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prosilica calibration freezes during calibration step

asked 2011-09-19 17:07:34 -0500

ben gravatar image

updated 2011-09-19 17:08:39 -0500

I don't have any experience calibrating the prosilica camera on the PR2. I followed this tutorial but the calibration process tends to freeze up on me.

Setup:

  1. PR2 is plugged into the basestation. Ran this whole process from the basestation as well.
  2. v1.0.0 of pr2_calibration on the robot.

What I did:

  1. Ran: roslaunch pr2_calibration_launch calibrate_prosilica.launch
  2. Moved around the checkerboard until the 'Calibrate' button showed up.
  3. Clicked on 'Calibrate'
  4. Nothing happens for at least a half hour.....'top' tells me that the cameracalibration process takes %86 of the CPU.
  5. I eventually kill it.

What am I doing wrong? Am I not waiting long enough?

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answered 2011-09-20 02:45:29 -0500

ben gravatar image

As it turns out, it just needed more time to run. I left it overnight and by the time I came in this morning it completed, and the 'save' and 'commit' buttons were displayed.

Lesson learned: Calibration can take a while. Be patient.

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Comments

updated the wiki, thanks for the report.
hsu gravatar imagehsu ( 2011-09-21 06:26:04 -0500 )edit
Yikes. For the record, camera_calibration has been significantly overhauled in ROS Electric, and should be much faster.
Patrick Mihelich gravatar imagePatrick Mihelich ( 2011-09-21 10:15:15 -0500 )edit

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Asked: 2011-09-19 17:07:34 -0500

Seen: 631 times

Last updated: Sep 20 '11