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sbrodeur / ros-icreate-bbb

ROS (Robotic Operating System) packages for the iRobot Create with onboard BeagleBone Black
BSD 3-Clause "New" or "Revised" License
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Provide stereo calibration parameters for the RGB cameras #6

Closed sbrodeur closed 7 years ago

sbrodeur commented 8 years ago

We don't plan to provide rectified camera images calibrated for stereo vision as part of the dataset, but we should at least provide the calibration parameters so that is can be done later (i.e. by processing the rosbags).

See: http://wiki.ros.org/camera_calibration

sgcarrier commented 7 years ago

Obtained calibration information for both cameras (using ros camera_calibration). However, right camera is inverted and it would be ideal to correct that. Next step is to create a node that will invert right camera image and synchronize the 2 cameras and also update respective camera_info topics with new calibration information.

sbrodeur commented 7 years ago

This project allows to do lossless rotations of JPEG encoded images from Python: https://github.com/jbaiter/jpegtran-cffi

I think I will use this library to make a Python script that will rotate all images of a camera in a rosbag. For the camera calibration, just decompress and recompress the stream with OpenCV.

See added script for processing the rosbag: https://github.com/sbrodeur/ros-icreate-bbb/blob/master/src/action/scripts/record/data/convert_rosbag.py