# Camera Calibration

AuterionOS apps that provide computer vision features typically need to know the intrinsic parameters of the camera in use. These parameters are different for each device, so each camera must be calibrated individually to work with these apps.

For cameras supported by the **video2ros** service, AuterionOS provides an interface for [uploading an existing calibration file](#upload-a-calibration-file) and tools for [performing a new calibration](#perform-a-new-calibration) and generating a calibration file.

## Upload a calibration file

If a camera has already been calibrated and the calibration file is available, it can be uploaded to Skynode.

Open the **Apps** page of the vehicle web UI on <http://10.41.1.1/apps>, find the **video2ros** app under **System Services**, and click the blue **Add calibration file** button.

In the calibration webpage that opens, click the button to select a file to upload. Note that only YAML files are accepted. If the file uploads successfully, the **Calibration File Exists** status on the webpage will be **true**.

<figure><img src="https://3329189600-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FFW1Ge1p1f6WHyiYCb146%2Fuploads%2Fgit-blob-01026963d7685eb55b327142280ae94642a44d1f%2Fcalibration_page.png?alt=media" alt=""><figcaption><p>The calibration webpage after a calibration file has successfully been uploaded.</p></figcaption></figure>

Restart the **video2ros** app for the uploaded file to be applied.\
Close the calibration webpage and return to the **Apps** page of the vehicle UI. Click the grey gear icon of the **video2ros** app and select **Stop**. Once stopped, click the gear icon and select **Start**.

## Perform a new calibration

To perform a new calibration, use the calibration tool provided by Auterion. This can be run on a computer connected to Skynode, or on Skynode itself.

Running the calibration on a computer is much faster and is the recommended procedure.

Follow the links below for instructions on these two procedures.

{% content-ref url="camera-calibration/camera-calibration-on-a-computer" %}
[camera-calibration-on-a-computer](https://docs.auterion.com/hardware-integration/airframe-integration/camera-calibration/camera-calibration-on-a-computer)
{% endcontent-ref %}

{% content-ref url="camera-calibration/camera-calibration-on-skynode" %}
[camera-calibration-on-skynode](https://docs.auterion.com/hardware-integration/airframe-integration/camera-calibration/camera-calibration-on-skynode)
{% endcontent-ref %}