Calibration of Realsense R200 camera

realsense_camera

asked 2016-10-24 03:12:10 -0500

timku
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Hi all, I would like to ask is it possible to calibrate the infrared (IR) camera for the realsense r200 camera as I am using the camera to detect obstacle through the use of disparity map.

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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?

AlexandreB ( 2016-10-24 14:32:47 -0500 )edit

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answered 2016-10-24 10:40:02 -0500

Stefan Kohlbrecher

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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.

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answered 2016-10-31 03:09:44 -0500

timku
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@Stefan

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?