kalibr kalibr_camera_validator seems to hang
riko.b...@gmail.com
The camera took images from a checkerboard.
The validator starts and then seems to hang. It never displays any projections. I do playback a rosbag file containing the specified camera topic ( as in the camchain file).
What am i doing wrong? And why do i not see any image overlaid with the reprojections of the extracted corners in a window (window is empty)?
Any suggestions?
Thanks for your help
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rosrun kalibr kalibr_camera_validator --cam '/home/rnd/ROS/kalibr_ws/camchain-mntnfs_sharecheckerboardB12018-06-29-14-18-48.yaml' --target '/home/rnd/git/Knowledge_Base/Calibration/Multicamera to IMU_calibration/calibration_targets/checkerboard.yaml' --verbose
Initializing calibration target:
Type: checkerboard
Rows
Count: 13
Distance: 0.1 [m]
Cols
Count: 13
Distance: 0.1 [m]
initializing camera geometry
Camera /nvidia_camera/port_B1/image_raw:
Camera model: pinhole
Focal length: [933.7020077387515, 936.4490416378042]
Principal point: [965.356753684464, 600.9297083154372]
Distortion model: radtan
Distortion coefficients: [-0.36722019806671974, 0.17118951057692844, 0.0012205874205699322, -0.0024550116547852477]
[DEBUG] [1530623382.514417]: removed target point with reprojection error of 0.628382 (mean: 0.200153, std: 0.120453)
[DEBUG] [1530623382.514450]: removed target point with reprojection error of 0.563133 (mean: 0.200153, std: 0.120453)
[DEBUG] [1530623382.514458]: removed target point with reprojection error of 0.617562 (mean: 0.200153, std: 0.120453)
[DEBUG] [1530623382.514466]: removed target point with reprojection error of 0.5097 (mean: 0.200153, std: 0.120453)
[DEBUG] [1530623382.514476]: removed target point with reprojection error of 0.495526 (mean: 0.200153, std: 0.120453)
[DEBUG] [1530623382.514487]: removed target point with reprojection error of 0.460905 (mean: 0.200153, std: 0.120453)
[DEBUG] [1530623382.514495]: removed target point with reprojection error of 0.4759 (mean: 0.200153, std: 0.120453)
[DEBUG] [1530623382.514503]: removed target point with reprojection error of 0.49107 (mean: 0.200153, std: 0.120453)
[DEBUG] [1530623382.514511]: removed target point with reprojection error of 0.660847 (mean: 0.200153, std: 0.120453)
[DEBUG] [1530623382.514519]: removed 9 of 169 calibration target corner outliers
---
Target file:
target_type: 'checkerboard' #gridtype
targetCols: 13 #number of internal chessboard corners
targetRows: 13 #number of internal chessboard corners
rowSpacingMeters: 0.1 #size of one chessboard square [m]
colSpacingMeters: 0.1 #size of one chessboard square [m]
camchain file:
cam0:
cam_overlaps: []
camera_model: pinhole
distortion_coeffs: [-0.36722019806671974, 0.17118951057692844, 0.0012205874205699322,
-0.0024550116547852477]
distortion_model: radtan
intrinsics: [933.7020077387515, 936.4490416378042, 965.356753684464, 600.9297083154372]
resolution: [1920, 1208]
rostopic: /nvidia_camera/port_B1/image_raw
