This sticky post will serve as a way to crowdsource calibration values for various cameras.
Hey FIRST Tech Challenge Teams! The FTC Tech Team is incredibly excited about this season’s introduction of the FIRST Tech Challenge VisionPortal and the full rollout of AprilTags for use in CENTERSTAGE presented by RTX. There is a massive amount of work that has gone into providing these technologies to FIRST Tech Challenge, and the FTC Tech Team needs your help to complete this effort.
As the Camera Calibration for FIRST Tech Challenge page states:
Cameras are composed of many different components that can introduce variability in the actual image that a camera ultimately “sees”. Camera calibration is a process that mathematically models how a camera & lens combination ultimately sees the world, for example how wide the field of view is. Calibrating your camera is a must if you desire to use it for high-precision tasks, such as performing precision measurements using the camera or obtaining accurate 6DOF pose data from fiducial marker systems like AprilTags. It’s important to note that calibrations are not only specific to the camera and lens, but also specific to the resolution used on a particular camera as well!
Although any compatible UVC camera may be used on a robot, only certain cameras and specific resolutions have calibration values bundled with the FTC SDK - this is thanks to the efforts of the FTC Tech Team, specifically @rgatkinson. Unfortunately only cameras and resolutions with calibration data can be used to provide full AprilTag pose estimation data via the FTC SDK. Performing calibrations on all of the supported cameras and resolutions is simply too much for a small number of individuals, so the FTC Tech Team is asking FIRST Tech Challenge teams to join us and help contribute calibration data - together we can build a complete library of calibration data!
The VisionPortal Webcam page on FTC-Docs provides a summary of the most commonly used webcams supported by the FTC VisionPortal, as well as the resolutions that currently have calibration data built into the SDK. The FTC Tech Team would like to get additional calibration data for listed cameras, as well as cameras that are not yet listed (let us know what cameras you like to use!).
If your team would like to submit a camera calibration to have it included here, please fill out the appropriate Google Form:
The FTC Tech Team will include select “missing” calibrations in future SDK releases, with attribution and our thanks. If you have specific questions about this effort, please email ftctech@firstinspires.org.
Please DO NOT reply to this thread unless to discuss calibrations provided by others. The second post will be continuously updated and maintained as calibrations are submitted.
