Exception parsing YAML camera calibration

[Peter Ivarsen]

Hi all,

I'm trying to get the rpg_dvs_ros node up and running with our DVXplorer camera, but I hit a snag when the node is launched and trying to read the yaml file containing calibration.

[ERROR] [1718974944.840926299]: Exception parsing YAML camera calibration:
invalid node; this may result from using a map iterator as a sequence iterator, or vice-versa
[ERROR] [1718974944.840980628]: Failed to parse camera calibration from file [/home/peter/.ros/camera_info/DVXplorer-DXA00101.yaml]

As I didn't have a board of blinking LEDs as per https://github.com/uzh-rpg/rpg_dvs_ros/blob/master/dvs_calibration/README.md i instead used the calibration procedure in the Dynamic Vision Viewer app and transferred my values to a yaml file on the format suggested here: https://github.com/uzh-rpg/rpg_dvs_ros/issues/130

Any tips that might help me sort this out is much appreciated.

BTW here is the content of DVXplorer-DXA00101.yaml

image_width: 640

image_height: 480

camera_name: DVXplorer_DXA00101

camera_matrix:

rows: 3

cols: 3

data: [672.6858, 0, 337.9847, 0, 672.2875, 260.7238, 0, 0, 1]

distortion_model: plumb_bob

distortion_coefficients:

rows: 1

cols: 5

data: [-0.42398, 0.55835, 0.000480982, 0.000379885, -0.72892466]

rectification_matrix:

rows: 3

cols: 3

data: [1, 0, 0, 0, 1, 0, 0, 0, 1]

projection_matrix:

rows: 3

cols: 4

data: [1, 0, 1, 0, 0, 1, 1, 0, 0, 0, 1, 0]

cheers

Peter

[Luca Longinotti]

You might want to open an issue on the original authors' github page to get more support.

As an alternative, you can try our own ROS integration available here:

https://gitlab.com/inivation/dv/dv-ros

It supports DV calibration files directly and outputs compatible messages to the RPG one.

[Peter Ivarsen]

Thanks Luca,

tried your ROS driver and it works like a charm

brgs

Peter