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Hi guys,

I am trying to obtain the stereo un-rectified calibration (that is un-rectified extrinsics R and t; and calibration matrix K for each camera) from the left_camera_info.yaml and the right_camera_info.yaml configuration files. The only unrectified information that I can get straightforward from the configuration files is the instrinsic matrix K and distortion parameters D. But I do not know how to get the un-rectified extrinsic R and T.

I think I should use R rotation rectification matrix and Projection matrix from right configuration file right_camera_info.yaml but I am not sure how should I use them.

Any suggestions? thank you very much

This is my left_camera_info.yaml

image_width: 672
image_height: 376
camera_name: narrow_stereo/left
camera_matrix:
  rows: 3
  cols: 3
  data: [348.522264, 0.000000, 344.483596, 0.000000, 348.449870, 188.808062, 0.000000, 0.000000, 1.000000]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [-0.174497, 0.027127, -0.000359, 0.000457, 0.000000]
rectification_matrix:
  rows: 3
  cols: 3
  data: [0.999873, 0.000708, 0.015892, -0.000683, 0.999999, -0.001578, -0.015893, 0.001567, 0.999872]
projection_matrix:
  rows: 3
  cols: 4
  data: [347.652079, 0.000000, 339.375946, 0.000000, 0.000000, 347.652079, 198.590004, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]

This is my right_camera_info.yaml

image_width: 672
image_height: 376
camera_name: narrow_stereo/right
camera_matrix:
  rows: 3
  cols: 3
  data: [349.569635, 0.000000, 340.836585, 0.000000, 349.390781, 206.105440, 0.000000, 0.000000, 1.000000]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [-0.174606, 0.027855, -0.000108, -0.000141, 0.000000]
rectification_matrix:
  rows: 3
  cols: 3
  data: [0.999997, -0.000440, 0.002268, 0.000436, 0.999999, 0.001573, -0.002269, -0.001572, 0.999996]
projection_matrix:
  rows: 3
  cols: 4
  data: [347.652079, 0.000000, 339.375946, -41.272771, 0.000000, 347.652079, 198.590004, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]

I was doing a little bit research about this, and I could answer the question by myself. I just check the stereoRectify

I was doing a little bit research about this, and I could answer the question by myself. I just check the stereoRectify

Hi, I created a rosbag that contains NMEA messages (nmea_msgs/Sentence), and I would like to generate sensor_msgs/NavSatFix messages.

I am working on simulating time, so I run:

rosparam set use_sim_time true

Then, I play the rosbag thats contains the NMEA messages

rosbag play --clock nmea_gps.bag

Then, I start the nmea_topic_driver to generate publish sensor_msgs/NavSatFix on /fix topic:

rosrun nmea_navsat_driver nmea_topic_driver

Finally, when I check with rostopic if there are message on /fix topic

rostopic echo /fix

WARNING: no messages received and simulated time is active.
Is /clock being published?

Any, idea of what is going on?

I check if nmea_topic_driver was subscribed to the NMEA messages properly, and it looks fine:

rostopic info /nmea_sentence 
Type: nmea_msgs/Sentence

Publishers: 
 * /play_1516740862743383627 (http://MS-7A15:46035/)

Subscribers: 
 * /nmea_topic_driver (http://MS-7A15:46775/)

I also checked if the NMEA messages were right, and they look fine too:

rostopic echo /nmea_sentence 

header: 
  seq: 0
  stamp: 
    secs: 1514301945
    nsecs: 488000000
  frame_id: "GPS-RTK"
sentence: "$GPRMC,152545.80,A,3301.9913392,S,06053.0775644,W,0.12,0.00,261217,0.0,E,D*3F\r\n"
---
header: 
  seq: 1
  stamp: 
    secs: 1514301945
    nsecs: 488000000
  frame_id: "GPS-RTK"
sentence: "$GPGGA,152545.80,3301.9913392,S,06053.0775644,W,5,09,1.0,52.356,M,17.442,M,0.2,*72\r\
  \n"
---
header: 
  seq: 2
  stamp: 
    secs: 1514301945
    nsecs: 488000000
  frame_id: "GPS-RTK"
sentence: "$GPGSA,A,3,02,12,24,25,29,,,,,,,,12.0,1.7,11.8,1*29\r\n"
---
header: 
  seq: 3
  stamp: 
    secs: 1514301945
    nsecs: 488000000
  frame_id: "GPS-RTK"
sentence: "$GLGSA,A,3,75,76,86,87,,,,,,,,,43.1,15.6,40.1,2*03\r\n"
---
header: 
  seq: 4
  stamp: 
    secs: 1514301945
    nsecs: 488000000
  frame_id: "GPS-RTK"
sentence: "$GPGSV,2,1,05,02,52,107,35,12,61,145,38,24,49,007,37,25,48,217,36,1*6A\r\n"
---
header: 
  seq: 5
  stamp: 
    secs: 1514301945
    nsecs: 488000000
  frame_id: "GPS-RTK"
sentence: "$GPGSV,2,2,05,29,47,283,41,,,,,,,,,,,,,1*55\r\n"
---
header: 
  seq: 6
  stamp: 
    secs: 1514301945
    nsecs: 488000000
  frame_id: "GPS-RTK"
sentence: "$GLGSV,1,1,04,75,42,053,37,76,75,160,36,86,72,178,39,87,41,315,35,1*7F\r\n"
---
header: 
  seq: 7
  stamp: 
    secs: 1514301945
    nsecs: 488000000
  frame_id: "GPS-RTK"
sentence: "$GPGST,152545.80,0.090,,,,0.081,0.061,0.194*78\r\n"
---
header: 
  seq: 8
  stamp: 
    secs: 1514301945
    nsecs: 488000000
  frame_id: "GPS-RTK"
sentence: "$GPVTG,0.00,T,0.00,M,0.12,N,0.06,K,A*26\r\n"
---

UPDATED: 01/24/2018

The output of rosnode info /nmea_topic_driver is:

rosnode info /nmea_topic_driver

Node [/nmea_topic_driver]
Publications: 
 * /fix [sensor_msgs/NavSatFix]
 * /rosout [rosgraph_msgs/Log]
 * /time_reference [sensor_msgs/TimeReference]
 * /vel [geometry_msgs/TwistStamped]

Subscriptions: 
 * /clock [rosgraph_msgs/Clock]
 * /nmea_sentence [nmea_msgs/Sentence]

Services: 
 * /nmea_topic_driver/get_loggers
 * /nmea_topic_driver/set_logger_level


contacting node http://MS-7A15:34339/ ...
Pid: 28973
Connections:
 * topic: /rosout
    * to: /rosout
    * direction: outbound
    * transport: TCPROS
 * topic: /nmea_sentence
    * to: /play_1516817666576416404 (http://MS-7A15:38155/)
    * direction: inbound
    * transport: TCPROS
 * topic: /clock
    * to: /play_1516817666576416404 (http://MS-7A15:38155/)
    * direction: inbound
    * transport: TCPROS

Thanks in advance

I just deleted the characters in the gps.log file that I used to create the rosbag file.

How to get raw stereo camera calibration from left and right camera_info messages Hi guys, I am trying to obtain the st

How to get raw stereo camera calibration from left and right camera_info messages Hi guys, I am trying to obtain the st

The issue was solved when we removed the CR (Carriage Return) and the LF (Line Feed) control characters from the nmea se

nmea_topic_driver is not publishing anything Hi, I created a rosbag that contains NMEA messages (nmea_msgs/Sentence), an

nmea_topic_driver is not publishing anything Hi, I created a rosbag that contains NMEA messages (nmea_msgs/Sentence), an

That is good, so there is a bug in the script that I am using for the creation of the rosbag from the nmea raw sentences

nmea_topic_driver is not publishing anything Hi, I created a rosbag that contains NMEA messages (nmea_msgs/Sentence), an

Here is the gps_rtk_rosbag.

nmea_topic_driver is not published anything Hi, I created a rosbag that contains NMEA messages (nmea_msgs/Sentence), and

nmea_topic_driver is not published anything Hi, I created a rosbag that contains NMEA messages (nmea_msgs/Sentence), and

nmea_topic_driver is not published anything Hi, I created a rosbag that contains NMEA messages (nmea_msgs/Sentence), and

Thanks guys for the quickly response. I updated the question with the information that you asked me. I also to remove th

nmea_topic_driver is not published anything Hi, I created a rosbag that contains NMEA messages (nmea_msgs/Sentence), and

nmea_topic_driver is not published anything Hi, I created a rosbag that contains NMEA messages (nmea_msgs/Sentence), and

nmea_topic_driver is not published anything Hi, I created a rosbag that contains NMEA messages (nmea_msgs/Sentence), and