Great, I'll look at this data.
Please raise a trac ticket against image_pipeline for the 320x240 issue to
track the boxturtle patch. Thanks.
On Tue, Jun 1, 2010 at 7:20 AM, Sacha Aury <
sacha@shadowrobot.com> wrote:
> Dear James
>
> Here is the calibrationdata.tar.gz you asked for :
> http://fly.yozora-irc.net/shadow/
> These data come from my last try of calibrating the stereo camera, which
> went a lot better than the other ones, but which is not really good
> though.
> Moreover, when I tried to view the cloud points in rviz, I could only
> see one color-changing point, because all the positions published on the
> topic are at 0.0, 0.0, 0.0, even after the calibration. The good point
> is that I no longer have any infinite values in camera infos.
>
> My other question was about calibrating using a 30 fps / 320*240 camera,
> which would be the most interesting for me, and still crashes the
> calibration program.
>
> Cheers
> Sacha
>
> Le vendredi 28 mai 2010 à 10:57 -0700, James Bowman a écrit :
> > 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.
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users@code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
>
>
> _______________________________________________
> ros-users mailing list
> ros-users@code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
--
J.
(text/plain)
