How to obtain camera intrinsic in autoware?

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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