AR.Drone 2.0 camera calibration problem. [closed]

asked 2013-09-18 11:52:33 -0600

JP gravatar image

updated 2013-11-14 11:36:39 -0600

tfoote gravatar image

Hi everyone, I want to know if anyone is or has been in the same situation as myself. I have successfully calibrated my webcam using the checkerboard from this ROS tutorial: link:text and now that I know that my checkboard can be read, I wanted to replace the webcam to the ardrone 2.0 camera feed. I successfully did this and the camera calibration GUI showed up. The problem is that I can not get the checkerboard to highlight. I know I am putting in the right arguments for the square size because the only thing I have changed is the camera feed.

I also know that there is nothing wrong with the ardrone camera because when I use the app I get a nice image stream. Only when I use the ardron_autonomy package do I get a double image and strange transparent effects. It seems like the only method to correct this cannot work because of the cameras poor image from the drone.

I don't know how I can get the camera calibration to read the checkerboard. My ardrone_front.yaml is the one supplied by the ardrone_autonomy package which looks like:

image_width: 640
image_height: 360
camera_name: ardrone_front
camera_matrix:
rows: 3
cols: 3
data: [569.883158064802, 0, 331.403348466206, 0, 568.007065238522, 135.879365106014, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [-0.526629354780687, 0.274357114262035, 0.0211426202132638, -0.0063942451330052, 0]
rectification_matrix:
rows: 3
cols: 3
data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
projection_matrix:
rows: 3
cols: 4
data: [463.275726318359, 0, 328.456687172518, 0, 0, 535.977355957031, 134.693732992726, 0, 0, 0, 1, 0]

I assume the camera calibration will modify these parameters so maybe someone could supply their readings and that should work for mine also?

Please tell me any suggestions that you think could resolve this!

Thanks :)

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2016-08-08 00:31:32.378957