Calibrating camera for LSD SLAM

asked 2017-06-09 03:33:18 -0500

houssem gravatar image

updated 2017-06-09 03:42:59 -0500

Hello,

I'm struggling to make LSD SLAM ( https://github.com/tum-vision/lsd_slam ) work correctly! It starts tracking with correct cloud points and a few seconds after I start moving the ueye camera, it starts drawing some nonsense and it loses the tracking after some frames. I'm not sure of the reason but I'm doubting that I'm not doing the calibration correctly. In fact, I followed ( http://wiki.ros.org/camera_calibratio... ) and I got these results:

('D = ', [-0.27733992112283395, 0.07460505949838454, -0.0007472703006779929, 0.0004980981379236055, 0.0]) ('K = ', [781.3122588110542, 0.0, 768.7029397353836, 0.0, 779.5436601977239, 432.9653603230008, 0.0, 0.0, 1.0]) ('R = ', [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]) ('P = ', [589.3179931640625, 0.0, 770.2503733461199, 0.0, 0.0, 706.9287109375, 432.3832476994721, 0.0, 0.0, 0.0, 1.0, 0.0]) None

oST version 5.0 parameters

[image]

width 1536

height 864

[narrow_stereo]

camera matrix

781.312259 0.000000 768.702940

0.000000 779.543660 432.965360

0.000000 0.000000 1.000000

distortion

-0.277340 0.074605 -0.000747 0.000498 0.000000

rectification

1.000000 0.000000 0.000000

0.000000 1.000000 0.000000

0.000000 0.000000 1.000000

projection

589.317993 0.000000 770.250373 0.000000

0.000000 706.928711 432.383248 0.000000

0.000000 0.000000 1.000000 0.000000

The LSD SLAM requests this type of calib_file:

fx/width fy/height cx/width cy/height d

in_width in_height

"crop" / "full" / "none" / "e1 e2 e3 e4 0"

out_width out_height

So I put the following values:

0.50866683528(781.312259/1536) 0.90224960648 0.50045764322 0.50111731481 0

1536 864

-0.277340 0.074605 -0.000747 0.000498 0.000000

1536 864

And I want to check if I I'm doing it wrong. Can anybody tell me plz?

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Comments

Hi, I am also trying to implement LSD SLAM. I am using UI-1221LE-M-GL camera. But i am not able to publish the ueye camera topics. Can you help me with any document or process involving this? so that I can continue to calibrate the camera.

varun1407 gravatar imagevarun1407 ( 2017-06-29 07:34:06 -0500 )edit

I used This to publish the ueye topic.

houssem gravatar imagehoussem ( 2017-06-29 07:45:12 -0500 )edit

I am using the same package but I am not able to publish. the camera operates well in linux with ueyedemo and daemon is running (without root privileges). I tam using linux 14.04 LTS and ros indigo for the project.

varun1407 gravatar imagevarun1407 ( 2017-07-04 10:15:37 -0500 )edit