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calibration.md

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Calibration tools

How to run

  1. Print the pattern on letter sized paper
  2. Check that dimentions of the squares or/and markers match the script (in cm)
  3. Start the script with python tools/TYPE_calibration.py PATH/TO/processing.cfg
  4. Hold the pattern on a flat surface in front of the camera
  5. Make sure the camera recognizes the pattern and displays a colorful overlay
  6. All changes will be saved to the specified config file

What it does

This script utilizes the basic camera calibration logic provided by the documentation. It uses the pattern to determine focal size of the camera in pixels for specified resolution in the config. The focal x and y values should be close to each other. The script also calibrates the optical center and distortion coefficients. The first four values are necessary for accurate Apriltag pose estimation, while all distortion coefficients may be left at 0.