[Using CSI CAMERA FOR ORB SLAM2]

[hamza-995]

HI i am doing a final year project on optimization of ORB_SLAM2 on jetson nano .I have to feed the input from CSI-Camera which is raspberry pi v2 camera .Can anyone plz guide me how would i proceed with the calibration of the camera ? And would this camera work?

[myselfRaifMondal]

Hi @hamza-995,

Yes, it should work. The Pi V2 camera (IMX219 sensor) is compatible with the Jetson Nano through the CSI interface. However, for ORB_SLAM2 to perform properly, you will need accurate camera calibration.

The ROS camera_calibration package (recommended if you are working within a ROS environment) or OpenCV’s calibrateCamera() function if you are working independently.

The general calibration process involves:

• Printing a standard chessboard pattern (for example, 9x6 squares).
• Capturing multiple images from different angles and distances.
• Running the calibration tool to obtain the intrinsic parameters (fx, fy, cx, cy) and distortion coefficients.
• After calibration, you will get a .yaml or .txt file containing the camera parameters, which you can supply to ORB_SLAM2.