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OpenPTrack / open_ptrack_v2

OPT v2 "Gnocchi" - adding object tracking and pose recognition
BSD 3-Clause "New" or "Revised" License
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opt_calibration_results.launch not saved #144

Open colinbouvry opened 3 years ago

colinbouvry commented 3 years ago

Hello, I am under 18.04 branch.

https://github.com/OpenPTrack/open_ptrack_v2/wiki/Camera-Network-Calibration

When I launch rostopic pub /opt_calibration/action std_msgs/String "save" -1

~/open_ptrack/opt_calibration/conf/camera_poses.yaml are saved but all extrinsic calibration data are not saved to the opt_calibration_results.launch file in the opt_calibration/launch folder.

Any idea ?

colinbouvry commented 3 years ago

Thank you in advance for your response

SimeonOA commented 3 years ago

Hi,

Could you give more details about your setup? Did you carry out both Time Synchronization and Pre-Tracking Configuration before calibration?

When calibration is properly completed and rostopic pub /opt_calibration/action std_msgs/String "save" -1 is run, the text display in the window runningroslaunch opt_calibration opt_calibration_master.launch only shows ~/open_ptrack/opt_calibration/conf/camera_poses.yaml created! but the extrinsic calibration data should be saved nonetheless.

Thank you.

Simeon

colinbouvry commented 3 years ago

Hello I made both Time Synchronization and Pre-Tracking Configuration before calibration. My installation is https://github.com/OpenPTrack/open_ptrack_v2/blob/1804/docker/open_ptrack-dep/Dockerfile and https://github.com/OpenPTrack/open_ptrack_v2/blob/1804/docker/open_ptrack/Dockerfile without docker My calibration works, checkboard is detected ! ~/open_ptrack/opt_calibration/conf/camera_poses.yaml are saved with the transformation of cameras but all extrinsic calibration data are not saved to the opt_calibration_results.launch file in the opt_calibration/launch folder. Any idea ?

SimeonOA commented 3 years ago

Hi

I found these instructions here: https://github.com/OpenPTrack/open_ptrack_v2/tree/1804/opt_calibration#readme.

Instead of running rostopic pub /opt_calibration/action std_msgs/String "save" -1 to save the calibration data after completing the calibration, run rostopic pub /opt_calibration/action std_msgs/String "saveExtrinsicCalibration" -1.

Please let me know if this works for you.

Thank you.

Simeon

colinbouvry commented 3 years ago

Hello rostopic pub /opt_calibration/action std_msgs/String "saveExtrinsicCalibration" -1 not save to the opt_calibration_results.launch file

I have this message in console : publishing and latching message for 3.0 seconds

Save or saveExtrinsicCalibration is the same : if (msg->data == "save" or msg->data == "saveExtrinsicCalibration") see https://github.com/OpenPTrack/open_ptrack_v2/blob/master/opt_calibration/src/opt_calibration_node.cpp

Why after this command is run, in the terminal window running the following ? roslaunch opt_calibration opt_calibration_master.launch

In https://github.com/OpenPTrack/open_ptrack_v2/blob/master/opt_calibration/src/opt_calibration_node.cpp OPTCalibrationNode::save() save only /conf/camera_poses.yaml

Maybe, write the file opt_calibration_results.launch manually from the file camera_poses.yaml ?

Furthermore, ~/open_ptrack/opt_calibration/conf/camera_poses.yaml is not saved to second PC, only saved in master PC

Any idea ?

colinbouvry commented 3 years ago

What do you think ?