Kalibr

This document covers the setup of Kalibr for calibrating the extrensics for each camera.

Installation

Please follow the Docker image instructions here.

Note: If using Docker Desktop, you might need to tune your Docker resource allocation for the image to build properly. A tested, working configuration is 10 CPU core limit and 10GB RAM limit. You also need to add /tmp/.X11-unix as a virtual file share under Settings->Resources->File Sharing.

Calibration Target

We currently use a custom calibration target available here

Alternatively, you can generate the target PDF yourself by running inside the container:

source devel/setup.bash
rosrun kalibr kalibr_create_target_pdf --type apriltag --nx 5 --ny 5 --tsize 0.06 --tspace 0.3

When printing, ensure that the printed size is true to the file. Attach the target to a rigid surface for proper calibration.