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  • Feb 29 2016 18:38

    l0g1x on indigo-devel

    Initial changes updates Get camera info from device rat… and 4 more (compare)

  • Sep 08 2015 21:00

    l0g1x on indigo-devel

    Update setup_duo updated to ne… Merge pull request #23 from was… (compare)

  • Sep 08 2015 21:00
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  • Sep 08 2015 21:00
    l0g1x commented #23
Krystian Gebis
@l0g1x
Kavinayan Sivakumar
@ksivakumar
Has anyone tried to get this to work with a DUO MLX? I know it says it's only for the DUO3D but I'm curious
Basheer Subei
@basheersubei
I assume they use the same API for both cameras, so it should be possible to make it work with changes. @l0g1x would know for sure
I guess if you have an MLX, give it a try?
Kavinayan Sivakumar
@ksivakumar
Yeh, I'm trying it right now, I'll let you guys know if I can get it to work!
gitunit
@gitunit
Hi Krystian. Do you know or/and plan to publish the "on-device-calibration" as a camera_info message? i've looked at the api from DUO, they deliver intrinsics and extrinsics, so these need to converted somehow (haven't looked into details) to the camera_info message.
Sai Anirudh
@kanirudh54
extrinsics is the rotation and translation matrix
Sai Anirudh
@kanirudh54
it is a size 12 matrix of which 9 values are for rotation matrix. 3 values are for translation.
The intrinsics is also of size 12. But their values are as follows:
0-5 - Lens radial distortion coefficients (k1-k6)
6-7 - Tangential distortion coefficients (p1-p2)
8-9 - Focal lengths coefficients (fx, fy)
10-11 - Center of projection coefficients (cx, cy)
gitunit
@gitunit
thx, sai. i will look if i can publish a camera_info message from the data on the device.
Krystian Gebis
@l0g1x
i actually have been working on that part since yesterday funny enough, and put aside finishing dense3d until i get this done
will post updates here as i go along today @gitunit
basically just have been looking through the camera_info_manager code as well as camera_calibration to see how it fills the camera_info message
gitunit
@gitunit
ahh, nice then. looking forward for some testing. ;)
Krystian Gebis
@l0g1x
should have that done by friday
gitunit
@gitunit
well, that's my birthday :clap: :satisfied: and on saturday it's finally raining, maybe i'll finally get some results with viso2 and rtabmap. have a nice day!
Krystian Gebis
@l0g1x
so i pretty much have it done, im just trying to figure out what the duo intrinsic, extrinsic, rotational, and translation matricies are equivilant to in the camera_info documentation
gitunit
@gitunit
ok. how about the information provided by sai?
Krystian Gebis
@l0g1x
forgot about that, looking at that now
gitunit
@gitunit
also important would be how matrices are read in ROS msgs, column-wise or row-wise? i'll look that up
Krystian Gebis
@l0g1x
row major
gitunit
@gitunit
ok, the same with DUO?
Krystian Gebis
@l0g1x
not sure actually, didnt seem to run across it actually.
gitunit
@gitunit
ok, lets asume its the same
Krystian Gebis
@l0g1x
for now yeah
ill double check with duo
gitunit
@gitunit
do you have info on the distortion model?
Krystian Gebis
@l0g1x
i messaged them about it, assuming they have something proprietary
didnt get back to me yet
gitunit
@gitunit
i think they used the same as in openCV, i'll search for it
Krystian Gebis
@l0g1x
even with the new circle calibration?
gitunit
@gitunit
yes
Krystian Gebis
@l0g1x
ok let me know if you find something
gitunit
@gitunit
i've seen it for quite a time
Krystian Gebis
@l0g1x
ill push the code that i have in a second. itll have incorrect setting of camera_info parameters though, but just want to give it to you incase you can also figure it out
gitunit
@gitunit
ok. i've looked into the openCV docu but couldn't find a different distortion model, so let's assume the standard for now.
gitunit
@gitunit
do you have skype installed? maybe you can reach (since its in your timezone) someone from DUO who can give us information on the distortion model and if the information about the matrix coefficients provided by Sai above are correct.
Krystian Gebis
@l0g1x
i have direct number, they respond whenever they get a chance
gitunit
@gitunit
ok
Krystian Gebis
@l0g1x
okay pushed
let me know if it builds because i didnt want to commit some dense3d changes i made
also make sure to read the github README
and if the build fails, read the outputted logs
gitunit
@gitunit
i've build the latest version, did the installation change somehow with your latest push?
Krystian Gebis
@l0g1x
oh shit hold on i think i pushed to wrong branch fml
installation meaning?