[ros-users] stereo calibration topic requirements?

[Patrick Beeson]

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 at stanford.edu <mailto:aleeper at stanford.edu>
> 719.358.3804
> 
> 
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