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I am running on Lucid 32-bit from Electric debs. I have been able to run the mono calibration utility with a 1394 camera and get a successful calibration. How do I then get the actual camera calibration file that was saved to disk and use it in a launch file to get rectified images?

Steps To Reproduce:

Start camera1394 and cameracalibration with the following launch file:

<launch>
  <group ns="stereo">
    <node pkg="camera1394" type="camera1394_node" name="camera_left">
      <rosparam file="$(find stereo_calibration)/cameras/left_flea2.yaml"/>
      <remap from="camera" to="left"/>
    </node>
  </group>

  <node pkg="camera_calibration" type="cameracalibrator.py" name="mono_calibration"
    args="-size 9x6 -square 0.054 image:=/stereo/left/image_raw camera:=/stereo/left">
  </node>
</launch>

and the following yaml file:

# ID number of camera. Use Coriander to find it.
guid: xxxxxxxxxxxxxxxx
# Mode describes the size and number of channels for the images.
video_mode: 1600x1200_mono8
# The frame_id MUST be part of your URDF to display stereo data correctly in Rviz.
frame_id: left_camera
# The location of the ROS calibration file.
camera_info_url: package://stereo_calibration/cameras/xxxxxxxxxxxxxxxx_mono.yaml
# Frames per second.
frame_rate: 30
# Try to reset the camera when opening.
reset_on_open: true
# Change from default 400Mbps Firewire.
iso_speed: 800

So far so good, as I get the utility to show up, all the bars go green, I can click 'Save' and 'Commit', and then exit out of the launch file.

There is a file created at /tmp/calibrationdata.tar.gz that I am able to open and see 74 images plus a file named ost.txt. Using the converter utility I am able to get a yaml file with the following contents:

image_width: 1600
image_height: 1200
camera_name: narrow_stereo/left
camera_matrix:
  rows: 3
  cols: 3
  data: [2379.692159, 0, 810.664016, 0, 2364.724193, 565.047935, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [-0.125793, 0.149249, -0.000565, -0.000972, 0]
rectification_matrix:
  rows: 3
  cols: 3
  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
projection_matrix:
  rows: 3
  cols: 4
  data: [2348.257291, 0, 809.568039, 0, 0, 2344.569053, 563.818346, 0, 0, 0, 1, 0]

I modified the camera_name field to be stereo/left but it made no difference in the errors described below.

Errors: The output of running a launch file similar to above but with image_proc and two image viewers is:

[ERROR] [1323196102.210752328]: Unable to open camera calibration file [~/.ros/camera_info/camera.yaml]
[ERROR] [1323196102.427796451]: Unable to open camera calibration file [~/.ros/camera_info/00b09d0100a8f71b.yaml]
... logging to x.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://localhost:58044/

SUMMARY
========

PARAMETERS
 * /stereo/camera_left/frame_id
 * /rosdistro
 * /stereo/camera_left/frame_rate
 * /stereo/camera_left/camera_info_url
 * /stereo/camera_left/iso_speed
 * /stereo/camera_left/guid
 * /rosversion
 * /stereo/camera_left/reset_on_open
 * /stereo/camera_left/video_mode

NODES
  /stereo/left/
    left_image_proc (image_proc/image_proc)
  /stereo/
    camera_left (camera1394/camera1394_node)
    left_raw (image_view/image_view)
    left_rect (image_view/image_view)

auto-starting new master
process[master]: started with pid [30321]
ROS_MASTER_URI=http://localhost:11311
~/stereo_calibration/stereo_calibration.launch http://localhost:11311
setting /run_id to 13b5dbac-2038-11e1-a2b9-5c260a53cca4
process[rosout-1]: started with pid [30334]
started core service [/rosout]
process[stereo/camera_left-2]: started with pid [30341]
process[stereo/left_raw-3]: started with pid [30347]
process[stereo/left_rect-4]: started with pid [30348]
process[stereo/left/left_image_proc-5]: started with pid [30349]
[stereo/left/left_image_proc-5] killing on exit
[stereo/left_rect-4] killing on exit
[stereo/left_raw-3] killing on exit
[stereo/camera_left-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete

The two image viewers are used to view /stereo/left/image_raw and /stereo/left/image_rect. Both of the images look identical, where I would expect the rectification to crop parts of the rectified image. Running rxgraph shows the nodes connected as I would expect them to be connected.

More Specific Questions

  1. Am I saving the calibration files correctly?
  2. Do I have to use the conversion tool to get the calibration files into the correct format?
  3. Is using the package:// or file:// tag the correct way to load the calibration file from the yaml file?
  4. Should I see a noticeable difference when viewing the raw and rectified images?

Thanks.


Originally posted by Thomas D on ROS Answers with karma: 4347 on 2011-12-06

Post score: 4

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1 Answer 1

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What you are doing looks mostly OK. The error messages you got are misleading and irrelevant. There is an enhancement ticket to fix them in Fuerte.

To answer your specific questions:

  1. I think so. Clicking the "COMMIT" button on the calibration menu should store the new calibration data at the specified URL, which need not have existed before then, although the package directory should already exist.

  2. No.

  3. Yes. Electric has a new feature, allowing you to substitute the camera name (GUID) as part of the URL, like package://stereo_calibration/cameras/${NAME}.yaml. For your device, that would resolve to package://stereo_calibration/cameras/00b09d0100a8f71b.yaml (reference to api doc)

  4. Maybe not, depending on how good your lenses are.

The camera_name in the saved calibration file should be 00b09d0100a8f71b for your device. It should get set automatically. If the calibrated name does not agree with the actual device GUID, a warning will be logged.


Originally posted by joq with karma: 25443 on 2011-12-06

This answer was ACCEPTED on the original site

Post score: 5


Original comments

Comment by Thomas D on 2011-12-06:
I like it better. I tried to do it originally, but the formatting wouldn't work out as it always wanted to indent the numbers by ~2 spaces, i.e., 1 looked correct, 2 was 2 spaces to the right of 1, 3 was 2 spaces to the right of 2... Thanks.

Comment by joq on 2011-12-06:
Good idea. Thanks.

Comment by Asomerville on 2011-12-06:
I hope you don't mind my edit. I adjusted the original question with numbers; did the same here to match.

Comment by ZoltanS on 2013-05-15:
In case of other camera drivers like the usb_cam is it the same? How can I find out the camera_name?

Comment by joq on 2013-05-16:
Many camera drivers use camera_info_manager and therefore behave similarly. The usb_cam driver apparently does not, so I don't know how it handles calibration and camera naming.

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