[ros-users] stereo camera calibration

[Patrick Mihelich]

To be specific, once you have image_pipeline trunk overlaid on unstable /
diamondback, you can run:

rosrun camera_calibration cameracalibrator.py [other otions]
--approximate=0.01

This allows a "slop" of 0.01s between image pairs. If you still don't get a
window pop up, you may need to increase the slop. Note: this is because
Python message_filters doesn't have an equivalent of the C++ ApproximateTime
policy yet, so we're using a simpler algorithm. The other stereo
image_pipeline nodes don't require you to set a slop.

Last night I was able to calibrate the narrow stereo pair on a PR2 with
their external triggering (for exactly matching timestamps) disabled. But I
would greatly appreciate other users trying it out with their hardware.

With the other stereo nodes in image_pipeline, you can enable approximate
matching by setting the approximate_sync parameter:

ROS_NAMESPACE=my_stereo rosrun stereo_image_proc stereo_image_proc
_approximate_sync:=True

Cheers,
Patrick

On Fri, Feb 4, 2011 at 3:01 PM, Jack O'Quin <jack.oquin at gmail.com> wrote:

> On Fri, Feb 4, 2011 at 2:13 PM, Jack O'Quin <jack.oquin at gmail.com> wrote:
> > On Fri, Feb 4, 2011 at 5:23 AM, Thomas Moulard <thomas.moulard at gmail.com>
> wrote:
> >> On Fri, Feb 4, 2011 at 12:17 PM, Asghari Oskoei, Mohammadreza
> >> <m.asghari-oskoei at herts.ac.uk> wrote:
> >>>
> >>>
> >>> Hi
> >>>
> >>> I’m using a pair of Procilica cameras on care-o-bot (cob) robot,
> managed to
> >>> calibrate them individually (monocular) but have a problem in stereo
> >>> calibration. By running script mentioned for stereo calibration in your
> >>> tutorial, I got ok messages for receiving services but no window that
> might
> >>> be shown to calibrate, save or commit.
> >>>
> >>>
> >>>
> >>> By the way, by running stereo_image_proc, there are topics in the topic
> list
> >>> (rostopic list), but no output comes out as you check them by rostopic
> hz or
> >>> bw or echo. I have seen this in published topics by stereo_image_proc
> and
> >>> face_detector, though they are in stream or continuous modes.
> >>
> >> Your camera are probably not synchronized, you can take a look at this
> >> topic for more information:
> >> https://code.ros.org/lurker/message/20101130.125637.9414e705.en.html
> >
> > There is an open enhancement ticket for this:
> >
> >  https://code.ros.org/trac/ros-pkg/ticket/4217
> >
> > As far as I can tell this is still intended for release in
> > Diamondback. But, it is still open and Patrick seems busy with many
> > other urgent tickets right now. I don't know what the prognosis is.
>
> Patrick recently committed a fix for #4217!
>
> To test it, you'll need to check out the latest image_pipeline trunk
> on top of unstable (or diamondback).
>
>  https://code.ros.org/svn/ros-pkg/stacks/image_pipeline/trunk
>
> --
>  joq
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://lists.ros.org/pipermail/ros-users/attachments/20110204/554dedec/attachment-0003.html>