From aa5e30ed88761727e587dccd1c65cc0bebad939a Mon Sep 17 00:00:00 2001 From: asantamaria <asantamaria@iri.upc.edu> Date: Mon, 19 Dec 2016 10:31:01 +0100 Subject: [PATCH] First version with MV parameters working fine. --- launch/iri_mvbluefox3_camera.launch | 6 +++--- params/F0300123_calib.yaml | 7 +++---- params/F0300141_calib.yaml | 7 +++---- 3 files changed, 9 insertions(+), 11 deletions(-) diff --git a/launch/iri_mvbluefox3_camera.launch b/launch/iri_mvbluefox3_camera.launch index 1ba4f84..9653d40 100644 --- a/launch/iri_mvbluefox3_camera.launch +++ b/launch/iri_mvbluefox3_camera.launch @@ -1,7 +1,7 @@ <!--DOCTYPE html--> <launch> - <arg name="num_cams" default="2" /> + <arg name="num_cams" default="1" /> <arg name="c1_name" default="cam1" /> <arg name="c1_serial" default="F0300141" /> @@ -46,8 +46,8 @@ <remap from="/image" to="/iri_mvbluefox3_camera/$(arg c1_name)/image_raw"/> </node> - <node pkg="image_view" type="image_view" name="image_view_$(arg c2_name)" > +<!-- <node pkg="image_view" type="image_view" name="image_view_$(arg c2_name)" > <remap from="/image" to="/iri_mvbluefox3_camera/$(arg c2_name)/image_raw"/> - </node> + </node> --> </launch> diff --git a/params/F0300123_calib.yaml b/params/F0300123_calib.yaml index f233f44..514d103 100644 --- a/params/F0300123_calib.yaml +++ b/params/F0300123_calib.yaml @@ -4,12 +4,12 @@ camera_name: camera camera_matrix: rows: 3 cols: 3 - data: [1280, 0, 960, 0, 1280, 960, 0, 0, 1] + data: [976.915955, 0, 582.117763, 0, 977.821859, 440.568838, 0, 0, 1] distortion_model: plumb_bob distortion_coefficients: rows: 1 cols: 5 - data: [0, 0, 0, 0, 0] + data: [-0.103886, 0.096744, -0.001615, -0.000599, 0.000000] rectification_matrix: rows: 3 cols: 3 @@ -17,5 +17,4 @@ rectification_matrix: projection_matrix: rows: 3 cols: 4 - data: [1280, 0, 960, 0, 0, 1280, 960, 0, 0, 0, 1, 0] - \ No newline at end of file + data: [953.288513, 0, 582.082677, 0, 0, 956.783997, 437.916171, 0, 0, 0, 1, 0] \ No newline at end of file diff --git a/params/F0300141_calib.yaml b/params/F0300141_calib.yaml index f233f44..0d383a3 100644 --- a/params/F0300141_calib.yaml +++ b/params/F0300141_calib.yaml @@ -4,12 +4,12 @@ camera_name: camera camera_matrix: rows: 3 cols: 3 - data: [1280, 0, 960, 0, 1280, 960, 0, 0, 1] + data: [978.052122, 0, 673.891465, 0, 977.902574, 396.562028, 0, 0, 1] distortion_model: plumb_bob distortion_coefficients: rows: 1 cols: 5 - data: [0, 0, 0, 0, 0] + data: [-0.113653, 0.104639, -0.000432, -0.000599, 0.000000] rectification_matrix: rows: 3 cols: 3 @@ -17,5 +17,4 @@ rectification_matrix: projection_matrix: rows: 3 cols: 4 - data: [1280, 0, 960, 0, 0, 1280, 960, 0, 0, 0, 1, 0] - \ No newline at end of file + data: [953.769836, 0, 670.897749, 0, 0, 957.995728, 394.725275, 0, 0, 0, 1, 0] \ No newline at end of file -- GitLab