fizyr / camera_pose_calibration Goto Github PK

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When using calibrateFile, part of the service request is target_frame. This parameter appears to be unused. Here's the output when srv.tag_frame is set to calibration_circles_frame, and srv.target_frame is set to base_link. Notice that base_link doesn't appear.

Have you guys actually tested the package yet? The tf's I'm getting are not even close to aligned right, but that could very well be user error on my end.

I'm getting stuck in this while loop of node.cpp:

    sync.registerCallback(boost::bind(&synchronizationCallback, boost::ref(promise), _1, _2));

    // Run a background spinner for the callback queue.
    ros::AsyncSpinner spinner(1, &queue);
    spinner.start();

    ROS_INFO_STREAM("Done creating background spinner.");

    while (true) {  **<== I get stuck here**
    if (!node_handle.ok()) return false;
    if (future.wait_for(boost::chrono::milliseconds(100)) == boost::future_status::ready) break;
    }
    ROS_INFO_STREAM("Done waiting for the future.");

The synchronizationCallback is never called. I think this means the node is not receiving the cloud_topic and image_topic messages, but I've double-checked that the camera_pose_calibration node is subscribed correctly and the camera topics are active. I have a fork of the repo here if you want to see exactly what my service client looks like.

I've my pattern fixed on the workstation, and my "world" (which is another fixed frame) frame's origin, let's say, is my pattern's origin, since I don't have a robot and I don't want to have a different frame. So my camera and the world frames are basically having the same origin.

Given this, I execute the following commands:

rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 1.0 world pattern 1000

roslaunch camera camera.launch

roslaunch camera_pose_calibration nodelet.launch

rosservice call /calibrate_topic "tag_frame: 'pattern' target_frame: 'map' point_cloud_scale_x: 1.0 point_cloud_scale_y: 1.0 pattern: {pattern_width: 4, pattern_height: 11, pattern_distance: 4.0}"

However the last command doesn't return anything. No errors, no results, nothing. I check rostopic echo /detected_pattern and there is nothing in there either. Here is my how stereo images look like:

I don't know what's wrong, but it doesn't seem to work.

Apart from that, there are a couple of issues with this package, which makes the whole process frustrating.

1. The right-top corner blob is defined as the origin must be marked on that image. Depending on how you look at this pattern, the statement is ambiguous at the best.

2. Chain of commands is missing. What to run first, what's the order? Static publisher and then the nodelet, or?

3. The pose of the camera to the fixed frame will then be returned and optionally published. the command returns nothing, and nothing is published. There is no single error message or whatsoever. One spends a lot of time without a result.

4. The circle center-to-center distance of the printed pattern. which unit is the distance in? Cm?

I am so sorry to bother you guys, I am pretty new in the ROS community. My question is, in what way I can set up the configuration of parameters, in order to make the extrinsic calibration, I already run both launch file but i got this message:
[ INFO] [1548793318.831677234]: waitForService: Service [/standalone_nodelet/load_nodelet] has not been advertised, waiting...
[ INFO] [1548793318.852237981]: Initializing nodelet with 4 worker threads.
[ INFO] [1548793318.874800026]: waitForService: Service [/standalone_nodelet/load_nodelet] is now available.

Best regards!!!

I am calibrating a kinect with this package but I couldnot find enough description on how to define a Pattern msg type with distance and size of the asymmetric circles pattern. I am using the pattern from this link: https://nerian.com/support/resources/patterns/ with A4 size patterns.

Can you help me fix this? Thanks in advance.

here.

Copy/pasta?

Hi,
i want to calibrate my kinect for more accuracy in order to build a 3D map , the problem with this package is the dependency 'dr_base' , i can not find it.

when i try to compile the package The catkin_make command give this error :

Could not find the required component 'dr_base'.

please help