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Bumblebee pointclouds (.yaml) calibration files

asked 2013-04-02 09:51:01 -0600

INSA gravatar image

Hi guys, I am currently using the Bumblebee2 to extract pointclouds with the stereo_image_proc node on ROS. The problem is that i get very bad results on the disparity image, most of it is grey, even after playing with some parameters like the speckle filter...I used the calibration files (.yaml) that i could have with the stereo calibration node and as a consequence i get bad pointclouds. I would like to know if anyone succeded in having good pointclouds from the bumblebee2 using the calibration (.yaml) files and if it is possible to use the calibration files given by pointgrey or to publish directly the rectified images through ROS using triclops.

Thank you for your help

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answered 2013-04-02 10:03:17 -0600

Stephan gravatar image

In our lab we successfully calibrated two different kinds of Bumblebee2 stereo cameras (2.5 and 3.8 mm focal length) with the ROS stereo calibration tool. We used the -k 6 option to allow for more parameters in the distortion model. We run the camera1394stereo driver for the camera and stereo_image_proc to generate rectified images and point clouds. Regarding the parameters for stereo_image_proc we followed this tutorial. We had to increase the disparity_range to 128. The point clouds look quite nice (see the video on the viso2_ros wiki page).

Hope that helps!

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Thank you very much Stephan, i will try this tomorrow and tell you about the results. Ps : Your pointcloud is very good !

INSA gravatar imageINSA ( 2013-04-02 10:59:31 -0600 )edit
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answered 2013-04-02 21:42:39 -0600

INSA gravatar image

Hi Stephan,

How do you use option "-k 6"? the syntax to run the calibration is : rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 right:=/stereo_camera/right/image_raw left:=/stereo_camera/left/image_raw right_camera:=/stereo_camera/right left_camera:=/stereo_camera/left

How do you insert the "-k 6" option and where did you find it ? there is no -k 6 option in the calibration tutorial

Thank you for your responses

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rosrun camera_calibration cameracalibrator.py --help tells you all the options. Please do not post a question related to an answer as a separate answer. This should be a comment on my answer instead.

Stephan gravatar imageStephan ( 2013-04-03 06:56:36 -0600 )edit

Hi Stephan, can you please look at my new question about the Bb2 please : http://answers.ros.org/question/60020/pointclouds-extraction-using-the-bumblebee2-stereo-camera/

INSA gravatar imageINSA ( 2013-04-04 09:47:54 -0600 )edit

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Asked: 2013-04-02 09:51:01 -0600

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Last updated: Apr 02 '13