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pal-robotics / aruco_ros

Software package and ROS wrappers of the Aruco Augmented Reality marker detector library
MIT License
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single: adding support for stereo-pair calibrated cameras #6

Closed jbohren closed 9 years ago

bmagyar commented 10 years ago

:+1:

jordi-pages commented 9 years ago

+1

bmagyar commented 9 years ago

I would vote for m

jbohren commented 9 years ago

I was also surprised by this, but the ros stereo calibration appeared to generate mm values when I ran it.

Upon further reflection it looks like this is actually pixel units, in which case it should just be (Tx/fx) which in my case is Tx/1013.865828. Then this should give the offset in meters.

I hate that the projection matrix handling seems to have to be reimplemented in every program that listens to CameraInfo.

jordi-pages commented 9 years ago

According to https://github.com/ros-perception/image_pipeline/blob/indigo/camera_calibration/nodes/cameracalibrator.py#L383 when calling the cameracalibrator.py the size of the chessboard square should be provided in meters and then the result of camera calibration parameters will be in meters, too.

Just a remark, the correct formula is -Tx/fx.

jbohren commented 9 years ago

Just a remark, the correct formula is -Tx/fx

Right, that's what I said above. I'll update the PR later today.

jordi-pages commented 9 years ago

Great, thanks Jonathan for your contribution!

jbohren commented 9 years ago

Ok the fix is in there.

jordi-pages commented 9 years ago

+1

jbohren commented 9 years ago

As an aside, this works fantastically with the VISP implementation of Tsai's hand-eye calibration algorithm: http://wiki.ros.org/visp_hand2eye_calibration

bmagyar commented 9 years ago

It's good to know about it! Thanks :+1: !