Hi, Thomas, Patrick, joq, all Thank you for catching, as far as I checked, diamondback binary files still are not supporting -approximate=0.01, and svn trunk does not contain all my required nodes, such as prosilica_node and cob_app. I wonder if I kept working in cturtle and built a node (with cpp lib) which modifies topics' time stamp this could solve the sync problem in stereo images. This new node will subscribe to topics of two cameras (image_raw and camera_info) and publish new topics with same content but the latest time stamp. Regards, Reza, From: ros-users-bounces@code.ros.org [mailto:ros-users-bounces@code.ros.org] On Behalf Of Patrick Mihelich Sent: 04 February 2011 23:15 To: User discussions Subject: Re: [ros-users] stereo camera calibration To be specific, once you have image_pipeline trunk overlaid on unstable / diamondback, you can run: rosrun camera_calibration cameracalibrator.py [other otions] --approximate=0.01 This allows a "slop" of 0.01s between image pairs. If you still don't get a window pop up, you may need to increase the slop. Note: this is because Python message_filters doesn't have an equivalent of the C++ ApproximateTime policy yet, so we're using a simpler algorithm. The other stereo image_pipeline nodes don't require you to set a slop. Last night I was able to calibrate the narrow stereo pair on a PR2 with their external triggering (for exactly matching timestamps) disabled. But I would greatly appreciate other users trying it out with their hardware. With the other stereo nodes in image_pipeline, you can enable approximate matching by setting the approximate_sync parameter: ROS_NAMESPACE=my_stereo rosrun stereo_image_proc stereo_image_proc _approximate_sync:=True Cheers, Patrick On Fri, Feb 4, 2011 at 3:01 PM, Jack O'Quin > wrote: On Fri, Feb 4, 2011 at 2:13 PM, Jack O'Quin > wrote: > On Fri, Feb 4, 2011 at 5:23 AM, Thomas Moulard > wrote: >> On Fri, Feb 4, 2011 at 12:17 PM, Asghari Oskoei, Mohammadreza >> > wrote: >>> >>> >>> Hi >>> >>> I'm using a pair of Procilica cameras on care-o-bot (cob) robot, managed to >>> calibrate them individually (monocular) but have a problem in stereo >>> calibration. By running script mentioned for stereo calibration in your >>> tutorial, I got ok messages for receiving services but no window that might >>> be shown to calibrate, save or commit. >>> >>> >>> >>> By the way, by running stereo_image_proc, there are topics in the topic list >>> (rostopic list), but no output comes out as you check them by rostopic hz or >>> bw or echo. I have seen this in published topics by stereo_image_proc and >>> face_detector, though they are in stream or continuous modes. >> >> Your camera are probably not synchronized, you can take a look at this >> topic for more information: >> https://code.ros.org/lurker/message/20101130.125637.9414e705.en.html > > There is an open enhancement ticket for this: > > https://code.ros.org/trac/ros-pkg/ticket/4217 > > As far as I can tell this is still intended for release in > Diamondback. But, it is still open and Patrick seems busy with many > other urgent tickets right now. I don't know what the prognosis is. Patrick recently committed a fix for #4217! To test it, you'll need to check out the latest image_pipeline trunk on top of unstable (or diamondback). https://code.ros.org/svn/ros-pkg/stacks/image_pipeline/trunk -- joq _______________________________________________ ros-users mailing list ros-users@code.ros.org https://code.ros.org/mailman/listinfo/ros-users