双目标定log文件

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两个摄像头在刚开始的时候不要固定死了,上下左右都需要适当调整。

标定的时候要尽量多换几个角度,我这里采集了四十多张才ok的。


relaybot@ubuntu:~$ roslaunch chapter5_tutorials camera_stereo.launch calibrate:=true

... logging to /home/relaybot/.ros/log/2c215488-3715-11e7-90b1-000c29196105/roslaunch-ubuntu-2664.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:37238/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.20
 * /stereo/brightness: 0.2
 * /stereo/camera_index_left: 1
 * /stereo/camera_index_right: 2
 * /stereo/camera_info_url_left: package://chapter...
 * /stereo/camera_info_url_right: package://chapter...
 * /stereo/camera_name: logitech_c120
 * /stereo/contrast: 0.1
 * /stereo/exposure: 0.0
 * /stereo/fourcc: YUYV
 * /stereo/fps: 7.5
 * /stereo/frame_height: 480
 * /stereo/frame_id: stereo_optical
 * /stereo/frame_width: 640
 * /stereo/gain: 0.0
 * /stereo/hue: 0.0
 * /stereo/saturation: 0.1
 * /stereo/stereo_image_proc/correlation_window_size: 33
 * /stereo/stereo_image_proc/disparity_range: 32
 * /stereo/stereo_image_proc/min_disparity: 25
 * /stereo/stereo_image_proc/prefilter_cap: 5
 * /stereo/stereo_image_proc/prefilter_size: 15
 * /stereo/stereo_image_proc/speckle_range: 15
 * /stereo/stereo_image_proc/speckle_size: 50
 * /stereo/stereo_image_proc/texture_threshold: 1000
 * /stereo/stereo_image_proc/uniqueness_ratio: 5.0

NODES
  /stereo/
    cameracalibrator (camera_calibration/cameracalibrator.py)
    stereo_image_proc (stereo_image_proc/stereo_image_proc)
  /
    stereo (chapter5_tutorials/camera_stereo)
    stereo_link (tf/static_transform_publisher)
    stereo_optical_link (tf/static_transform_publisher)

auto-starting new master
process[master]: started with pid [2676]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 2c215488-3715-11e7-90b1-000c29196105
process[rosout-1]: started with pid [2689]
started core service [/rosout]
process[stereo-2]: started with pid [2692]
process[stereo/stereo_image_proc-3]: started with pid [2693]
process[stereo/cameracalibrator-4]: started with pid [2694]
process[stereo_link-5]: started with pid [2703]
process[stereo_optical_link-6]: started with pid [2710]
VIDIOC_QUERYMENU: Invalid argument
VIDIOC_QUERYMENU: Invalid argument
VIDIOC_QUERYMENU: Invalid argument
[ INFO] [1494594975.988928589]: left camera (index = 1) successfully opened!
VIDIOC_QUERYMENU: Invalid argument
VIDIOC_QUERYMENU: Invalid argument
VIDIOC_QUERYMENU: Invalid argument
[ INFO] [1494594976.011434852]: right camera (index = 2) successfully opened!
('Waiting for service', '/stereo/left/set_camera_info', '...')
OK
('Waiting for service', '/stereo/right/set_camera_info', '...')
[DEBUG] [1494594976.388344300]: tf_prefix =
[ INFO] [1494594976.388571291]: camera calibration URL: package://chapter5_tutorials/config/camera_stereo/logitech_c120_left.yaml
[ INFO] [1494594976.393671394]: camera calibration URL: package://chapter5_tutorials/config/camera_stereo/logitech_c120_right.yaml
VIDIOC_QUERYMENU: Invalid argument
VIDIOC_QUERYMENU: Invalid argument
VIDIOC_QUERYMENU: Invalid argument
HIGHGUI ERROR: V4L: Property Gain(14) not supported by device
HIGHGUI ERROR: V4L2: Unable to get property Gain(9963795) - Invalid argument
HIGHGUI ERROR: V4L: Gain control in V4L is not supported
[ WARN] [1494594976.399530110]: Failed to set property #14 to 0 (current value = -1)
HIGHGUI ERROR: V4L: Property Exposure(15) not supported by device
HIGHGUI ERROR: V4L2: Unable to get property Exposure(9963793) - Invalid argument
HIGHGUI ERROR: V4L: Exposure control in V4L is not supported
[ WARN] [1494594976.399732833]: Failed to set property #15 to 0 (current value = -1)
VIDIOC_QUERYMENU: Invalid argument
VIDIOC_QUERYMENU: Invalid argument
VIDIOC_QUERYMENU: Invalid argument
HIGHGUI ERROR: V4L: Property Gain(14) not supported by device
HIGHGUI ERROR: V4L2: Unable to get property Gain(9963795) - Invalid argument
HIGHGUI ERROR: V4L: Gain control in V4L is not supported
[ WARN] [1494594976.410321935]: Failed to set property #14 to -1 (current value = -1)
HIGHGUI ERROR: V4L: Property Exposure(15) not supported by device
HIGHGUI ERROR: V4L2: Unable to get property Exposure(9963793) - Invalid argument
HIGHGUI ERROR: V4L: Exposure control in V4L is not supported
[ WARN] [1494594976.411916017]: Failed to set property #15 to -1 (current value = -1)
OK
*** Added sample 1, p_x = 0.101, p_y = 0.480, p_size = 0.480, skew = 0.034
*** Added sample 2, p_x = 0.095, p_y = 0.632, p_size = 0.410, skew = 0.003
*** Added sample 3, p_x = 0.252, p_y = 0.575, p_size = 0.410, skew = 0.007
*** Added sample 4, p_x = 0.319, p_y = 0.516, p_size = 0.394, skew = 0.078
*** Added sample 5, p_x = 0.449, p_y = 0.508, p_size = 0.370, skew = 0.146
*** Added sample 6, p_x = 0.169, p_y = 0.280, p_size = 0.402, skew = 0.004
*** Added sample 7, p_x = 0.225, p_y = 0.417, p_size = 0.403, skew = 0.026
*** Added sample 8, p_x = 0.301, p_y = 0.449, p_size = 0.354, skew = 0.172
*** Added sample 9, p_x = 0.389, p_y = 0.436, p_size = 0.370, skew = 0.018
*** Added sample 10, p_x = 0.345, p_y = 0.313, p_size = 0.360, skew = 0.042
*** Added sample 11, p_x = 0.347, p_y = 0.604, p_size = 0.327, skew = 0.059
*** Added sample 12, p_x = 0.328, p_y = 0.804, p_size = 0.334, skew = 0.022
*** Added sample 13, p_x = 0.264, p_y = 0.359, p_size = 0.299, skew = 0.268
*** Added sample 14, p_x = 0.258, p_y = 0.389, p_size = 0.318, skew = 0.096
*** Added sample 15, p_x = 0.129, p_y = 0.433, p_size = 0.317, skew = 0.024
*** Added sample 16, p_x = 0.194, p_y = 0.516, p_size = 0.315, skew = 0.082
*** Added sample 17, p_x = 0.062, p_y = 0.654, p_size = 0.305, skew = 0.088
*** Added sample 18, p_x = 0.266, p_y = 0.536, p_size = 0.304, skew = 0.206
*** Added sample 19, p_x = 0.128, p_y = 0.292, p_size = 0.354, skew = 0.203
*** Added sample 20, p_x = 0.527, p_y = 0.525, p_size = 0.331, skew = 0.059
*** Added sample 21, p_x = 0.356, p_y = 0.578, p_size = 0.331, skew = 0.256
*** Added sample 22, p_x = 0.553, p_y = 0.273, p_size = 0.337, skew = 0.188
*** Added sample 23, p_x = 0.548, p_y = 0.263, p_size = 0.321, skew = 0.365
*** Added sample 24, p_x = 0.526, p_y = 0.343, p_size = 0.344, skew = 0.085
*** Added sample 25, p_x = 0.574, p_y = 0.431, p_size = 0.345, skew = 0.003
*** Added sample 26, p_x = 0.511, p_y = 0.567, p_size = 0.300, skew = 0.774
*** Added sample 27, p_x = 0.548, p_y = 0.722, p_size = 0.300, skew = 0.534
*** Added sample 28, p_x = 0.535, p_y = 0.743, p_size = 0.317, skew = 0.375
*** Added sample 29, p_x = 0.507, p_y = 0.624, p_size = 0.336, skew = 0.242
*** Added sample 30, p_x = 0.490, p_y = 0.424, p_size = 0.345, skew = 0.236
*** Added sample 31, p_x = 0.452, p_y = 0.241, p_size = 0.355, skew = 0.008
*** Added sample 32, p_x = 0.488, p_y = 0.196, p_size = 0.341, skew = 0.258
*** Added sample 33, p_x = 0.613, p_y = 0.389, p_size = 0.339, skew = 0.147
*** Added sample 34, p_x = 0.539, p_y = 0.408, p_size = 0.335, skew = 0.402
*** Added sample 35, p_x = 0.509, p_y = 0.115, p_size = 0.348, skew = 0.110
*** Added sample 36, p_x = 0.606, p_y = 0.515, p_size = 0.345, skew = 0.273
*** Added sample 37, p_x = 0.652, p_y = 0.489, p_size = 0.344, skew = 0.436
*** Added sample 38, p_x = 0.549, p_y = 0.364, p_size = 0.350, skew = 0.548
*** Added sample 39, p_x = 0.526, p_y = 0.303, p_size = 0.334, skew = 0.749
*** Added sample 40, p_x = 0.367, p_y = 0.718, p_size = 0.354, skew = 0.154
*** Added sample 41, p_x = 0.443, p_y = 0.765, p_size = 0.357, skew = 0.049
*** Added sample 42, p_x = 0.336, p_y = 0.829, p_size = 0.690, skew = 0.047
*** Added sample 43, p_x = 0.390, p_y = 0.841, p_size = 0.600, skew = 0.003
*** Added sample 44, p_x = 0.329, p_y = 0.757, p_size = 0.586, skew = 0.111
*** Added sample 45, p_x = 0.225, p_y = 0.794, p_size = 0.584, skew = 0.022
*** Added sample 46, p_x = 0.274, p_y = 0.858, p_size = 0.588, skew = 0.164
*** Added sample 47, p_x = 0.447, p_y = 0.907, p_size = 0.590, skew = 0.219

Left:
('D = ', [0.11823061178854427, 0.4561623187239924, 0.018810155858501366, -0.003786185390977467, 0.0])
('K = ', [1563.7814372091414, 0.0, 252.04438787493987, 0.0, 1562.783252821782, 363.01078790768827, 0.0, 0.0, 1.0])
('R = ', [0.9979705692994144, -0.03949323652683683, 0.04995024605382675, 0.036769553436958605, 0.9978463994388773, 0.05431908565978711, -0.0519879096737805, -0.052372200598256, 0.9972734879922593])
('P = ', [1791.2545214230288, 0.0, 177.1269702911377, 0.0, 0.0, 1791.2545214230288, 270.2674217224121, 0.0, 0.0, 0.0, 1.0, 0.0])

Right:
('D = ', [-0.2067070709683572, 3.8210923024637458, -0.000951324025001953, 0.00356412657374718, 0.0])
('K = ', [1617.6641395443808, 0.0, 294.3806032454888, 0.0, 1614.1339874602245, 177.4762835420907, 0.0, 0.0, 1.0])
('R = ', [0.9977667730946492, 0.0052890399487017705, 0.06658447690499411, -0.001725711949055966, 0.9985684969505793, -0.05346006749088474, -0.06677191345588011, 0.05322577340238564, 0.9963475942757921])
('P = ', [1791.2545214230288, 0.0, 177.1269702911377, 60.04616262097707, 0.0, 1791.2545214230288, 270.2674217224121, 0.0, 0.0, 0.0, 1.0, 0.0])
('self.T ', [0.03344698656640532, 0.00017729839566088513, 0.002232034744617778])
('self.R ', [0.999149753121069, -0.03763004257743951, -0.01684490230683745, 0.03922812721778109, 0.9934215470879058, 0.10758616926193343, 0.012685616780132945, -0.10815548842796605, 0.9940530496154698])
None
# oST version 5.0 parameters


[image]

width
640

height
480

[narrow_stereo/left]

camera matrix
1563.781437 0.000000 252.044388
0.000000 1562.783253 363.010788
0.000000 0.000000 1.000000

distortion
0.118231 0.456162 0.018810 -0.003786 0.000000

rectification
0.997971 -0.039493 0.049950
0.036770 0.997846 0.054319
-0.051988 -0.052372 0.997273

projection
1791.254521 0.000000 177.126970 0.000000
0.000000 1791.254521 270.267422 0.000000
0.000000 0.000000 1.000000 0.000000

# oST version 5.0 parameters


[image]

width
640

height
480

[narrow_stereo/right]

camera matrix
1617.664140 0.000000 294.380603
0.000000 1614.133987 177.476284
0.000000 0.000000 1.000000

distortion
-0.206707 3.821092 -0.000951 0.003564 0.000000

rectification
0.997767 0.005289 0.066584
-0.001726 0.998568 -0.053460
-0.066772 0.053226 0.996348

projection
1791.254521 0.000000 177.126970 60.046163
0.000000 1791.254521 270.267422 0.000000
0.000000 0.000000 1.000000 0.000000



Left:
('D = ', [0.10192570819525763, 0.2847747573291937, 0.02549319092267718, -0.005563711490226221, 0.0])
('K = ', [1573.8762537760097, 0.0, 249.8222634822009, 0.0, 1579.0355041990765, 404.4304497027581, 0.0, 0.0, 1.0])
('R = ', [0.7632168842620407, -0.08406143651016036, 0.6406509677423357, 0.05789263204741909, 0.9964098179579025, 0.06177311576828125, -0.643543650991885, -0.010057314201495957, 0.7653433345231976])
('P = ', [2019.7542176210095, 0.0, -1223.8441619873047, 0.0, 0.0, 2019.7542176210095, 319.663516998291, 0.0, 0.0, 0.0, 1.0, 0.0])

Right:
('D = ', [-0.17494860663994072, 2.686194154525497, 0.004863163840394054, -0.00044343881703852466, 0.0])
('K = ', [1669.0466616230349, 0.0, 271.2995999599443, 0.0, 1667.657541858291, 238.06020022892886, 0.0, 0.0, 1.0])
('R = ', [0.7621043667617238, 0.007620510092150867, 0.6474093465410024, 0.018768486847481464, 0.999250494827425, -0.033855464678569605, -0.6471821057972541, 0.037952291275776553, 0.7613901401533582])
('P = ', [2019.7542176210095, 0.0, -1223.8441619873047, 91.4608625137606, 0.0, 2019.7542176210095, 319.663516998291, 0.0, 0.0, 0.0, 1.0, 0.0])
('self.T ', [0.034510497416676125, 0.00034508081218113636, 0.029316743947119694])
('self.R ', [0.9992274126069075, -0.03885356949402364, -0.005914222897232201, 0.039241387098143794, 0.9946407145020253, 0.09565543682151233, 0.002165971726201481, -0.09581361694703826, 0.9953969355860041])
None
# oST version 5.0 parameters


[image]

width
640

height
480

[narrow_stereo/left]

camera matrix
1573.876254 0.000000 249.822263
0.000000 1579.035504 404.430450
0.000000 0.000000 1.000000

distortion
0.101926 0.284775 0.025493 -0.005564 0.000000

rectification
0.763217 -0.084061 0.640651
0.057893 0.996410 0.061773
-0.643544 -0.010057 0.765343

projection
2019.754218 0.000000 -1223.844162 0.000000
0.000000 2019.754218 319.663517 0.000000
0.000000 0.000000 1.000000 0.000000

# oST version 5.0 parameters


[image]

width
640

height
480

[narrow_stereo/right]

camera matrix
1669.046662 0.000000 271.299600
0.000000 1667.657542 238.060200
0.000000 0.000000 1.000000

distortion
-0.174949 2.686194 0.004863 -0.000443 0.000000

rectification
0.762104 0.007621 0.647409
0.018768 0.999250 -0.033855
-0.647182 0.037952 0.761390

projection
2019.754218 0.000000 -1223.844162 91.460863
0.000000 2019.754218 319.663517 0.000000
0.000000 0.000000 1.000000 0.000000


('Wrote calibration data to', '/tmp/calibrationdata.tar.gz')

Left:
('D = ', [0.10192570819525763, 0.2847747573291937, 0.02549319092267718, -0.005563711490226221, 0.0])
('K = ', [1573.8762537760097, 0.0, 249.8222634822009, 0.0, 1579.0355041990765, 404.4304497027581, 0.0, 0.0, 1.0])
('R = ', [0.7632168842620407, -0.08406143651016036, 0.6406509677423357, 0.05789263204741909, 0.9964098179579025, 0.06177311576828125, -0.643543650991885, -0.010057314201495957, 0.7653433345231976])
('P = ', [2019.7542176210095, 0.0, -1223.8441619873047, 0.0, 0.0, 2019.7542176210095, 319.663516998291, 0.0, 0.0, 0.0, 1.0, 0.0])

Right:
('D = ', [-0.17494860663994072, 2.686194154525497, 0.004863163840394054, -0.00044343881703852466, 0.0])
('K = ', [1669.0466616230349, 0.0, 271.2995999599443, 0.0, 1667.657541858291, 238.06020022892886, 0.0, 0.0, 1.0])
('R = ', [0.7621043667617238, 0.007620510092150867, 0.6474093465410024, 0.018768486847481464, 0.999250494827425, -0.033855464678569605, -0.6471821057972541, 0.037952291275776553, 0.7613901401533582])
('P = ', [2019.7542176210095, 0.0, -1223.8441619873047, 91.4608625137606, 0.0, 2019.7542176210095, 319.663516998291, 0.0, 0.0, 0.0, 1.0, 0.0])
('self.T ', [0.034510497416676125, 0.00034508081218113636, 0.029316743947119694])
('self.R ', [0.9992274126069075, -0.03885356949402364, -0.005914222897232201, 0.039241387098143794, 0.9946407145020253, 0.09565543682151233, 0.002165971726201481, -0.09581361694703826, 0.9953969355860041])
# oST version 5.0 parameters


[image]

width
640

height
480

[narrow_stereo/left]

camera matrix
1573.876254 0.000000 249.822263
0.000000 1579.035504 404.430450
0.000000 0.000000 1.000000

distortion
0.101926 0.284775 0.025493 -0.005564 0.000000

rectification
0.763217 -0.084061 0.640651
0.057893 0.996410 0.061773
-0.643544 -0.010057 0.765343

projection
2019.754218 0.000000 -1223.844162 0.000000
0.000000 2019.754218 319.663517 0.000000
0.000000 0.000000 1.000000 0.000000

# oST version 5.0 parameters


[image]

width
640

height
480

[narrow_stereo/right]

camera matrix
1669.046662 0.000000 271.299600
0.000000 1667.657542 238.060200
0.000000 0.000000 1.000000

distortion
-0.174949 2.686194 0.004863 -0.000443 0.000000

rectification
0.762104 0.007621 0.647409
0.018768 0.999250 -0.033855
-0.647182 0.037952 0.761390

projection
2019.754218 0.000000 -1223.844162 91.460863
0.000000 2019.754218 319.663517 0.000000
0.000000 0.000000 1.000000 0.000000


[ INFO] [1494595598.060482471]: writing calibration data to /home/relaybot/catkin_ws/src/chapter5_tutorials/config/camera_stereo/logitech_c120_left.yaml
[ INFO] [1494595598.077000555]: writing calibration data to /home/relaybot/catkin_ws/src/chapter5_tutorials/config/camera_stereo/logitech_c120_right.yaml
Exception in thread Thread-2 (most likely raised during interpreter shutdown):Exception in thread Thread-7 (most likely raised during interpreter shutdown):
Traceback (most recent call last):
  File "/usr/lib/python2.7/threading.py", line 810, in __bootstrap_inner
  File "/opt/ros/indigo/lib/camera_calibration/cameracalibrator.py", line 93, in run
  File "/opt/ros/indigo/lib/camera_calibration/cameracalibrator.py", line 180, in handle_stereo
  File "/opt/ros/indigo/lib/python2.7/dist-packages/camera_calibration/calibrator.py", line 1028, in handle_msg
  File "/opt/ros/indigo/lib/python2.7/dist-packages/camera_calibration/calibrator.py", line 635, in remap
<type 'exceptions.AttributeError'>: 'NoneType' object has no attribute 'remap'
Traceback (most recent call last):
  File "/usr/lib/python2.7/threading.py", line 810, in __bootstrap_inner
[stereo/cameracalibrator-4] process has finished cleanly
log file: /home/relaybot/.ros/log/2c215488-3715-11e7-90b1-000c29196105/stereo-cameracalibrator-4*.log

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