ROS 2 package for easy camera calibration with a graphical user interface.
Make sure to have a camera connected somewhere in the network that publishes images on a topic, preferably using the image_transport package.
Get a checkerboard pattern and place it in front of the camera. Note down
- the size of a single square in meters,
- the size of the checkerboard in squares (e.g. 7x9), excluding the border squares (they will not be detected, especially the lighter ones, making the whole procedure incorrect),
- the base topic name of the camera image (e.g.
/camera/image_raw).
Then run the following command, modifying :
ros2 run camera_calibration cameracalibrator --no-service-check --size 7x9 --square 0.02 --ros-args -r image:=/my_camera/image_raw -p camera:=/my_cameraThe --no-service-check option is used to skip the check for the set_camera_info service, which is not needed for the calibration procedure.
To calibrate the camera, move the checkerboard in front of the camera, making sure to cover all the angles and positions. Also, try at different distances from the camera; for this to work at low resolutions, a checkerboard with larger squares is recommended.
You can consider the procedure complete when a reasonable number of images have been taken, and the calibration metrics are all maximized or close to the maximum.
Click on CALIBRATE, then on SAVE to save the calibration data into a YAML file. The same data will be written in the console.
Copyright 2024 James Bowman, Patrick Mihelich, Vincent Rabaud, Joshua Whitley, Jacob Perron, Michael Ferguson Copyright 2025 dotX Automation s.r.l.
Licensed under the BSD License 2.0.
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