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feat(perception): IMX219 camera calibration workflow — checkerboard intrinsics + extrinsics #106

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opened 2026-03-02 08:27:41 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 08:27:41 -05:00
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Summary

Proper camera calibration pipeline to replace placeholder intrinsics (fx=229).

Requirements

  • Intrinsic calibration: OpenCV checkerboard calibration for each IMX219 (distortion coeffs + camera matrix)
  • Extrinsic calibration: Compute relative transforms between 4 cameras and robot base frame
  • Calibration tool: ROS2 node or script that captures N checkerboard images per camera and outputs YAML
  • YAML output: camera_info YAML per camera, compatible with camera_info_manager
  • Verification: Reprojection error display, undistorted preview
  • TF update: Generate static_transforms.launch.py from extrinsic calibration results
  • Storage: calibration/ directory with per-camera YAML files

Agent: sl-perception

Labels: phase-2, calibration

## Summary Proper camera calibration pipeline to replace placeholder intrinsics (fx=229). ## Requirements - **Intrinsic calibration**: OpenCV checkerboard calibration for each IMX219 (distortion coeffs + camera matrix) - **Extrinsic calibration**: Compute relative transforms between 4 cameras and robot base frame - **Calibration tool**: ROS2 node or script that captures N checkerboard images per camera and outputs YAML - **YAML output**: camera_info YAML per camera, compatible with camera_info_manager - **Verification**: Reprojection error display, undistorted preview - **TF update**: Generate static_transforms.launch.py from extrinsic calibration results - **Storage**: calibration/ directory with per-camera YAML files ## Agent: sl-perception ## Labels: phase-2, calibration
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#106
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