Error parsing YAML file for ZED camera

Autonomous Machines Jetson & Embedded Systems Jetson TX2
1

I am trying to parse the yaml file for ZED camera calibration.But I am getting the following error.
Originally the calibration file is in conf format for which I have written an equivalent yaml file.

[ERROR] [1530549020.450108744]: Exception parsing YAML camera calibration:
yaml-cpp: error at line 0, column 0: bad conversion
[ERROR] [1530549020.450224711]: Failed to parse camera calibration from file [/home/nvidia/.ros/camera_info/camera.yaml]

I have following yaml file:
LEFT_CAM_2K:
fx: 1399.32
fy: 1399.32
cx: 1075.13
cy: 644.59
k1: -0.17553
k2: 0.0282174
RIGHT_CAM_2K:
fx: 1398.74
fy: 1398.74
cx: 1045.53
cy: 631.902
k1: -0.173868
k2: 0.0269826
LEFT_CAM_FHD:
fx: 1399.32
fy: 1399.32
cx: 931.127
cy: 563.59
k1: -0.17553
k2: 0.0282174
RIGHT_CAM_FHD:
fx: 1398.74
fy: 1398.74
cx: 901.526
cy: 550.902
k1: -0.173868
k2: 0.0269826
LEFT_CAM_HD:
fx: 699.658
fy: 699.658
cx: 624.063
cy: 370.295
k1: -0.17553
k2: 0.0282174
RIGHT_CAM_HD:
fx: 699.368
fy: 699.368
cx: 609.263
cy: 363.951
k1: -0.173868
k2: 0.0269826
LEFT_CAM_VGA:
fx: 349.829
fy: 349.829
cx: 327.532
cy: 192.648
k1: -0.17553
k2: 0.0282174
RIGHT_CAM_VGA:
fx: 349.684
fy: 349.684
cx: 320.132
cy: 189.475
k1: -0.173868
k2: 0.0269826
STEREO:
Baseline: 120
CV_2K: 0.0131326
CV_FHD: 0.0131326
CV_HD: 0.0131326
CV_VGA: 0.0131326
RX_2K: -0.00464792
RX_FHD: -0.00464792
RX_HD: -0.00464792
RX_VGA: -0.00464792
RZ_2K: 0.000840441
RZ_FHD: 0.000840441
RZ_HD: 0.000840441
RZ_VGA: 0.000840441

Original calibration .conf file:

fx=1399.32
fy=1399.32
cx=1075.13
cy=644.59
k1=-0.17553
k2=0.0282174

fx=1398.74
fy=1398.74
cx=1045.53
cy=631.902
k1=-0.173868
k2=0.0269826

fx=1399.32
fy=1399.32
cx=931.127
cy=563.59
k1=-0.17553
k2=0.0282174

fx=1398.74
fy=1398.74
cx=901.526
cy=550.902
k1=-0.173868
k2=0.0269826

fx=699.658
fy=699.658
cx=624.063
cy=370.295
k1=-0.17553
k2=0.0282174

fx=699.368
fy=699.368
cx=609.263
cy=363.951
k1=-0.173868
k2=0.0269826

fx=349.829
fy=349.829
cx=327.532
cy=192.648
k1=-0.17553
k2=0.0282174

fx=349.684
fy=349.684
cx=320.132
cy=189.475
k1=-0.173868
k2=0.0269826

[STEREO]
Baseline=120
CV_2K=0.0131326
CV_FHD=0.0131326
CV_HD=0.0131326
CV_VGA=0.0131326
RX_2K=-0.00464792
RX_FHD=-0.00464792
RX_HD=-0.00464792
RX_VGA=-0.00464792
RZ_2K=0.000840441
RZ_FHD=0.000840441
RZ_HD=0.000840441
RZ_VGA=0.000840441

2

Hi chandan2tn5y,

You should contact ZED support about this issue, it seems specific to ZED SDK.

Thanks

3

I haven’t deal with YAML, but one thing I do know about ZED is that success depends a lot on having current firmware. You can download here:
[url]https://www.stereolabs.com/developers/release/2.4/[/url]

Unfortunately, you must use Windows to flash Zed firmware (I never tried to find a way around that, but it is what StereoLabs tech support has told me).