Task 2: Weird stereo camera topics and TFs

Hi everybody,

Please could you clarify what stereo camera should we use for the task 2? It is quite unclear from the technical annex. There are two options available but both have some issues...

1) /stereo_camera/*
- just one of the images is available (already reported here http://euroc.iphpbb3.com/forum/20112706nx57588/challenge-1-f3/disparity-from-stereo-in-hand-camera-t22.html)!
- all the data are published in TF frame 'stereo_camera_link', the transformation exists and works fine...

2) /simulation_ur5/multisense_sl/camera/*
- both the images are available...
- TF transformations to 'left_camera_optical_frame' and 'right_camera_optical_frame' do not exist!

Thank you for reply.

Best,
Michal

Dear Michal,

regarding the mixed topics for the stereo camera. There was a discrepancy in the technical annex.
Actually the the image data and the calibration data to be used for task 2 is located under /simulation_ur5/multisense_sl/

The topic /stereo_camera/ is not valid (contrary to what was stated in the tech annex on page 13 regarding task 2) and will not be available in the final evaluation.

Best Regards

Thank you for clarification...

What about the missing TF transformations to 'left_camera_optical_frame' and 'right_camera_optical_frame' in which the data are published? Should we take care of this on our own, or are you going to fix the missing TFs?

Best,
Michal

Dear Michal,
after the next update the model will include the tf frames "left_camera_optical_frame" and "right_camera_optical_frame".

Until then you could manually start two static_transform_publisher like:
$ rosrun tf static_transform_publisher 0 0 0 0 0 0 /left_camera_optical_frame /stereo_camera_link 100
$ rosrun tf static_transform_publisher 0 -0.03 0 0 0 0 /right_camera_optical_frame /stereo_camera_link 100

Best,
Lorenz