search

tu-darmstadt-ros-pkg / image_projection

image_projection is a ROS package to create various projections from multiple calibrated cameras.
MIT License
177 stars 34 forks source link

Shift in the Mercator Projection #12

Open jeychandar opened 2 months ago

jeychandar commented 2 months ago

@meyerj I am using insta360 air to record the rosbag. when I try to play I found that it has vertical shift in the mercator projection. I attached the image below here. Could you please help me to resolve this shift issue. Thanks in advance

image

Martin-Oehler commented 2 months ago

It looks like your external calibration (the transformation between both camera centers) is off. Are you using the URDF provided with this package or did you calibrate yourself?

jeychandar commented 2 months ago

I have not changed anything I am just using the parameters you provided in this repo.

Martin-Oehler commented 2 months ago

Due to manufacturing tolerances, differences between Insta360 Air units might be big enough to result in this problem. You will have to calibrate your cameras using kalibr and update the calibration. To ensure sufficient overlap between images, you will need an additional Insta360 Air fixed at a 90° angle to the first one.

Alternatively, you can try to manually change the parameters here and see if things improve.

jeychandar commented 2 months ago

Is it necessary to be two insta360 air to calibrate. I have tried to calibrate with single insta360 air but it throws attribute['weight']error.

Martin-Oehler commented 2 months ago

I don't know about the error, but for extrinsic calibration, you will need overlap between the individual cameras. The Insta360 Air by itself has only very little overlap at the edges of the lenses, which is not sufficient for a proper calibration. Therefore, you need to add other cameras to have an indirect connection (Air cam 1 -> other cam -> air cam 2). It does not need to be another Insta360 Air. Just any other camera, rigidly affixed, will do.

jeychandar commented 2 months ago

Thanks for your help.I will try to calibrate and check.