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  • Apr 18 2017 16:05
    moates commented #9
  • Jan 19 2017 21:00
    hardikrshah007 opened #26
  • Jun 14 2016 17:21
    dbolkensteyn commented on 53e135e
  • Mar 26 2016 15:22
    l0g1x commented #24
  • Mar 25 2016 21:43
    l0g1x closed #18
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    l0g1x closed #19
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    l0g1x closed #20
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    l0g1x assigned #24
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  • Mar 25 2016 21:42
    l0g1x assigned #25
  • Mar 25 2016 21:42
    l0g1x opened #25
  • Mar 25 2016 21:39
    l0g1x commented #24
  • Mar 25 2016 21:03
    juehess commented #24
  • Mar 16 2016 13:22
    PierreLothe opened #24
  • Feb 29 2016 18:39
    l0g1x closed #22
  • 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
    l0g1x closed #23
  • Sep 08 2015 21:00
    l0g1x commented #23
Krystian Gebis
@l0g1x
i think your right
would you set the translation matrix in the P3 P[7] indecies?
gitunit
@gitunit
but if we don't know for sure how the coefficients are saved in DUO we can only guess
idk yet
Krystian Gebis
@l0g1x
yeah well whenever duo gets back to me ill let you know
gitunit
@gitunit
at least in openCV the coefficients are saved not as Sai described it above. see: http://docs.opencv.org/modules/imgproc/doc/geometric_transformations.html#undistort
Krystian Gebis
@l0g1x
okay, so then maybe he specified it for duo
gitunit
@gitunit
maybe .. we dont know for sure
i haven't seen it documented on the DUO site
Krystian Gebis
@l0g1x
yeah me neither i tried looking everywhere
gitunit
@gitunit
we could try using the openCV way since i think they highly build on openCV
Krystian Gebis
@l0g1x
well like you said, we’d be only guessing.. so ill just wait for duo and if they dont get back by today ill call them tomorrow
they ussually respond to me within a hour or two
unless theyre really busy
gitunit
@gitunit
ok
did you try the duo on arm?
Krystian Gebis
@l0g1x
havent had a chance, but shouldnt make a difference whether its x86 or arm, at least on my end
gitunit
@gitunit
yeah, i just thought you have maybe the ARM driver since im not able to download it from the site
Krystian Gebis
@l0g1x
really?
gitunit
@gitunit
yes. its quite strange since they advertised with it from day 1
and i waited for this for more than a year
Krystian Gebis
@l0g1x
thats wierd.. i should have access to a arm board within the week so ill test it on there if i find time
gitunit
@gitunit
if you have the driver .. it should i guess
but without access, im hopeless running it on ARM :(
Krystian Gebis
@l0g1x
yeah they sent it to me to test like 3-4 weeks ago
gitunit
@gitunit
i asked them yesterday, let's see
so back on the coefficients:
if Sai is correct, and we have k1 .. k6 than it should be (in openCV at least) the CV_CALIB_RATIONAL_MODEL
Krystian Gebis
@l0g1x
nice
i guess it should be possible since this (http://docs.carnegierobotics.com/SL/api.html) driver's docu says that the rational model is supported in ROS:
Krystian Gebis
@l0g1x
okay looking into it
gitunit
@gitunit
ok, that's it for today. let me know if you have something new from duo. read ya!
gitunit
@gitunit
helly krystian, did you get a response frome DUO?
gitunit
@gitunit
ok, i have informations regarding the intrinsics values. Sai was correct above. also it's the pinhole distortion model with 6 distortion coefficients. let's see if we can make this run ...
Krystian Gebis
@l0g1x
alright great. if you get it to work can you pr it? im tied up right now
gitunit
@gitunit
ok, i will see when i get to it, also have other priorities right now. however i will look into it right away for some minutes ;)
Krystian Gebis
@l0g1x
cool thanks
gitunit
@gitunit
ok, i've filled all the parameters for the camerainfo msg, except the P matrix which is the projection matrix. not sure how i would calculate this for stereo yet. there is an openCV function that would do that for me, but i would rather do it without openCV
gitunit
@gitunit
i tried it with openCV (with a method called "stereorectify") but i get assertion error when using image_proc
Krystian Gebis
@l0g1x
Just messaged DUO again, as they still havent gotten back to me. Also, I believe theres a bug that i didnt catch about not being able to load the old ros calibration files that @gitunit sent me a while back. Not sure what the deal is, but got a email from a user with the logs
@gitunit can you check if this error occurs for you as well?
gitunit
@gitunit
im in contact with DUO myself. they will provide some api changes to finish the correct loading of calibration info from device. currently i have a workaround but cant release the code since its very dirty as soon as i've cleaned it up, i will make a pull request. regarding the logs it is due to the current version, obviously it tries to load the on-device calibration but there is none because there is no checking before if there actually is a calibration on device. but if the user wants to use the old calibration files, just set the "use_DUO_calibration" to false. that should do it currently.
gitunit
@gitunit
however my calibration files aren't that well, so the usage of those would be (at least for stereo stuff) useless. however rectified images are possible ..
Krystian Gebis
@l0g1x
awesome thanks
gitunit
@gitunit
hi l0g1x, just letting you know that i have a working driver with onDeviceCalibration usage for sdk version 1.4x and will soon update to the latest. just in case you are also working on it ..