--></ul><!--]--></li><li><p tabindex="0" class="sidebar-item sidebar-heading collapsible">Configuration <span class="right arrow"></span></p><!--[--><ul style="display:none;" class="sidebar-item-children"><!--[--><li><a href="/clover-vuepress/en/setup.html" class="sidebar-item" aria-label="Initial setup"><!--[--><!--]--> Initial setup <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/calibration.html" class="sidebar-item" aria-label="Sensor calibration"><!--[--><!--]--> Sensor calibration <!--[--><!--]--></a><!----></li><li><a 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class="sidebar-item-children"><!--[--><li><a href="/clover-vuepress/en/flight.html" class="sidebar-item" aria-label="Flight"><!--[--><!--]--> Flight <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/flight_exercises.html" class="sidebar-item" aria-label="Drone control exercises"><!--[--><!--]--> Drone control exercises <!--[--><!--]--></a><!----></li><!--]--></ul><!--]--></li><li><p tabindex="0" class="sidebar-item sidebar-heading collapsible">Working with Raspberry Pi <span class="right arrow"></span></p><!--[--><ul style="display:none;" class="sidebar-item-children"><!--[--><li><a href="/clover-vuepress/en/raspberry.html" class="sidebar-item" aria-label="Raspberry Pi"><!--[--><!--]--> Raspberry Pi <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/image.html" class="sidebar-item" aria-label="Raspberry Pi image"><!--[--><!--]--> Raspberry Pi image <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/wifi.html" class="sidebar-item" aria-label="Connecting to Clover via Wi-Fi"><!--[--><!--]--> Connecting to Clover via Wi-Fi <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/connection.html" class="sidebar-item" aria-label="Connecting Raspberry Pi to the flight controller"><!--[--><!--]--> Connecting Raspberry Pi to the flight controller <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/gcs_bridge.html" class="sidebar-item" aria-label="Using QGroundControl via Wi-Fi"><!--[--><!--]--> Using QGroundControl via Wi-Fi <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/ssh.html" class="sidebar-item" aria-label="SSH access to Raspberry Pi"><!--[--><!--]--> SSH access to Raspberry Pi <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/cli.html" class="sidebar-item" aria-label="Command line interface"><!--[--><!--]--> Command line interface <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/selfcheck.html" class="sidebar-item" aria-label="Automatic 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aria-label="Code examples"><!--[--><!--]--> Code examples <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/laser.html" class="sidebar-item" aria-label="Working with a laser rangefinder"><!--[--><!--]--> Working with a laser rangefinder <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/leds.html" class="sidebar-item" aria-label="Working with a LED strip"><!--[--><!--]--> Working with a LED strip <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/gpio.html" class="sidebar-item" aria-label="Working with GPIO"><!--[--><!--]--> Working with GPIO <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/sonar.html" class="sidebar-item" aria-label="Working with the ultrasonic distance gage"><!--[--><!--]--> Working with the ultrasonic distance gage <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/camera.html" class="sidebar-item" aria-label="Working with the camera"><!--[--><!--]--> Working with the camera 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Hack 2019 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/copterhack2018.html" class="sidebar-item" aria-label="Copter Hack 2018"><!--[--><!--]--> Copter Hack 2018 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/copterhack2017.html" class="sidebar-item" aria-label="Copter Hack 2017"><!--[--><!--]--> Copter Hack 2017 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/video_contest.html" class="sidebar-item" aria-label="Contest for the best educational video on assembly and configuration"><!--[--><!--]--> Contest for the best educational video on assembly and configuration <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/educational_contests.html" class="sidebar-item" aria-label="Educational contests"><!--[--><!--]--> Educational contests <!--[--><!--]--></a><!----></li><!--]--></ul><!--]--></li><!--]--></ul><!--[--><!--]--></aside><!--]--><!--[--><main class="page"><!--[--><!--]--><div class="theme-default-content"><!--[--><h1 id="camera-calibration" tabindex="-1"><a class="header-anchor" href="#camera-calibration" aria-hidden="true">#</a> Camera calibration</h1><p>Camera calibration can significantly improve the quality of nodes related to computer vision: <a href="/clover-vuepress/en/aruco.html" class="">ArUco markers detection</a> and <a href="/clover-vuepress/en/optical_flow.html" class="">optical flow</a>.</p><p>Camera calibration process allows to define the parameters reflecting the specific lens installed. These parameters include focal lengths, principal point (which depends on camera lens placement regarding the centre), distortion coefficient <em>D</em>. You can read more about camera distortion model used in the <a href="https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html" target="_blank" rel="noopener noreferrer">OpenCV documentation<span><svg class="external-link-icon" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" focusable="false" x="0px" y="0px" viewbox="0 0 100 100" width="15" height="15"><path fill="currentColor" d="M18.8,85.1h56l0,0c2.2,0,4-1.8,4-4v-32h-8v28h-48v-48h28v-8h-32l0,0c-2.2,0-4,1.8-4,4v56C14.8,83.3,16.6,85.1,18.8,85.1z"></path><polygon fill="currentColor" points="45.7,48.7 51.3,54.3 77.2,28.5 77.2,37.2 85.2,37.2 85.2,14.9 62.8,14.9 62.8,22.9 71.5,22.9"></polygon></svg><span class="external-link-icon-sr-only">open in new window</span></span></a>.</p><p>There are several tools allowing to calibrate the camera and store calculated parameters into the system. Usually they use calibration images, "chessboards" or combinations of "chessboards" and ArUco-marker grids (<a href="https://docs.opencv.org/3.4/df/d4a/tutorial_charuco_detection.html" target="_blank" rel="noopener noreferrer">ChArUco<span><svg class="external-link-icon" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" focusable="false" x="0px" y="0px" viewbox="0 0 100 100" width="15" height="15"><path fill="currentColor" d="M18.8,85.1h56l0,0c2.2,0,4-1.8,4-4v-32h-8v28h-48v-48h28v-8h-32l0,0c-2.2,0-4,1.8-4,4v56C14.8,83.3,16.6,85.1,18.8,85.1z"></path><polygon fill="currentColor" points="45.7,48.7 51.3,54.3 77.2,28.5 77.2,37.2 85.2,37.2 85.2,14.9 62.8,14.9 62.8,22.9 71.5,22.9"></polygon></svg><span class="external-link-icon-sr-only">open in new window</span></span></a>).</p><h2 id="camera-calibration-ros-package" tabindex="-1"><a class="header-anchor" href="#camera-calibration-ros-package" aria-hidden="true">#</a> camera_calibration ROS-package</h2><p>Main tutorial: <a href="http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration" target="_blank" rel="noopener noreferrer">http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration<span><svg class="external-link-icon" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" focusable="false" x="0px" y="0px" viewbox="0 0 100 100" width="15" height="15"><path fill="currentColor" d="M18.8,85.1h56l0,0c2.2,0,4-1.8,4-4v-32h-8v28h-48v-48h28v-8h-32l0,0c-2.2,0-4,1.8-4,4v56C14.8,83.3,16.6,85.1,18.8,85.1z"></path><polygon fill="currentColor" points="45.7,48.7 51.3,54.3 77.2,28.5 77.2,37.2 85.2,37.2 85.2,14.9 62.8,14.9 62.8,22.9 71.5,22.9"></polygon></svg><span class="external-link-icon-sr-only">open in new window</span></span></a>.</p><p>In order to calibrate the camera with the <code>camera_calibration</code> ROS-package you need a computer with OS GNU/Linux and <a href="/clover-vuepress/en/ros-install.html" class="">ROS Melodic</a> installed.</p><img src="/clover-vuepress/assets/camera_calibration.836921a3.png" alt="ROS Camera Calibrator" class="zoom center" width="600"><ol><li><p>Using the Terminal, install <code>camera_calibration</code> package to your computer:</p><div class="language-bash ext-sh"><pre class="language-bash"><code><span class="token function">sudo</span> <span class="token function">apt-get</span> <span class="token function">install</span> ros-melodic-camera-calibration
</code></pre></div></li><li><p>Download the chessboard – <a href="../assets/chessboard.pdf">chessboard.pdf</a>. Print the chessboard on paper or open it on the computer screen.</p></li><li><p>Connect to the <a href="/clover-vuepress/en/wifi.html" class="">Clover Wi-Fi network</a>.</p></li><li><p>Run camera calibration (on your computer):</p><div class="language-bash ext-sh"><pre class="language-bash"><code><span class="token assign-left variable">ROS_MASTER_URI</span><span class="token operator">=</span>http://192.168.11.1:11311 rosrun camera_calibration cameracalibrator.py --size 6x8 --square <span class="token number">0.108</span> image:<span class="token operator">=</span>/main_camera/image_raw camera:<span class="token operator">=</span>/main_camera
</code></pre></div><blockquote><p><strong>Note</strong> Change the value <em>0.108</em> to actual size a square on the chessboard in metres. For example, value <em>0.03</em> corresponds to 3 cm.</p></blockquote></li><li><p>When the calibration program starts, move the drone so the calibration board is observed from different angles:</p><ul><li>Place the chessboard in the left, right, top and bottom part of the frame.</li><li>Rotate the chessboard around all 3 axes.</li><li>Move camera toward and away from the chessboard, so that it is observed from different distance.</li></ul></li><li><p>Click the <em>CALIBRATE</em> button, when it's active. The process of calculation will take several minutes.</p><p>When the calculation is done, you'll see calculated parameters in the terminal. The corrected camera image view will be displayed as well. If calibration was successful all straight lines will remain straight on the image displayed.</p></li><li><p>Click the <em>COMMIT</em> button to store calculated calibration parameters. The result will be stored in the main Clover camera calibration file: <code>/home/pi/catkin_ws/src/clover/clover/camera_info/fisheye_cam_320.yaml</code>.</p></li></ol><!--]--></div><footer class="page-meta"><div class="meta-item edit-link"><a class="external-link meta-item-label" href="https://github.com/CopterExpress/clover/edit/master/docs/en/camera_calibration.md" rel="noopener noreferrer" target="_blank" aria-label="Edit this page"><!--[--><!--]--> Edit this page <span><svg class="external-link-icon" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" focusable="false" x="0px" y="0px" viewbox="0 0 100 100" width="15" height="15"><path fill="currentColor" d="M18.8,85.1h56l0,0c2.2,0,4-1.8,4-4v-32h-8v28h-48v-48h28v-8h-32l0,0c-2.2,0-4,1.8-4,4v56C14.8,83.3,16.6,85.1,18.8,85.1z"></path><polygon fill="currentColor" points="45.7,48.7 51.3,54.3 77.2,28.5 77.2,37.2 85.2,37.2 85.2,14.9 62.8,14.9 62.8,22.9 71.5,22.9"></polygon></svg><span class="external-link-icon-sr-only">open in new window</span></span><!--[--><!--]--></a></div><!----><!----></footer><nav class="page-nav"><p class="inner"><span class="prev"><a href="/clover-vuepress/en/ros-install.html" class="" aria-label="ROS Melodic package installation and setup"><!--[--><!--]--> ROS Melodic package installation and setup <!--[--><!--]--></a></span><span class="next"><a href="/clover-vuepress/en/zerotire_vpn.html" class="" aria-label="Creating a virtual network ZeroTier One and connecting to it"><!--[--><!--]--> Creating a virtual network ZeroTier One and connecting to it <!--[--><!--]--></a></span></p></nav><!--[--><!--]--></main><!--]--></div><!----><!--]--></div>
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