AR.Drone camera calibration for lsd_slam

[axelfar]

Hello, I try many times to calibrate my drone with 'camera_calibration' node. But when I commit the result and use lsd_slam I have a bad result like this:

If you have a good result with your drone I just want your tips for a good calibration.

It's could be the resolution ? Because my calibration view is like that :

My calibration file :

image_width: 640 image_height: 352 camera_name: ardrone_front camera_matrix: rows: 3 cols: 3 data: [570.9902683884858, 0, 328.956626996734, 0, 569.8251065587548, 178.5418664651152, 0, 0, 1] distortion_model: plumb_bob distortion_coefficients: rows: 1 cols: 5 data: [-0.5647011921497734, 0.3479795365150913, -0.0008891926813252254, 0.002831456909685551, 0] rectification_matrix: rows: 3 cols: 3 data: [1, 0, 0, 0, 1, 0, 0, 0, 1] projection_matrix: rows: 3 cols: 4 data: [461.0075073242188, 0, 334.950547214743, 0, 0, 535.9346313476562, 178.169361178092, 0, 0, 0, 1, 0]

[kungfrank]

Hi~ Please check whether your LSDslam node subscribe correct image topic(image after calibrate). It might be similar to "/ardrone/front/image_rect". By the way, you can also use rqt_image_viewer to see the image topic : )

[axelfar]

Yes it's better with image_rect!

You know how change the voxel's size with octomap? Because i have to much voxels and my computer has blow up. I try to change the 'resolution' value in /ar_drone_moveit/launch/octomap.launch but nothing change :(

Edit: I find the good 'Resolution' parameter in ar_drone_move_it/launch/ar_drone_move_it_sensor_manager.launch.xml

Thx!