Re: [ros-users] stereo calibration topic requirements?

It can "hang" when the timestamps between the two camera streams are not
synced. I got around this temporarily buy simply adding callbacks in
the python code to compare recent timestamps and make them equal if they
are within a threshold.

Adam Leeper wrote:
> Hi all-
>
> I'm trying to calibrate a pair of cameras for stereo. I only have the
> following topics:
>
> * /my_stereo/left/image_raw [sensor_msgs/Image] 1 publisher
> * /my_stereo/right/image_raw [sensor_msgs/Image] 1 publisher
>
> That is, I don't have any topics publishing mono camera info or anything.
>
> I do
> rosrun camera_calibration cameracalibrator.py
> right:=/my_stereo/right/image_raw left:=/my_stereo/left/image_raw
> left_camera:=/my_stereo/left right_camera:=/my_stereo/right
>
> but it just hangs. Since mono calibration works fine, my only guess is
> that the stereo routine requires the mono calibration info to proceed,
> so it is waiting for more topics before continuing. If so, the tutorial
> should probably mention that, because right now it just says "check to
> see that there is a left and right image_raw topic".
>
> On a related note, what is the proper way to publish camera info? Do I
> write a node that just publishes the message every few seconds? It seems
> that the camera info doesn't change quickly :)
>
>
> Thanks!
> --Adam
>
>
>
>
> Adam Leeper
> Stanford University
> aleeper@stanford.edu <mailto:aleeper@stanford.edu>
> 719.358.3804
>
>
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