Ask Your Question
0

Format of calibration files for the freenect_stack package

asked 2016-02-07 06:37:27 -0500

user23fj239 gravatar image

updated 2016-02-07 07:30:44 -0500

I did load an calibration file into the directory the stack told me before:
[ WARN] [1454769411.254247332]: Camera calibration file /home/baum/.ros/camera_info/depth_A70774V01752221A.yaml not found.
But it does not load it on startup. Does anyone have a format template for this? Or how to format it proberly. I tried it with the sample from RGBDemo:

%YAML:1.0
rgb_intrinsics: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 5.3009194943536181e+02, 0., 3.2821930715948992e+02, 0.,
       5.2635860167133876e+02, 2.6872781351282777e+02, 0., 0., 1. ]
rgb_distortion: !!opencv-matrix
   rows: 1
   cols: 5
   dt: d
   data: [ 2.6172416643533958e-01, -8.2104703257074252e-01,
       -1.0637850248230928e-03, 8.4946289275097779e-04,
       8.9012728224037985e-01 ]
depth_intrinsics: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 5.9425464969100040e+02, 0., 3.3978729959351779e+02, 0.,
       5.9248479436384002e+02, 2.4250301427866111e+02, 0., 0., 1. ]
depth_distortion: !!opencv-matrix
   rows: 1
   cols: 5
   dt: d
   data: [ -2.6167161458989197e-01, 9.9319844495479259e-01,
       -1.0221823575713733e-03, 5.3621541487535148e-03,
       -1.2966457585622253e+00 ]
R: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 9.9977321644139494e-01, 1.7292658422779497e-03,
       -2.1225581878346968e-02, -2.0032487074002391e-03,
       9.9991486643051353e-01, -1.2893676196675344e-02,
       2.1201478274968936e-02, 1.2933272242365573e-02,
       9.9969156632836553e-01 ]
T: !!opencv-matrix
   rows: 3
   cols: 1
   dt: d
   data: [ 2.1354778990792557e-02, 2.5073334719943473e-03,
       -1.2922411623995907e-02 ]
rgb_size: !!opencv-matrix
   rows: 1
   cols: 2
   dt: i
   data: [ 640, 480 ]
raw_rgb_size: !!opencv-matrix
   rows: 1
   cols: 2
   dt: i
   data: [ 640, 480 ]
depth_size: !!opencv-matrix
   rows: 1
   cols: 2
   dt: i
   data: [ 640, 480 ]
raw_depth_size: !!opencv-matrix
   rows: 1
   cols: 2
   dt: i
   data: [ 640, 480 ]
edit retag flag offensive close merge delete

Comments

Please don't link to on-line sharing/pasty sites for simple text files. Just include them in your question. If the linked-to document ever disappears, this question will become useless.

Use the edit button/link to edit your question, and format the content using the Preformatted text button.

gvdhoorn gravatar imagegvdhoorn ( 2016-02-07 07:11:16 -0500 )edit

thank you, I did as told. Im glad about any suggestions

user23fj239 gravatar imageuser23fj239 ( 2016-02-07 07:30:30 -0500 )edit

Are you sure you've named the file correctly? Can you add the output of ls -al /home/baum/.ros/camera_info to your question?

gvdhoorn gravatar imagegvdhoorn ( 2016-02-07 08:17:02 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted
0

answered 2016-02-08 11:11:00 -0500

user23fj239 gravatar image

I guess I nailed it, I had to change the camera name to what the program was suggesting So the yaml finally looks like:

image_width: 2448
image_height: 2050
camera_name: depth_A70774V01752221A
camera_matrix:
rows: 3
cols: 3
data: [4827.94, 0, 1223.5, 0, 4835.62, 1024.5, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [-0.41527, 0.31874, -0.00197, 0.00071, 0]
rectification_matrix:
rows: 3
cols: 3
data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
projection_matrix:
rows: 3
cols: 4
data: [4827.94, 0, 1223.5, 0, 0, 4835.62, 1024.5, 0, 0, 0, 1, 0]

I noticed heavy load on the CPU. I do use depth information only and do not see problematic artefacts. I will smooth the matrix with normal-box filter from opencv anyway.

edit flag offensive delete link more

Comments

With this solved the question popped up what the entires actually mean. yaml parameters in pinehole model

user23fj239 gravatar imageuser23fj239 ( 2016-02-08 11:12:46 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2016-02-07 06:37:27 -0500

Seen: 67 times

Last updated: Feb 08 '16