[ros-users] Problem calibrating stereo camera
jamesb at willowgarage.com
Fri May 28 17:57:00 UTC 2010
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 at shadowrobot.com> wrote:
> 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 :
> 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()&&
> >>> == mapx.size()) in cvRemap,
> line 3083
> >>> Exception in thread Thread-9:
> >>> Traceback (most recent call last):
> >>> File "/usr/lib/python2.6/threading.py", line 532, in
> >>> self.run()
> >>> File
> line 59, in run
> >>> self.function(m)
> >>> File
> line 233, in handle_stereo
> >>> lscrib = self.c.lremap(lrgb)
> >>> File
> 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' :
> I hope someone can help me.
> ros-users mailing list
> ros-users at code.ros.org
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