[ros-users] Problem calibrating stereo camera

[James Bowman]

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:

> 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
>
>
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>



-- 
J.
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