Introduction

This repository is a ROS 2 port of Kalibr. It provides ROS 2 compatibility and workflow integration while preserving the original Kalibr calibration methods. No fundamental algorithmic changes have been made.

Build all packages

rm -rf build install log
colcon build \
  --parallel-workers $(nproc) \
  --cmake-args -DCMAKE_BUILD_TYPE=Release

Build kalibr only

colcon build --packages-select kalibr \
  --parallel-workers $(nproc) \
  --cmake-args -DCMAKE_BUILD_TYPE=Release

Example commands to run calibration

Camera calibration (single camera)

source install/setup.bash
ros2 run kalibr kalibr_calibrate_cameras \
  --target april_6x6.yaml \
  --models pinhole-radtan \
  --topics /cam0/image_raw \
  --bag cam_april \
  --bag-freq 10.0

Camera calibration (stereo)

source install/setup.bash
ros2 run kalibr kalibr_calibrate_cameras \
  --target april_6x6.yaml \
  --models pinhole-radtan pinhole-radtan \
  --topics /cam0/image_raw /cam1/image_raw \
  --bag cam_april \
  --bag-freq 10.0

IMU-Camera calibration

source install/setup.bash
ros2 run kalibr kalibr_calibrate_imu_camera \
  --target april_6x6.yaml \
  --imu imu_adis16448.yaml \
  --imu-models calibrated \
  --cam cam_april-camchain.yaml \
  --bag imu_april

Additional Commands

List available Kalibr executables

source install/setup.bash
ros2 pkg executables kalibr

Show ros2 run help

source install/setup.bash
ros2 run kalibr kalibr_calibrate_cameras --help

source install/setup.bash
ros2 run kalibr kalibr_calibrate_imu_camera --help

Show ros2 launch arguments

ros2 launch kalibr calibrate_cameras.launch.py --show-args
ros2 launch kalibr calibrate_imu_camera.launch.py --show-args
ros2 launch kalibr calibrate_multi_imu.launch.py --show-args

Acknowledgements

Special thanks to the original Kalibr project and its contributors for the foundational work and open-source release:

• ETH Zurich ASL Kalibr

This repository is also informed by the following review paper on wide-angle camera calibration:

• Geometric Wide-Angle Camera Calibration: A Review and Comparative Study