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How to obtain camera intrinsic in autoware?

asked 2020-11-13 12:11:01 -0600

sudip gravatar image

I am following https://autoware.readthedocs.io/en/fe...

And for camera intrinsic it says: 1. In a sourced terminal:rosrun autoware_camera_lidar_calibrator cameracalibrator.py --square SQUARE_SIZE --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.

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answered 2020-11-17 10:04:34 -0600

sudip gravatar image

updated 2020-11-17 10:06:09 -0600

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

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Asked: 2020-11-13 12:11:01 -0600

Seen: 177 times

Last updated: Nov 17 '20