From 90d16ea88cf8d8f374279f64c25537c391e8d6cb Mon Sep 17 00:00:00 2001
From: Fernando Herrero Cotarelo <fherrero@iri.upc.edu>
Date: Tue, 17 Feb 2015 15:49:29 +0000
Subject: [PATCH] iri_firewire_camera: added flea_6mm.yaml calibration file
fixed param name cal_file
---
calibration/flea_6mm.yaml | 20 ++++++++++++++++++++
launch/camera_flea.launch | 6 +++---
src/firewire_camera_driver_node.cpp | 2 +-
3 files changed, 24 insertions(+), 4 deletions(-)
create mode 100644 calibration/flea_6mm.yaml
diff --git a/calibration/flea_6mm.yaml b/calibration/flea_6mm.yaml
new file mode 100644
index 0000000..5833579
--- /dev/null
+++ b/calibration/flea_6mm.yaml
@@ -0,0 +1,20 @@
+image_width: 1024
+image_height: 768
+camera_name: narrow_stereo
+camera_matrix:
+ rows: 3
+ cols: 3
+ data: [1296.554904, 0, 683.998137, 0, 1300.230368, 533.151633, 0, 0, 1]
+distortion_model: plumb_bob
+distortion_coefficients:
+ rows: 1
+ cols: 5
+ data: [-0.24349, 0.227189, -0.000748, -4.6e-05, 0]
+rectification_matrix:
+ rows: 3
+ cols: 3
+ data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
+projection_matrix:
+ rows: 3
+ cols: 4
+ data: [1241.253662, 0, 692.043757, 0, 0, 1262.634277, 536.985341, 0, 0, 0, 1, 0]
\ No newline at end of file
diff --git a/launch/camera_flea.launch b/launch/camera_flea.launch
index fc4faa7..22ba6da 100644
--- a/launch/camera_flea.launch
+++ b/launch/camera_flea.launch
@@ -4,10 +4,10 @@
name="iri_firewire_camera"
type="iri_firewire_camera"
output="screen">
- <param name="Camera_node" value="2" />
- <param name="Color_coding" value="0" />
+ <param name="Camera_serial" value="00b09d01006cf72a" />
+ <param name="Color_coding" value="3" />
<param name="ISO_speed" value="400" />
- <param name="Framerate" value="30" />
+ <param name="Framerate" value="2.5" />
<param name="Image_width" value="1024" />
<param name="Image_height" value="768" />
</node>
diff --git a/src/firewire_camera_driver_node.cpp b/src/firewire_camera_driver_node.cpp
index a2696af..e11831d 100644
--- a/src/firewire_camera_driver_node.cpp
+++ b/src/firewire_camera_driver_node.cpp
@@ -20,7 +20,7 @@ FirewireCameraDriverNode::FirewireCameraDriverNode(ros::NodeHandle &nh) : iri_ba
this->camera_image_publisher_ = this->it->advertiseCamera("camera_image", 1);
// try to load the calibration file
- public_node_handle_.param<std::string>("left_cal_file", cal_file, "");
+ public_node_handle_.param<std::string>("cal_file", cal_file, "");
if(this->camera_manager.validateURL(cal_file))
{
if(!this->camera_manager.loadCameraInfo(this->driver_.get_calibration_file()))
--
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