Skip to main content
Version: 2.0.0

Camera calibration using Kalibr

We often utilize the ethz-asl/kalibr for camera calibration.

Docker image and wrapper scripts​

The ctu-mrs/kalibr_docker repository provides a convenient compose_session which utilizes a custom docker image. Therefore, there is no need to compile kalibr manually (which would consume approx. 5 GB of HDD space). The Kalibr docker image is sourced from the ctumrs dockerhub.


Howto​

  1. If you have bag file from ROS2, you need to first convert it to the ROS1 bag format

  2. clone the ctu-mrs/kalibr_docker repository

  3. cd compose_session

  4. Pull the docker image by calling docker compose pull

  5. Store your bag file with the camera topic in the data folder and retrieve the results there afterwards.

  6. Configure the parameters by editing the compose.yaml file.

  7. Use run.sh to start the compose session with kalibr.

Output conversion to the camera_calibration format​

Use the script in output_conversion to convert the Kalibr format (with the radtan model) to the output of camera_calibration.