Great, I'll look at this data.<br><br>Please raise a trac ticket against image_pipeline for the 320x240 issue to track the boxturtle patch. Thanks.<br><br><div class="gmail_quote">On Tue, Jun 1, 2010 at 7:20 AM, Sacha Aury <span dir="ltr"><<a href="mailto:sacha@shadowrobot.com">sacha@shadowrobot.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">Dear James<br>
<br>
Here is the calibrationdata.tar.gz you asked for :<br>
<div class="im"><a href="http://fly.yozora-irc.net/shadow/" target="_blank">http://fly.yozora-irc.net/shadow/</a><br>
</div>These data come from my last try of calibrating the stereo camera, which<br>
went a lot better than the other ones, but which is not really good<br>
though.<br>
Moreover, when I tried to view the cloud points in rviz, I could only<br>
see one color-changing point, because all the positions published on the<br>
topic are at 0.0, 0.0, 0.0, even after the calibration. The good point<br>
is that I no longer have any infinite values in camera infos.<br>
<br>
My other question was about calibrating using a 30 fps / 320*240 camera,<br>
which would be the most interesting for me, and still crashes the<br>
calibration program.<br>
<br>
Cheers<br>
Sacha<br>
<br>
Le vendredi 28 mai 2010 à 10:57 -0700, James Bowman a écrit :<br>
<div><div></div><div class="h5">> Hi Sacha, yes I can help with for these problems. It would be most<br>
> useful if you can send me the attempted calibration inputs, so I can<br>
> add this case to the package tests.<br>
><br>
> To do this, click on the 'Calibrate' button, then click on the 'Save'<br>
> button. Then email me the file /tmp/calibrationdata.tar.gz, and we<br>
> can look at why epipolar error is so high.<br>
><br>
> On Fri, May 28, 2010 at 8:11 AM, Sacha Aury <<a href="mailto:sacha@shadowrobot.com">sacha@shadowrobot.com</a>><br>
> wrote:<br>
> Hi,<br>
><br>
> I already sent a mail to the mailing list for that subject,<br>
> but with a<br>
> wrong topic, so I ask again. Sorry for the double post.<br>
><br>
> I am trying to use a custom stereo camera. I did not calibrate<br>
> it, but I<br>
> get a pretty good disparity map :<br>
> <a href="http://fly.yozora-irc.net/shadow/Capture-2.png" target="_blank">http://fly.yozora-irc.net/shadow/Capture-2.png</a><br>
> The problem is that I am getting bad values for some<br>
> parameters in<br>
> camera_info, such as K and P, which are infinite. So I try to<br>
> calibrate<br>
> using image_pipeline/camera_calibration. If I do so using 30<br>
> fps/320*240<br>
> resolution, I get a crash when I click on calibrate :<br>
><br>
> >>> epipolar error: 0.857935751957<br>
> >>> OpenCV Error: Assertion failed (src.type() == dst.type()&&<br>
> dst.size()<br>
> >>> == mapx.size()) in cvRemap,<br>
> >>><br>
> file /opt/ros/boxturtle/stacks/vision_opencv/opencv2/build/opencv-svn/src/cv/cvimgwarp.cpp, line 3083<br>
> >>> Exception in thread Thread-9:<br>
> >>> Traceback (most recent call last):<br>
> >>> File "/usr/lib/python2.6/threading.py", line 532, in<br>
> __bootstrap_inner<br>
> >>> self.run()<br>
> >>> File<br>
> >>><br>
> "/opt/ros/boxturtle/stacks/image_pipeline_copy/camera_calibration/nodes/cameracalibrator.py", line 59, in run<br>
> >>> self.function(m)<br>
> >>> File<br>
> >>><br>
> "/opt/ros/boxturtle/stacks/image_pipeline_copy/camera_calibration/nodes/cameracalibrator.py", line 233, in handle_stereo<br>
> >>> lscrib = self.c.lremap(lrgb)<br>
> >>> File<br>
> >>><br>
> "/opt/ros/boxturtle/stacks/image_pipeline_copy/camera_calibration/src/camera_calibration/calibrator.py", line 407, in lremap<br>
> >>> cv.Remap(src, r, self.lmapx, self.lmapy)<br>
> >>> error: src.type() == dst.type()&& dst.size() ==<br>
> mapx.size()<br>
><br>
> So I try using 15fps/640*480, which is better. The only<br>
> problem is that<br>
> I can't get any good calibration parameters : epi is about 6-8<br>
> and the<br>
> size is totally wrong. Moreover, I have a strange problem, the<br>
> camera<br>
> seems to be zooming after clicking on 'calibrate' :<br>
> <a href="http://fly.yozora-irc.net/shadow/Capture-4.png" target="_blank">http://fly.yozora-irc.net/shadow/Capture-4.png</a><br>
> <a href="http://fly.yozora-irc.net/shadow/Capture-5.png" target="_blank">http://fly.yozora-irc.net/shadow/Capture-5.png</a><br>
><br>
> I hope someone can help me.<br>
><br>
> Thanks<br>
><br>
> Sacha<br>
><br>
><br>
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><br>
><br>
> --<br>
> J.<br>
><br>
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</div></div></blockquote></div><br><br clear="all"><br>-- <br>J.<br><br>