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Camera calibration problem AR.Drone 2.0

asked 2013-11-12 13:08:18 -0500

JP gravatar image

updated 2013-11-14 10:54:10 -0500

tfoote gravatar image

Hi guys, I installed the following driver: link:text because I noticed there were calibration files for the front and bottom camera of the AR.Drone. I downloaded this successfully so I tried the following line in terminal to see if the image quality improved:

rosrun image_view image_view image:=/ardrone/front/image_raw

However, the camera stream was still terrible. I wanted to know how people fixed the camera stream or had a similar problem on the AR.Drone 2.0 because my one is poor over ROS. Thanks!

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answered 2013-11-12 15:50:59 -0500

Artem gravatar image

The quality of the bottom camera is terrible so don't expect to get a good quality even after calibrating it. I suggest you to calibrate the front camera yourself using calibration package.

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Thanks for the reply. The problem is that the front camera is terrible. I tried to calibrate using the checkerboard method but the camera could not detect it. I was doing it correctly because I got it working on my webcam so the only problem could be the front camera.

JP gravatar image JP  ( 2013-11-12 20:19:01 -0500 )edit

I basically get double images and it looks quite transparent. If I take a snapshot using the app on the phone, it shows a clear image so the camera must not be broken...

JP gravatar image JP  ( 2013-11-12 20:20:02 -0500 )edit

When you will be calibrating specify it as a parameter for the calibration package i.e. rosrun camera_calibration --size 8x6 --square 0.108 image:=/ardrone/front/image_raw camera:=/ardrone/front/

Artem gravatar image Artem  ( 2013-11-13 00:54:52 -0500 )edit

Hi, I tried an A4 size check board that was detected when using the webcam. When I changed the camera to the ardrone feed, it would not draw the dots and lines on the checkerboard. What size checkerboard do you recommend?

JP gravatar image JP  ( 2013-11-13 03:23:57 -0500 )edit

We used two kinds of calibration patterns, the big one 0.108 and the small one (If am not mistaken 0.024) on A4 paper. It is strange that you pass the same parameters for the webcam and it is detected. Can you check that the parameter are the same.

Artem gravatar image Artem  ( 2013-11-13 03:33:30 -0500 )edit

I ran: rosrun camera_calibration --size 6x6 --square 0.024 image:=/camera/image_raw camera:=/camera for my webcam and: rosrun camera_calibration --size 6x6 --square 0.024 image:= /ardrone/front/image_raw camera:=/ardrone/front for the AR.Drone.

JP gravatar image JP  ( 2013-11-13 07:36:26 -0500 )edit

Where did you get the pattern 6 by 6? If the number of comers will not fit the number you pass as a parameter, the board will not be detected.

Artem gravatar image Artem  ( 2013-11-13 07:41:50 -0500 )edit

The checkerboard was a 9x7 board printed on A4 but i folded it so it was a 7x7. The 6x6 refers to the number of inner corners.

JP gravatar image JP  ( 2013-11-13 08:04:32 -0500 )edit

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Asked: 2013-11-12 13:08:18 -0500

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Last updated: Nov 12 '13