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Calibration scripts

For stereo-camera-IMU calibration using Kalibr

Calibration using Docker (recommended)

./docker_calibrate.sh /path/to/vio_recording SIZE_OF_APRILTAG_IN_METERS

In the above, /path/to/vio_recording should be a folder that contains data in the format recorded by Spectacular AI SDK (for example this program). The second parameter, the AprilTag size, is easiest to calculate by measuring the size of the AprilGrid as instructed here and dividing the result by 8.1.

Non-dockerized setup

Usage: see ./calibrate.sh. Outputs are written to the tmp subfolder (parameters.txt in camera_calibration_raw)

Dependencies

  • Python (virtualenv recommended): pip install PyYAML allantools matplotlib
  • Docker sudo apt install docker.io (for the Kalibr image)

Calibration target

From Kalibr, direct link: https://github.com/ethz-asl/kalibr/files/8514447/april_6x6_80x80cm_A0.pdf