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Calibration

Intrinsics​

  • Use PhotonVision’s calibration utility for each camera.
  • For OV9281 (mono), print a checkerboard and capture from various angles/distances.
  • Save intrinsics to the device and assign to the correct camera.

Extrinsics (Robot‑to‑Camera Transform)​

  • Measure camera position relative to robot origin (in meters):
    • +X forward, +Y left, +Z up.
  • Measure camera rotations (roll/pitch/yaw). Pitch accuracy matters most for distance.
  • Store as Transform3d in code (used by PhotonOdometryCamera).

Verification​

  • View tag solve stability while driving small arcs.
  • Compare vision pose to odometry in AdvantageScope. Offsets >20–30 cm indicate mis‑calibration.