Ask Your Question
2

How to set viso2_ros stereo parameters?

asked 2012-10-23 06:52:51 -0500

aldo85ita gravatar image

Hi everybody, I'm trying to using stereo odometry with viso2_ros library. How to set the distance from left camera to right camera? Which camera is related to base_link -> camera tf transformation? The right camera or the left camera?

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
1

answered 2012-11-14 23:31:58 -0500

Stephan gravatar image

The base camera frame for a stereo system is the left optical frame. The viso2_ros stereo odometer reads all information including baseline from the corresponding camera info messages (i.e. <stereo>/left/camera_info and <stereo>right/camera_info). Be sure to calibrate your stereo system using the camera_calibration package!

edit flag offensive delete link more

Comments

Do you mean that if I want to use viso2_ros I should first use the camera calibration package you mentioned to get the calibration parameters? Can't I use other calibration method? How about the parameters in libviso2? Is that the same situation? Because my results of libviso2 always have scale problem and sometimes monocular trajectory seems better than stereo. I think maybe it is the parameters problem.

Lily gravatar image Lily  ( 2014-03-20 19:49:40 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

Stats

Asked: 2012-10-23 06:52:51 -0500

Seen: 688 times

Last updated: Nov 14 '12