Stereo camera launch failed
Opened this issue · 1 comments
Hello everyone, I use SVO2 in stereo mode(without IMU). Here is my stereo camera calibration file:
cameras:
- camera:
distortion:
parameters:
cols: 1
rows: 4
data: [-0.3321920298358194, 0.1047044621854059, 0.003132906729067026, -0.002535682618479629]
type: radial-tangential
image_height: 480
image_width: 752
intrinsics:
cols: 1
rows: 4
data: [483.0500651879798, 485.226588991044, 383.7668152619602, 228.5179979149652]
label: /stereo/left/image_raw_rect
line-delay-nanoseconds: 0
type: pinhole
T_B_C:
cols: 4
rows: 4
data: [1.0, 0.0, 0.0, -0.04906,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0]
serial_no: 26806343
calib_date: 2017-09-28
description: 'left cam' - camera:
distortion:
parameters:
cols: 1
rows: 4
data: [-0.3401181742329858, 0.1078699763855546, 0.001720717514928077, -0.002231990907669751]
type: radial-tangential
image_height: 480
image_width: 752
intrinsics:
cols: 1
rows: 4
data: [482.7896578019205, 484.857136549844, 368.2088864146847, 238.6195243498441]
label: /stereo/right/image_raw_rect
line-delay-nanoseconds: 0
type: pinhole
T_B_C:
cols: 4
rows: 4
data: [1.0, 0.0, 0.0, 0.04906,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0]
serial_no: 26806357
calib_date: 2017-09-28
description: 'right cam'
label: bluefox2_stereo
The T_B_C is not exactly calibrated. I can't launch stereo launch mode successfully, here is the display message:
[ INFO] [1538040939.943552164]: Found parameter: cam0_topic, value: /stereo/left/image_raw_rect
[ INFO] [1538040939.956717985]: Found parameter: cam1_topic, value: /stereo/right/image_raw_rect
[ INFO] [1538040943.766738950]: /stereo: Initializing reconfigure server
[ INFO] [1538040943.768499335]: camera calibration URL: file:///home/uavlab/.ros/camera_info/mv_26806343.yaml
[ INFO] [1538040943.881733856]: camera calibration URL: file:///home/uavlab/.ros/camera_info/mv_26806357.yaml
[ INFO] [1538040943.892050119]: DepthFilter: RESET.
[ INFO] [1538040943.892151203]: DepthFilter: RESET.
[ERROR] [1538040943.907436868]: Initialization failed. Not enough triangulated points.
[ERROR] [1538040943.959398021]: Initialization failed. Not enough triangulated points.
[ERROR] [1538040943.994905877]: Initialization failed. Not enough triangulated points.
[ERROR] [1538040944.054005901]: Initialization failed. Not enough triangulated points.
[ERROR] [1538040944.088357084]: Initialization failed. Not enough triangulated points.
[ERROR] [1538040944.124202692]: Initialization failed. Not enough triangulated points.
Could anyone help me? Thank you!!!