Hello, I have been trying to use the [SVO package](https://github.com/uzh-rpg/rpg_svo) using Ubuntu 12.04 and ROS Hydro, but I ran into trouble with the calibration file. In the [SVO calibration guidelines](https://github.com/uzh-rpg/rpg_svo/wiki/Camera-Calibration) says that the [camera_calibration](http://wiki.ros.org/camera_calibration) package can be used to obtain a calibration file that works with SVO, but the format of the calibration file expected by the SVO looks like this:> cam_model: Pinhole cam_width: 752 > cam_height: 480 cam_fx: 414.536145> cam_fy: 414.284429 cam_cx: 348.804988> cam_cy: 240.076451 cam_d0: -0.283076> cam_d1: 0.066674 cam_d2: 0.000896> cam_d3: 0.000778
And the one obtained with the camera_calibration, after convertir to yaml using the [camera_calibration_parsers](http://wiki.ros.org/camera_calibration_parsers) looks like this:
> image_width: 1024 image_height: 768> camera_name: narrow_stereo> camera_matrix: rows: 3 cols: 3 > data: [1114.338842, 0, 488.044082, 0,> 1483.616573, 384.580052, 0, 0, 1] distortion_model: plumb_bob> distortion_coefficients: rows: 1 > cols: 5 data: [0.089323, -0.327338,> -0.003856, -0.002099, 0] rectification_matrix: rows: 3 > cols: 3 data: [1, 0, 0, 0, 1, 0, 0,> 0, 1] projection_matrix: rows: 3 > cols: 4 data: [1117.866699, 0,> 485.532623, 0, 0, 1492.567993, 382.458084, 0, 0, 0, 1, 0]
I do not see how to make SVO work with the calibration file I'm getting and I have also not found a way to convert said file to the format that works.
I found another forum question where a person with my same problem got to the conclusion that the camera_calibration file didn't work with SVO and that the ATAN format file from [ethzasl_ptam](http://wiki.ros.org/ethzasl_ptam) had to be used instead. But when I try to implement the ptam package I get a missing header error that I haven't been able to solve either (it's [this error](https://github.com/ethz-asl/ethzasl_ptam/issues/39), but the solutions found in that thread haven't worked for me neither in Hydro nor in Groovy). Which is why I need to make the camera_calibration file work.
Thank you very much in advance for any ideas or suggestions.
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