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KUTuaNithid / phenorobot

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Camera calibration #1

Open KUTuaNithid opened 3 years ago

KUTuaNithid commented 3 years ago

Camera model: ELP-960P2CAM-V90-VC (fisheye) Synchornous

Sub-task

  1. Split frame and rerepublish
  2. Use ros calibration package
KUTuaNithid commented 3 years ago

To split and image https://github.com/mdkennedy3/elp-synchronized-stereo-camera-ros-pkg

Ros calibration package http://wiki.ros.org/camera_calibration

KUTuaNithid commented 3 years ago

From Dr. Pished, we need to get an undistorted image to verify the result.

Stereo rectify code https://github.com/ShreyasSkandanS/stereo_fisheye_rectify

KUTuaNithid commented 3 years ago

Undistroed image https://drive.google.com/drive/folders/1KbHwlqABTmt-Hi_dl7M1tT5xolaNWM-J?usp=sharing

KUTuaNithid commented 3 years ago

Adjusted lense on camera hardware to make the right lense clear

Recalibration get error Traceback (most recent call last): File "/opt/ros/melodic/lib/python2.7/dist-packages/camera_calibration/camera_calibrator.py", line 269, in on_mouse self.c.do_calibration() File "/opt/ros/melodic/lib/python2.7/dist-packages/camera_calibration/calibrator.py", line 1231, in do_calibration self.cal_fromcorners(self.good_corners) File "/opt/ros/melodic/lib/python2.7/dist-packages/camera_calibration/calibrator.py", line 1004, in cal_fromcorners flags = flags) cv2.error: OpenCV(4.2.0) /io/opencv/modules/calib3d/src/fisheye.cpp:859: error: (-215:Assertion failed) D1.empty() || (D1.total() == 4) in function 'stereoCalibrate'

KUTuaNithid commented 3 years ago

Need to checkout from source -> https://github.com/ros-perception/image_pipeline/tree/melodic For 2560x960 error

abs_max < threshold in function 'stereoCalibrate'

Need to set resolution to lower

P[0, 0] still not equal.