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LSD-SLAM virtual camera calibration

asked 2019-02-22 07:26:32 -0600

murdock gravatar image

updated 2019-02-22 07:26:58 -0600


I have recorded some actions using $rosbag record within the virtual simulator called UWSim. I am trying right now to make it work with lsd_slam.

My camera topic is /g500/camera1 Therefore, I ran lsd_slam as follow:

 rosrun lsd_slam_core live_slam image:=/g500/camera1 camera_info:=/camera_info

Now of course I am getting a message saying "WAITING for ROS camera calibration!". I have found someone previously asking how to calibrate virtual camera, however the answer was there is no need. Then what kind of calibration data I should send?

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answered 2019-02-22 08:43:35 -0600

murdock gravatar image

updated 2019-02-22 08:45:44 -0600

Managed to solve it.

I calculated the camera parameters and this is what Ive got (I calculated these by following this answer):

0.804 1.07 0 0 0
320 240
320 240

I saved these configs into a my_calib.cfg file in /lsd_slam/lsd_slam_core/calib.

Then I ran the following line:

 rosrun lsd_slam_core live_slam image:=/g500/camera1 _calib='path//lsd_slam/lsd_slam_core/calib/my_calib.cfg'

and after that I ran

rosbag play *my_file*

LSD_SLAM reacted and showed some signs of being ALIVE!

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Asked: 2019-02-22 07:26:32 -0600

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Last updated: Feb 22 '19