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