Minoru 3D webcam calibration ros indigo

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Hi everyone,

i just bought a minoru 3d webcam to try using it as a low cost RGBD sensor, i'm working in ros indigo, i tried calibrationg the camera with the cameracalibrator.py util, the problem is that no matter how much frames i take the extrinsic calibration always fail because with the driver i was using there is too much lag between the frames of the two channels ( the camera is not synchronized ).

I tried several other drivers and the best so far ( the one that gives the best visual results in terms of lag ) seems the "usb_cam" driver. But if i use this driver the cameracalibrator.py node can't start i think this problem is related to the "set_camera_info" service as described in this link:

http://www.iheartrobotics.com/2010/05...

The fix they suggest in the python code is already present in my version but still it doesn't work. I don't need that service, since i just need to get calibration matrices i can set manually the calibration files. What can i do? Thank you all in advance!

EDIT: Here is my launch file:

<launch>

<node name="left_camera" pkg="usb_cam" type="usb_cam_node" output="screen" >

    <param name="video_device" value="/dev/video1" />
    <param name="image_width" value="320" />
    <param name="image_height" value="240" />
    <param name="pixel_format" value="yuyv" />
    <param name="camera_frame_id" value="usb_cam" />
    <param name="io_method" value="mmap"/>

</node>

<node name="right_camera" pkg="usb_cam" type="usb_cam_node" output="screen" >

    <param name="video_device" value="/dev/video2" />
    <param name="image_width" value="320" />
    <param name="image_height" value="240" />
    <param name="pixel_format" value="yuyv" />
    <param name="camera_frame_id" value="usb_cam" />
    <param name="io_method" value="mmap"/>

</node>

</launch>

And this is the command i use to launch the camera calibrator:

    rosrun camera_calibration cameracalibrator.py --size 9x6 --square 0.011 right:=/right_camera/image_raw left:=/left_camera/image_raw right_camera:=/right_camera left_camera:=/left_camera --no-service-check

And when i do so, simply nothing happens, no errors, no crashes. Maybe it keeps waiting for something?

This is the output of the rostopic list command:

/left_camera/camera_info
/left_camera/image_raw
/left_camera/image_raw/compressed
/left_camera/image_raw/compressed/parameter_descriptions
/left_camera/image_raw/compressed/parameter_updates
/left_camera/image_raw/compressedDepth
/left_camera/image_raw/compressedDepth/parameter_descriptions
/left_camera/image_raw/compressedDepth/parameter_updates
/left_camera/image_raw/theora
/left_camera/image_raw/theora/parameter_descriptions
/left_camera/image_raw/theora/parameter_updates
/right_camera/camera_info
/right_camera/image_raw
/right_camera/image_raw/compressed
/right_camera/image_raw/compressed/parameter_descriptions
/right_camera/image_raw/compressed/parameter_updates
/right_camera/image_raw/compressedDepth
/right_camera/image_raw/compressedDepth/parameter_descriptions
/right_camera/image_raw/compressedDepth/parameter_updates
/right_camera/image_raw/theora
/right_camera/image_raw/theora/parameter_descriptions
/right_camera/image_raw/theora/parameter_updates
/rosout
/rosout_agg

EDIT2:

I've edited my launch file to use uvc_camera:

<launch>
<node pkg="uvc_camera" type="uvc_stereo_node" name="uvc_camera_stereo">

    <param name="width" type="int" value="640" />
    <param name="height" type="int" value="480" />
    <param name="fps" type="int" value="20" />
    <param name="frame" type="string" value="minoru" />

    <!-- other supported params: auto_exposure, exposure_absolute, brightness, power_line_frequency -->

    <param name="left/device" type="string" value="/dev/video1" />
    <param name="right/device" type="string" value="/dev/video2" />
    <param name="left/camera_info_url" type="string" value="file://$(find uvc_camera)/example-left.yaml" />
    <param name="right/camera_info_url" type="string" value ...