From 803beb17137c087cf17fbad66a010007b2c795fd Mon Sep 17 00:00:00 2001
From: Brian Coltin <brian.coltin@nasa.gov>
Date: Wed, 8 Nov 2023 10:19:35 -0800
Subject: [PATCH] Calibrate honey and update calibration instructions for
 20.04. (#752)

---
 astrobee/config/robots/honey.config       |  6 +--
 scripts/calibrate/intrinsics_calibrate.py |  2 +-
 scripts/calibrate/readme.md               | 45 +++--------------------
 3 files changed, 9 insertions(+), 44 deletions(-)

diff --git a/astrobee/config/robots/honey.config b/astrobee/config/robots/honey.config
index fc8b814061..4305b4e3e0 100644
--- a/astrobee/config/robots/honey.config
+++ b/astrobee/config/robots/honey.config
@@ -46,10 +46,10 @@ robot_geometry = {
 
 robot_camera_calibrations = {
   nav_cam = {
-    distortion_coeff = 0.99872,
+    distortion_coeff = 0.998757,
     intrinsic_matrix = {
-      607.64218, 0.0, 624.85552,
-      0.0, 606.53899, 514.57737,
+      610.12594, 0.0, 628.35064,
+      0.0, 610.12594, 514.89592,
       0.0, 0.0, 1.0
     },
     gain=100,
diff --git a/scripts/calibrate/intrinsics_calibrate.py b/scripts/calibrate/intrinsics_calibrate.py
index 0b64a302db..f5ad81aa39 100755
--- a/scripts/calibrate/intrinsics_calibrate.py
+++ b/scripts/calibrate/intrinsics_calibrate.py
@@ -222,7 +222,7 @@ def calibrate_camera(
         return None
 
     return (
-        bag_dir + "/camchain-" + bag_name + ".yaml"
+        bag_dir + "/" + bag_name + "-camchain.yaml"
     )  # The file where kalibr writes its output
 
 
diff --git a/scripts/calibrate/readme.md b/scripts/calibrate/readme.md
index 2e4193d7d3..ce4a0970c1 100644
--- a/scripts/calibrate/readme.md
+++ b/scripts/calibrate/readme.md
@@ -7,52 +7,17 @@ This folder contains various scripts for calibration.
 - Build and install the Astrobee code on the robot.
 - Install Kalibr on your computer.
 
-## Installation instructions for Kalibr for Ubuntu 18.04
+## Installation instructions for Kalibr for Ubuntu 20.04
 
-    sudo apt install python-rosinstall ipython python-software-properties \
-            python-git ipython python-catkin-tools
-    sudo apt install libopencv-dev ros-melodic-vision-opencv
+Install Kalibr following the instructions at:
 
-# Install pip and use it to install python packages
+https://github.com/ethz-asl/kalibr
 
-We assume that Python 2 is used.
-
-    curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
-    sudo python get-pip.py
-    sudo -H pip install testresources
-    sudo -H pip install python-igraph==0.8 --upgrade
-    sudo -H pip install  numpy==1.15.0 opencv-python==4.2.0.32
-
-If necessary, pip and the other packages can be installed in user
-space. The PYTHONPATH may need to be set for such packages.
-The pip flags --user, --force, and --verbose may be useful.
-
-Kalibr uses Python 2, and many packages are transitioning to Python 3,
-so some effort may be needed to install the Python 2 dependencies.
-
-    # Build using catkin
-    export KALIBR_WS=$HOME/source/kalibr_workspace
-    mkdir -p $KALIBR_WS/src
-    cd $KALIBR_WS
-    source /opt/ros/melodic/setup.bash
-    catkin init
-    catkin config --extend /opt/ros/melodic
-    catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
-    cd $KALIBR_WS/src
-    git clone git@github.com:oleg-alexandrov/Kalibr.git
-
-If the above cloning operation fails, it is likely due to some ssh settings on your machine not being as GitHub expects. Then try:
+However, check out our fork which supports the assymetric aprilgrid
+installed on Astrobee's dock:
 
     git clone https://github.com/oleg-alexandrov/Kalibr.git
 
-In either case, continue as follows:
-
-    # This line takes care of catkin not finding numpy.
-    ln -s /usr/local/lib/python2.7/dist-packages/numpy/core/include/numpy \
-      $KALIBR_WS/src/Kalibr/Schweizer-Messer/numpy_eigen/include
-
-    catkin build -DCMAKE_BUILD_TYPE=Release -j4
-
 # Prepare the environment. This is expected for all the steps below.
 
 Run, for example: