Scaramuzza's camera model? about rpg_svo_example

[zhangzichao]

Hi,

we do support the camera model you mentioned, please refer to the last section of the document
https://github.com/uzh-rpg/rpg_svo_example/blob/master/svo_ros/doc/camera_calibration.md

[xuqingwenkk]

I tried to use omni_matlab_to_rpg.py to convert the matlab calibration result. However, the number of my intrinsics data is 27, more than 24, because cam_params['invpol'] has 15 parameters. Then I modify intrinsics cols to 27, in this case the process will died as follows.
[ INFO] [1504773960.834672909]: Found parameter: calib_file, value: /home/xuqw/svo/svo_install_overlay_ws/src/rpg_svo_example/svo_ros/calib/bluefox_20170907_fisheye.yaml E0907 16:46:00.834779 2918 ncamera.cpp:54] Failed to load NCamera from file /home/xuqw/svo/svo_install_overlay_ws/src/rpg_svo_example/svo_ros/calib/bluefox_20170907_fisheye.yaml with the error: yaml-cpp: error at line 0, column 0: bad file *** Aborted at 1504773960 (unix time) try "date -d @1504773960" if you are using GNU date *** PC: @ 0x0 (unknown) *** SIGSEGV (@0x20) received by PID 2918 (TID 0x7f7cd795c7c0) from PID 32; stack trace: *** @ 0x7f7cd67324b0 (unknown) @ 0x7f7cd7195a12 std::vector<>::size() @ 0x7f7cd71c8302 vk::cameras::NCamera::numCameras() @ 0x7f7cd71c6a67 svo::factory::loadCameraFromYaml() @ 0x7f7cd71c78ab svo::factory::makeMono() @ 0x7f7cd718b272 svo::SvoInterface::SvoInterface() @ 0x7f7cd71cfb33 svo_ros::SvoNodeBase::SvoNodeBase() @ 0x4011c4 main @ 0x7f7cd671d830 __libc_start_main @ 0x4010a9 _start @ 0x0 (unknown) [svo-2] process has died [pid 2918, exit code -11, cmd /home/xuqw/svo/svo_install_overlay_ws/devel/lib/svo_ros/svo_node __name:=svo __log:=/home/xuqw/.ros/log/f7794bf0-93a8-11e7-9c44-64006a6556ea/svo-2.log]. log file: /home/xuqw/.ros/log/f7794bf0-93a8-11e7-9c44-64006a6556ea/svo-2*.log
What should I do to avoid this error?

[Razbotics]

same issue , did you solve the problem?

[xuqingwenkk]

Yes. Limit the inverse polynomial order in file 'findinvpoly,m' of the calibration toolbox, then you can solve it. Thanks for Zhang Zichao's help.

[gftabor]

I found better results using the new matlab fisheye checkerboard detector. 2018a adds a tool to use it and 2017b had full functionality just without tool.

Then I exported the model using the same steps described by the SVO2 documentation.

[SubMishMar]

This https://sites.google.com/site/scarabotix/ocamcalib-toolbox is no longer available. Is this same as the MATLAB fisheye calibrator available here: https://www.mathworks.com/help/vision/ug/fisheye-calibration-basics.html .And, will omni_matlab_to_rpg.py work with the the latter?