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visp_camera_calibration doesn't write the calibartion.ini file

asked 2013-01-17 00:38:36 -0500

jara gravatar image

I do all the proceding told on the tutorial for the calibration of an external camera from the ROS wiki.

The camera i'm trying to calibrate is the one on the Parrot ARDrone.

Everything works fine and after calling the calibrate service I get the stdDevErrs output as the tutorial says, but the calibration.ini file isn't saved anywhere.

Any ideas as what might be the problem?

Thanks!!

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I posted your question on visp-user mailing-list, I hope the package authors will be able to answer it directly :)

Thomas gravatar image Thomas  ( 2013-01-17 03:30:29 -0500 )edit

many thanks!

jara gravatar image jara  ( 2013-01-17 22:50:50 -0500 )edit

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answered 2013-01-17 04:59:15 -0500

Fabien Spindler gravatar image

As explained on the tutorial http://www.ros.org/wiki/visp_camera_calibration/Tutorials/CalibrationExperimentalCamera, the calibration.ini file should be in your $HOME/.ros directory

Fabien

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answered 2013-01-17 22:51:01 -0500

jara gravatar image

Many thanks!!

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answered 2013-01-17 04:10:23 -0500

Tom Larkworthy gravatar image

updated 2013-01-17 04:13:39 -0500

So I am no VISP expert, but I have used it. I was using usb_cam as the interface to my camera. It takes calibration params as rosparams, so you can bypass the ROS calibration ini file.

I ran the VISP calibration setup, then ran

rosservice call visp_camera_calibration/calibrate 2 .2 640 480

I think then that either prints out the calibration params to the screen, or puts it into the calibration.launch files logs (was a long time ago I did this)

Then you can copy the values over to the usb_cam node:-

<node pkg="usb_cam" name="camera" type="usb_cam_node" output="log">
...
<rosparam param="D">[0.03983109092, 0.0, 0.0, 0.0, 0.0]</rosparam>
<rosparam param="K">[666.015717, 0.000000, 319.2997418, 0.000000, 662.0900984, 246.9209726, 0.000000, 0.000000, 1.000000]</rosparam>
<rosparam param="R">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]</rosparam>
<rosparam param="P">[666.015717, 0.000000, 319.2997418, 0.000000, 0.000000,   662.0900984, 246.9209726, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]</rosparam>
</node>

I suppose you could just write those values to the ini file yourself too

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Asked: 2013-01-17 00:38:36 -0500

Seen: 354 times

Last updated: Jul 24 '13