opt_calibration_results.launch not saved

[colinbouvry]

Hello,
I am under 18.04 branch.

https://github.com/OpenPTrack/open_ptrack_v2/wiki/Camera-Network-Calibration

When I launch rostopic pub /opt_calibration/action std_msgs/String "save" -1

~/open_ptrack/opt_calibration/conf/camera_poses.yaml are saved but
all extrinsic calibration data are not saved to the opt_calibration_results.launch file in the opt_calibration/launch folder.

Any idea ?

[colinbouvry]

Thank you in advance for your response

[SimeonOA]

Hi,

Could you give more details about your setup? Did you carry out both Time Synchronization and Pre-Tracking Configuration before calibration?

When calibration is properly completed and rostopic pub /opt_calibration/action std_msgs/String "save" -1 is run, the text display in the window running roslaunch opt_calibration opt_calibration_master.launch only shows ~/open_ptrack/opt_calibration/conf/camera_poses.yaml created! but the extrinsic calibration data should be saved nonetheless.

Thank you.

Simeon

[colinbouvry]

Hello
I made both Time Synchronization and Pre-Tracking Configuration before calibration.
My installation is https://github.com/OpenPTrack/open_ptrack_v2/blob/1804/docker/open_ptrack-dep/Dockerfile
and https://github.com/OpenPTrack/open_ptrack_v2/blob/1804/docker/open_ptrack/Dockerfile without docker
My calibration works, checkboard is detected !
~/open_ptrack/opt_calibration/conf/camera_poses.yaml are saved with the transformation of cameras but
all extrinsic calibration data are not saved to the opt_calibration_results.launch file in the opt_calibration/launch folder.
Any idea ?

[SimeonOA]

Hi

I found these instructions here: https://github.com/OpenPTrack/open_ptrack_v2/tree/1804/opt_calibration#readme.

Instead of running rostopic pub /opt_calibration/action std_msgs/String "save" -1 to save the calibration data after completing the calibration, run rostopic pub /opt_calibration/action std_msgs/String "saveExtrinsicCalibration" -1.

Please let me know if this works for you.

Thank you.

Simeon

[colinbouvry]

Hello
rostopic pub /opt_calibration/action std_msgs/String "saveExtrinsicCalibration" -1
not save to the opt_calibration_results.launch file

I have this message in console : publishing and latching message for 3.0 seconds

Save or saveExtrinsicCalibration is the same :
if (msg->data == "save" or msg->data == "saveExtrinsicCalibration")
see https://github.com/OpenPTrack/open_ptrack_v2/blob/master/opt_calibration/src/opt_calibration_node.cpp

Why after this command is run, in the terminal window running the following ?
roslaunch opt_calibration opt_calibration_master.launch

In https://github.com/OpenPTrack/open_ptrack_v2/blob/master/opt_calibration/src/opt_calibration_node.cpp
OPTCalibrationNode::save() save only /conf/camera_poses.yaml

Maybe, write the file opt_calibration_results.launch manually from the file camera_poses.yaml ?

Furthermore, ~/open_ptrack/opt_calibration/conf/camera_poses.yaml is not saved to second PC, only saved in master PC

Any idea ?

[colinbouvry]

What do you think ?