missing calibration and camera_model yaml param not read

[ghost]

Hi,

I've used this node to publish RTSP to a ROS topic in order to calibrate the camera using ROS camera_calibrate node. Calibration generated the following yaml output below. However, upon loading this calibration file a warning is logged that it couldn't find the distortion_model parameter in the yaml, however that should be listed as camera_model, at least in ROS melodic.

Also, when camera_calibration writes the yaml output, this node has told it the incorrect height of 360. I filed a separate issue for this, but I've verified it still persists even if I launch this node with a dummy yaml config file (all distortion set to 1) with height config'd as 480 (the resulting calibration file still outputs 360)

image_width: 640
image_height: 480  # this value incorrectly set to 360
camera_name: rugged_hd_ip
camera_matrix:
  rows: 3
  cols: 3
  data: [ 543.2134 ,    0.     ,  321.01119,
            0.     ,  543.06716,  190.99665,
            0.     ,    0.     ,    1.     ]
camera_model: plumb_bob # this node expects "distortion_model"
distortion_coefficients:
  rows: 1
  cols: 5
  data: [-0.480672, 0.184891, -0.001901, 0.002792, 0.000000]
rectification_matrix:
  rows: 3
  cols: 3
  data: [ 1.,  0.,  0.,
          0.,  1.,  0.,
          0.,  0.,  1.]
projection_matrix:
  rows: 3
  cols: 4
  data: [ 429.48141,    0.     ,  325.60516,    0.     ,
            0.     ,  512.12939,  191.97364,    0.     ,
            0.     ,    0.     ,    1.     ,    0.     ]

Without calibration:

With calibration (if I change camera_model to distortion_model):

roslaunch video_stream_opencv camera.launch video_stream_provider:=rtsp://192.168.1.1:554/h264 camera_info_url:='file:////root/git/adas/rugged_hd_ip_cal.yaml' width:=640 height:=480 camera_name:=rugged_hd_ip

[awesomebytes]

You need to use a rectifier node/nodelet to apply the calibration into a rectified image. Declaring the calibration in the yaml file enables using nodes of that kind.

On Sat, Apr 24, 2021, 02:57 zoombinis @.***> wrote:

Hi,

I've used this node to publish RTSP to a ROS topic in order to calibrate the camera using ROS camera_calibrate node. Calibration generated the following yaml output below. However, upon loading this calibration file there is no noticeable change in reducing the distortion. Also, a warning is logged that it couldn't find the distortion_model parameter in the yaml, however that should be listed as camera_model, at least in ROS melodic

image_width: 640image_height: 480camera_name: rugged_hd_ipcamera_matrix: rows: 3 cols: 3 data: [ 543.2134 , 0. , 321.01119,

0. , 543.06716, 190.99665,
1. , 0. , 1. ]camera_model: plumb_bobdistortion_coefficients: rows: 1 cols: 5 data: [-0.480672, 0.184891, -0.001901, 0.002792, 0.000000]rectification_matrix: rows: 3 cols: 3 data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1.]projection_matrix: rows: 3 cols: 4 data: [ 429.48141, 0. , 325.60516, 0. ,
2. , 512.12939, 191.97364, 0. ,
3. , 0. , 1. , 0. ]

Without calibration: [image: without_cal] https://user-images.githubusercontent.com/72039888/115904737-24a4ce80-a433-11eb-8108-a3b6dc2304bd.png

With calibration (and even if I change camera_model to distortion_model still it makes no difference):

roslaunch video_stream_opencv camera.launch video_stream_provider:=rtsp://192.168.1.1:554/h264 camera_info_url:='file:////root/git/adas/rugged_hd_ip_cal.yaml' width:=640 height:=480 camera_name:=rugged_hd_ip

[image: with_cal] https://user-images.githubusercontent.com/72039888/115904701-12c32b80-a433-11eb-9077-1ec4e35a2731.png

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[ghost]

@awesomebytes I am using image_proc to rectify. But I needed to still correct the following yaml config:

image_width: 640 image_height: 480 distortion_model: plumb_bob

I think it's a bug expecting "distortion_model" in ros melodic? Also the image height was set wrong (360)

[awesomebytes]

@zoombinis not sure what version of camera_calibration you are using, the latest seem to correctly write distortion_model: https://github.com/ros-perception/image_pipeline/blob/noetic/camera_calibration/src/camera_calibration/calibrator.py#L652

Seems it was fixed in August 2020: https://github.com/ros-perception/image_pipeline/pull/580

Oh wait! I saw that the last release was Previous that merge: https://github.com/ros-perception/image_pipeline/releases/tag/melodic-1.15.0

You could use the latest version from source and you'll have that bug fixed. This is not an issue from this repo, though. I'll close this issue (I answered in your other issues too as far as I could).