Fisheye cannot get calibrated

[Fan-loewe]

Hello David,

Thank you for sharing the code! I used the code and followed this tutorial http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration

The only difference is that I used fisheye model (1) in the calibration GUI window.

Here are my result of calibration:
**** Calibrating ****
mono fisheye calibration...
D = [0.0, 0.0, 0.0, 0.0]
K = [152.78874536821954, 0.0, 239.5, 0.0, 152.78874536821954, 239.5, 0.0, 0.0, 1.0]
R = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P = [152.78874536821954, 0.0, 239.5, 0.0, 0.0, 152.78874536821954, 239.5, 0.0, 0.0, 0.0, 1.0, 0.0]

I feel strange because it gets the calibration result immediately. When I calibrated the pinhole camera, I need to wait half an hour for the results. Also, K and P are same if you don't count the last column. The parameters are too symmetric.

When I afterwards execute ROS_NAMESPACE=camera rosrun image_proc image_proc, I noticed the image of /camera/image_raw and that of /camera/image_rect_color almost same.

I am wondering, when I execute rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 image:=/camera/image_raw camera:=/camera, do I need to set some arguments specific for fisheye? Thanks a lot!

[DavidTorresOcana]

Hello

This repository is not maintained anymore.

If you need to calibrate a fisheye camera, I would recommend using Noetic distribution as its calibration tool already contains code in this repo and works properly. See wiki

For rectification, there is still no such officially released functionality as this PR ros-perception/vision_opencv#358 is still pending.
What you could do in the mean time is compile that PR's branch in your machine and use it.
I have tested it and it works as intended (as you are trying according to your comment).

Regards

[Fan-loewe]

Thanks a lot!