How to obtain camera intrinsic in autoware?

I am following https://autoware.readthedocs.io/en/feature-documentation_rtd/DevelopersGuide/PackagesAPI/sensing/autoware_camera_lidar_calibrator.html

And for camera intrinsic it says: 1. In a sourced terminal:rosrun autowarecameralidarcalibrator cameracalibrator.py --square SQUARESIZE --size MxN image:=/image_topic 2. Play a rosbag or stream from a camera in the selected topic name. I ran the first step command it pops out a window, but I am confused what the second window means. The window that pops out from the first step has some options in the right hand side like caliberate, but they can't be clicked.

Asked by sudip on 2020-11-13 13:11:01 UTC

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Answers

The intrinsics are obtained using the autoware_camera_calibration script, which is a fork of the official ROS calibration tool.

How to launch Step1:In a sourced terminal:rosrun autoware_camera_lidar_calibrator cameracalibrator.py --square SQUARE_SIZE --size MxN image:=/image_topic

Step2: Play a rosbag or stream from a camera in the selected topic name.

Step3: Move the checkerboard around within the field of view of the camera until the bars turn green.

Step4: Press the CALIBRATE button. The output and result of the calibration will be shown in the terminal.

Step5: Press the SAVE button. A file will be saved in your home directory with the name YYYYmmdd_HHMM_autoware_camera_calibration.yaml.

I had issues with the square size of the board, once I put the correct square size which was 8x6, the caliberate button was visible in the window

Asked by sudip on 2020-11-17 11:04:34 UTC