Stereo camera launch failed

[shmm91]

Hello everyone, I use SVO2 in stereo mode(without IMU). Here is my stereo camera calibration file: cameras:

• camera: distortion: parameters: cols: 1 rows: 4 data: [-0.3321920298358194, 0.1047044621854059, 0.003132906729067026, -0.002535682618479629] type: radial-tangential image_height: 480 image_width: 752 intrinsics: cols: 1 rows: 4 data: [483.0500651879798, 485.226588991044, 383.7668152619602, 228.5179979149652] label: /stereo/left/image_raw_rect line-delay-nanoseconds: 0 type: pinhole T_B_C: cols: 4 rows: 4 data: [1.0, 0.0, 0.0, -0.04906, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0] serial_no: 26806343 calib_date: 2017-09-28 description: 'left cam'
• camera: distortion: parameters: cols: 1 rows: 4 data: [-0.3401181742329858, 0.1078699763855546, 0.001720717514928077, -0.002231990907669751] type: radial-tangential image_height: 480 image_width: 752 intrinsics: cols: 1 rows: 4 data: [482.7896578019205, 484.857136549844, 368.2088864146847, 238.6195243498441] label: /stereo/right/image_raw_rect line-delay-nanoseconds: 0 type: pinhole T_B_C: cols: 4 rows: 4 data: [1.0, 0.0, 0.0, 0.04906, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0] serial_no: 26806357 calib_date: 2017-09-28 description: 'right cam' label: bluefox2_stereo

The T_B_C is not exactly calibrated. I can't launch stereo launch mode successfully, here is the display message: [ INFO] [1538040939.943552164]: Found parameter: cam0_topic, value: /stereo/left/image_raw_rect [ INFO] [1538040939.956717985]: Found parameter: cam1_topic, value: /stereo/right/image_raw_rect [ INFO] [1538040943.766738950]: /stereo: Initializing reconfigure server [ INFO] [1538040943.768499335]: camera calibration URL: file:///home/uavlab/.ros/camera_info/mv_26806343.yaml [ INFO] [1538040943.881733856]: camera calibration URL: file:///home/uavlab/.ros/camera_info/mv_26806357.yaml [ INFO] [1538040943.892050119]: DepthFilter: RESET. [ INFO] [1538040943.892151203]: DepthFilter: RESET. [ERROR] [1538040943.907436868]: Initialization failed. Not enough triangulated points. [ERROR] [1538040943.959398021]: Initialization failed. Not enough triangulated points. [ERROR] [1538040943.994905877]: Initialization failed. Not enough triangulated points. [ERROR] [1538040944.054005901]: Initialization failed. Not enough triangulated points. [ERROR] [1538040944.088357084]: Initialization failed. Not enough triangulated points. [ERROR] [1538040944.124202692]: Initialization failed. Not enough triangulated points.

Could anyone help me? Thank you!!!

[lenardxu]

Hey shmm91, The same problem takes place by me. Have you solved that problem. Any help is much appreciated!