Kalibr Docker

Docker wrapper around ethz-asl/kalibr

1. cd compose_session
2. Pull the docker image by calling docker compose pull
3. Store your bag file in the data folder and retrieve the results there afterwards.
4. Configure the parameters by editing the ./compose_session/compose.yaml file.
5. Use run.sh to start the compose session with kalibr.

Troubleshooting

If a calibration can not be found for the pinhole-radtan model, try to find it for the pinhole-equi model first. Then, initialize the focal lenght in the compose file using the one you obtained from the calibration (the first element of the projection matrix).

Output conversion to the camera_calibration format

Use the script in ./output_conversion to convert the Kalibr format (with the radtan model) to the output of camera_calibration;