[ros-users] Stereo calibration with individual camera nodes

[David Feil-Seifer]

I am trying to do a stereo calibration for our humanoid which has two
cameras on a single firewire bus. I have created a modified
cameradc1394, usc_cameradc1394 (in the USC ROS PKGS repository) which
can run two dcam nodes at the same time without needing to reset the
bus. These nodes are using CameraPublisher in order to publish synced
info and image messages. This works fine for calibrating individual
cameras.

However, when I then move to using cameracalibrator.py to do a stereo
calibration, nothing happens. Each individual camera is able to
display, and I can see that cameracalibrator is subscribing to both
image streams, but the GUI never pops up. I think that this is a
problem with the image timestamps not being synced. What is a good
solution to this problem? I could make a stereo_camera_node (a la the
old dc1394 node), but is it possible to use cameracalibrator node in
such a way that TimeSynchronizer is not so strict about timestamps?

Thanks,
Dave