[ros-users] Problem calibrating stereo camera

[James Bowman]

Great, I'll look at this data.

Please raise a trac ticket against image_pipeline for the 320x240 issue to
track the boxturtle patch.  Thanks.

On Tue, Jun 1, 2010 at 7:20 AM, Sacha Aury <sacha at shadowrobot.com> wrote:

> Dear James
>
> Here is the calibrationdata.tar.gz you asked for :
> http://fly.yozora-irc.net/shadow/
> These data come from my last try of calibrating the stereo camera, which
> went a lot better than the other ones, but which is not really good
> though.
> Moreover, when I tried to view the cloud points in rviz, I could only
> see one color-changing point, because all the positions published on the
> topic are at 0.0, 0.0, 0.0, even after the calibration. The good point
> is that I no longer have any infinite values in camera infos.
>
> My other question was about calibrating using a 30 fps / 320*240 camera,
> which would be the most interesting for me, and still crashes the
> calibration program.
>
> Cheers
> Sacha
>
> Le vendredi 28 mai 2010 à 10:57 -0700, James Bowman a écrit :
> > 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
> >
> >
> >         _______________________________________________
> >         ros-users mailing list
> >         ros-users at code.ros.org
> >         https://code.ros.org/mailman/listinfo/ros-users
> >
> >
> >
> > --
> > J.
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users at code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
>
>
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-- 
J.
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