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The camera is factory calibrated and for many purposes this calibration should be good enough. If you really want to, you could calibrate both IR cams as described in StereoCalibration, however.
It's now one year later...
Have you found a solution? :)
I faced the following problem when trying to run the StereoCalibration. It seems the calibration only accept color images.
kuxz@kuxz-UX32LN:~$ rosrun camera_calibration cameracalibrator.py --size 9x6 --square 0.108 image:=/camera/ir2/image_raw camera:=/camera/ir2 --no-service-check
Exception in thread Thread-5:
Traceback (most recent call last):
File "/usr/lib/python2.7/threading.py", line 801, in __bootstrap_inner
self.run()
File "/opt/ros/kinetic/lib/camera_calibration/cameracalibrator.py", line 93, in run
self.function(self.queue[0])
File "/opt/ros/kinetic/lib/camera_calibration/cameracalibrator.py", line 167, in handle_monocular
drawable = self.c.handle_msg(msg)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/camera_calibration/calibrator.py", line 719, in handle_msg
gray = self.mkgray(msg)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/camera_calibration/calibrator.py", line 256, in mkgray
return self.br.imgmsg_to_cv2(msg, "mono8")
File "/opt/ros/kinetic/lib/python2.7/dist-packages/cv_bridge/core.py", line 184, in imgmsg_to_cv2
raise CvBridgeError(e)
CvBridgeError: [8UC1] is not a color format. but [mono8] is. The conversion does not make sense
init done
^CQObject::~QObject: Timers cannot be stopped from another thread
kuxz@kuxz-UX32LN:~$
Is there any parameters that I can edit to enable the calibration of the IR camera?
Asked: 2016-10-24 03:12:10 -0600
Seen: 1,072 times
Last updated: Nov 23 '17
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The driver already gives you a depth image, wouldn't it be better just to convert the pointcloud to a disparity image?