calib

Intrinsics calibration

🏗️ Requirements

• Activate libcamera via sudo raspi-config ➡️ interface
• Check picamera library (default at the Raspbian distro)

python3
import picamera

• Create pics/ folder

mkdir pics

• Have a bright light source directly behind the camera
• Print a calibration pattern - our has 11 X 12 with 30cm side square (PDF)

🧰 Configuration

Resolution and sensor mode

picamera.PiCamera(resolution=(960,640), framerate=20, sensor_mode=2) # line 7 in calibCapture.py

• Refer to sensor mode docs
• Prefer bigger resolutions and modes with full sensor capture
• Use PNG over compressed types (JPG, bitmap)

Framerate

• Change the FPS to the lower limit of the sensor mode you choose (see the table
• If you receive pitch-black images, increase the FPS

Gain

• The gain is set to adjust automatically at the first 5 seconds
• Approximate the calibration pattern in these 5 seconds so the image is very bright

⚔️ Usage

• Run python3 calibCapture.py
• Hit Ctrl+C to stop
• Copy the images to the server (use scp) and run the camera calibrator application

🖼️ Example pics