AstraPro camera not using the new RGB calibration file

asked 2021-01-12 08:24:22 -0600

YamenMh gravatar image

updated 2021-01-13 15:05:00 -0600

Hey everyone,

so before calibrating i was getting warnings from astrapro.launch that camera.yaml and depth_Astra_Orbbec.yaml. After calibrating by using the camera_calibration package (http://wiki.ros.org/camera_calibratio...) I cereated two files: depth_Astra_Orbbec.yaml and rgb_Astra_Orbbec.yaml

The depth_Astra_Orbbec.yaml is being used and one can see the values when calling rostopic camera/depth/camera_info, but thats not the case with RGB. rostopic camera/rgb/camera_info is showing another values as in rgb_Astra_Orbbec.yaml.

I tried all the following: -astrapro.launch was still showing the warning that camera.yaml missing ---> I made a copy of rgb_Astra_Orbbec.yaml and called it camera.yaml ----> warning disappeard but the values in rostopic camera/rgb/camera_info did not change

-rosservice call /camera/get_camera_info showed the same values as rostopic camera/rgb/camera_info ---> i tried to cahnge the calibration data manually with rosservice call /camera/set_camera_info --> this command cereates a camera.yaml file but that also did not change anything in the showed calibration values

-in astrapro.launch there are the following lines to refer to the calibration files

1-arg name="rgb_camera_info_url" default="" ---> refering to rgb_Astra_Orbbec.yaml did not make a difference

2-arg name="depth_camera_info_url" default="" ---> refering to depth calibration file works

3-param name="camera_info_url" value="" this one should be the url to the camera.yaml file ---> cereating the camera.yaml and linking to it did not cahnge anything

In the terminal of astrapro.launch I can see:

10104987 VERBOSE Multi distance calibration enable 0 10104990 VERBOSE =================================================

10105013 VERBOSE depth [577.530334,577.530334,316.777740,239.781937], color[597.587158,597.587158,318.318207,245.468109]

These values are being used for depth and rgb. As I said refering to the depth calibration file works and changes the values but even after refering to rgb or camera yaml file the values from above (color) are still being used as RGB calibration values.

I appreciate any help :)

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