Hi Sacha, yes I can help with for these problems. It would be most useful
if you can send me the attempted calibration inputs, so I can add this case
to the package tests.
To do this, click on the 'Calibrate' button, then click on the 'Save'
button. Then email me the file /tmp/calibrationdata.tar.gz, and we can look
at why epipolar error is so high.
On Fri, May 28, 2010 at 8:11 AM, Sacha Aury <
sacha@shadowrobot.com> wrote:
> Hi,
>
> I already sent a mail to the mailing list for that subject, but with a
> wrong topic, so I ask again. Sorry for the double post.
>
> I am trying to use a custom stereo camera. I did not calibrate it, but I
> get a pretty good disparity map :
> http://fly.yozora-irc.net/shadow/Capture-2.png
> The problem is that I am getting bad values for some parameters in
> camera_info, such as K and P, which are infinite. So I try to calibrate
> using image_pipeline/camera_calibration. If I do so using 30 fps/320*240
> resolution, I get a crash when I click on calibrate :
>
> >>> epipolar error: 0.857935751957
> >>> OpenCV Error: Assertion failed (src.type() == dst.type()&&
> dst.size()
> >>> == mapx.size()) in cvRemap,
> >>>
> file
> /opt/ros/boxturtle/stacks/vision_opencv/opencv2/build/opencv-svn/src/cv/cvimgwarp.cpp,
> line 3083
> >>> Exception in thread Thread-9:
> >>> Traceback (most recent call last):
> >>> File "/usr/lib/python2.6/threading.py", line 532, in
> __bootstrap_inner
> >>> self.run()
> >>> File
> >>>
> "/opt/ros/boxturtle/stacks/image_pipeline_copy/camera_calibration/nodes/cameracalibrator.py",
> line 59, in run
> >>> self.function(m)
> >>> File
> >>>
> "/opt/ros/boxturtle/stacks/image_pipeline_copy/camera_calibration/nodes/cameracalibrator.py",
> line 233, in handle_stereo
> >>> lscrib = self.c.lremap(lrgb)
> >>> File
> >>>
> "/opt/ros/boxturtle/stacks/image_pipeline_copy/camera_calibration/src/camera_calibration/calibrator.py",
> line 407, in lremap
> >>> cv.Remap(src, r, self.lmapx, self.lmapy)
> >>> error: src.type() == dst.type()&& dst.size() == mapx.size()
>
> So I try using 15fps/640*480, which is better. The only problem is that
> I can't get any good calibration parameters : epi is about 6-8 and the
> size is totally wrong. Moreover, I have a strange problem, the camera
> seems to be zooming after clicking on 'calibrate' :
> http://fly.yozora-irc.net/shadow/Capture-4.png
> http://fly.yozora-irc.net/shadow/Capture-5.png
>
> I hope someone can help me.
>
> Thanks
>
> Sacha
>
>
> _______________________________________________
> ros-users mailing list
> ros-users@code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
--
J.
%20==%20dst.type()&&%0A>%20>%20dst.size()%0A>%20>%20>>>%20==%20mapx.size())%20in%20cvRemap,%0A>%20>%20>>>%0A>%20>%20>>>%0A>%20>%20>>>%0A>%20>%20>>>%0A>%20>%0A>%20>%20So%20I%20try%20using%2015fps/640*480,%20which%20is%20better.%20The%20only%20problem%20is%20that%0A>%20>%20I%20can't%20get%20any%20good%20calibration%20parameters%20:%20epi%20is%20about%206-8%20and%20the%0A>%20>%20size%20is%20totally%20wrong.%20Moreover,%20I%20have%20a%20strange%20problem,%20the%20camera%0A>%20>%20seems%20to%20be%20zooming%20after%20clicking%20on%20'calibrate'%20:%0A>%20>%20http://fly.yozora-irc.net/shadow/Capture-4.png%0A>%20>%20http://fly.yozora-irc.net/shadow/Capture-5.png%0A>%20>%0A>%20>%20I%20hope%20someone%20can%20help%20me.%0A>%20>%0A>%20>%20Thanks%0A>%20>%0A>%20>%20Sacha%0A>%20>%0A>%20>%0A>%20>%20_______________________________________________%0A>%20>%20ros-users%20mailing%20list%0A>%20>%20ros-users@code.ros.org%0A>%20>%20https://code.ros.org/mailman/listinfo/ros-users%0A>%20>%0A>%20%0A>%20%0A>%20%0A>%20--%20%0A>%20J.%0A>%20 "Reply to this message")
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