Camera Pose Calibration: problem with multicam_capture_exec.py
Hi all! I'm trying to calibrate 2 home-made stereo cameras (4 total cameras) with the camera_pose toolkit and I've problems with the multicam_capture_exec.py.
I receive the following error:
Waiting for Server
Traceback (most recent call last):
File "/opt/ros/fuerte/stacks/camera_pose/camera_pose_calibration/src/camera_pose_calibration/multicam_capture_exec.py", line 43, in <module>
from camera_pose_calibration.robot_measurement_cache import RobotMeasurementCache
File "/opt/ros/fuerte/stacks/camera_pose/camera_pose_calibration/src/camera_pose_calibration/robot_measurement_cache.py", line 34, in <module>
import roslib; roslib.load_manifest('pr2_calibration_executive')
File "/opt/ros/fuerte/lib/python2.7/dist-packages/roslib/launcher.py", line 62, in load_manifest
sys.path = _generate_python_path(package_name, _rospack) + sys.path
File "/opt/ros/fuerte/lib/python2.7/dist-packages/roslib/launcher.py", line 93, in _generate_python_path
m = rospack.get_manifest(pkg)
File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 167, in get_manifest
return self._load_manifest(name)
File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 210, in _load_manifest
retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name)
File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 202, in get_path
raise ResourceNotFound(name, ros_paths=self._ros_paths)
rospkg.common.ResourceNotFound: pr2_calibration_executive
[capture_exec-24] process has died [pid 12415, exit code 1, cmd /opt/ros/fuerte/stacks/camera_pose/camera_pose_calibration/src/camera_pose_calibration/multicam_capture_exec.py baseline12/left baseline12/right baseline6/left baseline6/right/ request_interval:=interval_filtered __name:=capture_exec __log:=/home/fabio/.ros/log/ad23e236-b07d-11e1-afbb-14dae9c3e9c0/capture_exec-24.log].
log file: /home/fabio/.ros/log/ad23e236-b07d-11e1-afbb-14dae9c3e9c0/capture_exec-24*.log
Any idea?
My launch file:
<launch>
<!-- MACHINES -->
<machine name="rosboromir" address="rosboromir" user="fabio" env-loader="/opt/ros/fuerte/env.sh">
</machine>
<machine name="rosfaramir" address="rosfaramir" user="fabio" env-loader="/opt/ros/fuerte/env.sh">
</machine>
<!-- LAUNCH BASELINE6 ON ROSBOROMIR -->
<!-- Driver nodelet -->
<node machine="rosboromir" ns="baseline6" name="stereo_image_proc_bsl6" pkg="stereo_image_proc" type="stereo_image_proc"></node>
<node machine="rosboromir" ns="baseline6" name="uvc_camera_bsl6" pkg="uvc_camera" type="stereo_node">
<param name="left/device" value="/dev/video1" />
<param name="right/device" value="/dev/video2" />
<param name="fps" value="30" />
<param name="skip_frames" value="3" />
<param name="width" value="320" />
<param name="height" value="240" />
<param name="frame_id" value="baseline6" />
</node>
<!-- LAUNCH BASELINE12 ON ROSFARAMIR -->
<!-- Driver nodelet -->
<node machine="rosfaramir" ns="baseline12" name="stereo_image_proc_bsl12" pkg="stereo_image_proc" type="stereo_image_proc"></node>
<node machine="rosfaramir" ns="baseline12" name="uvc_camera" pkg="uvc_camera" type="stereo_node">
<param name="left/device" value="/dev/video1" />
<param name="right/device" value="/dev/video2" />
<param name="fps" value="15" />
<param name="skip_frames" value="1" />
<param name="width" value="640" />
<param name="height" value="480" />
<param name="frame_id" value="baseline12" />
</node>
</launch>
Command line for calibration:
roslaunch camera_pose_calibration calibrate_4_camera.launch camera1_ns:=baseline12/left camera2_ns:=baseline12/right camera3_ns:=baseline6/left camera4_ns:=baseline6/right/ checker_rows:=10 checker_cols:=5 checker_size:=0.0015
EDIT: In the file calibrate_4_cameras.launch, the lines that give me the error are the following:
<!-- generate robot measurements -->
<node pkg="camera_pose_calibration" type="multicam_capture_exec.py" name="capture_exec"
args="$(arg camera1_ns) $(arg camera2_ns) $(arg camera3_ns) $(arg camera4_ns)" output="screen">
<param name="cam_info_topic" value="camera_info" />
<remap from="request_interval" to="interval_filtered" />
</node>
Do I need that lines to have camera calibrated? What does they do?
EDIT2: I've followed the ...
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