From b5e87c37f558091b8159bd15c12ffd5dddc55f84 Mon Sep 17 00:00:00 2001 From: fherrero <fherrero@iri.upc.edu> Date: Mon, 5 Nov 2018 13:01:09 +0100 Subject: [PATCH] Update launchs (use iri_undistort_pixels), add sample fish_eye_camera launch and calibration files --- calibration/head_camera_1024x768.yaml | 20 ++++++++++++++++++ calibration/head_camera_640x480.yaml | 20 ++++++++++++++++++ config/params_sim.yaml | 10 ++++----- launch/fish_eye_camera.launch | 30 +++++++++++++++++++++++++++ launch/node.launch | 2 +- launch/real.launch | 11 +++++----- launch/sim.launch | 17 ++++++++++----- launch/sim_no_undist.launch | 8 ++++++- 8 files changed, 101 insertions(+), 17 deletions(-) create mode 100644 calibration/head_camera_1024x768.yaml create mode 100644 calibration/head_camera_640x480.yaml create mode 100644 launch/fish_eye_camera.launch diff --git a/calibration/head_camera_1024x768.yaml b/calibration/head_camera_1024x768.yaml new file mode 100644 index 0000000..c6b70bd --- /dev/null +++ b/calibration/head_camera_1024x768.yaml @@ -0,0 +1,20 @@ +image_width: 1024 +image_height: 768 +camera_name: head_camera +camera_matrix: + rows: 3 + cols: 3 + data: [513.238105, 0.000000, 526.104889, 0.000000, 476.752621, 403.143888, 0.000000, 0.000000, 1.000000] +distortion_model: plumb_bob +distortion_coefficients: + rows: 1 + cols: 5 + data: [-0.262853, 0.034736, 0.000539, 0.000405, 0.000000] +rectification_matrix: + rows: 3 + cols: 3 + data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000] +projection_matrix: + rows: 3 + cols: 4 + data: [340.130188, 0.000000, 533.323878, 0.000000, 0.000000, 349.492493, 426.973587, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000] diff --git a/calibration/head_camera_640x480.yaml b/calibration/head_camera_640x480.yaml new file mode 100644 index 0000000..6e78206 --- /dev/null +++ b/calibration/head_camera_640x480.yaml @@ -0,0 +1,20 @@ +image_width: 640 +image_height: 480 +camera_name: head_camera +camera_matrix: + rows: 3 + cols: 3 + data: [287.598727, 0.000000, 271.711029, 0.000000, 293.075813, 255.759142, 0.000000, 0.000000, 1.000000] +distortion_model: plumb_bob +distortion_coefficients: + rows: 1 + cols: 5 + data: [-0.234308, 0.033185, -0.004716, 0.016389, 0.000000] +rectification_matrix: + rows: 3 + cols: 3 + data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000] +projection_matrix: + rows: 3 + cols: 4 + data: [191.417130, 0.000000, 294.918463, 0.000000, 0.000000, 230.581131, 259.824962, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000] diff --git a/config/params_sim.yaml b/config/params_sim.yaml index 977883e..2f79c94 100644 --- a/config/params_sim.yaml +++ b/config/params_sim.yaml @@ -8,8 +8,8 @@ publish_tf: true publish_markers: true filter_outliers: false outliers_max_sq_error: 4.0 -use_manual_params: true -fx: 70 -fy: 70 -cx: 320.5 -cy: 240.5 \ No newline at end of file +use_manual_params: false + fx: 70 + fy: 70 + cx: 320.5 + cy: 240.5 \ No newline at end of file diff --git a/launch/fish_eye_camera.launch b/launch/fish_eye_camera.launch new file mode 100644 index 0000000..92b5c07 --- /dev/null +++ b/launch/fish_eye_camera.launch @@ -0,0 +1,30 @@ +<?xml version="1.0"?> +<launch> + <arg name="dev" default="/dev/video0"/> + <arg name="w" default="640"/> <!-- 1024 , 640 --> + <arg name="h" default="480"/> <!-- 768 , 480 --> + <arg name="camera_info_url" default="$(find iri_visual_gps)/calibration/head_camera_$(arg w)x$(arg h).yaml"/> + <arg name="exposure" default="15"/> + <arg name="white_balance" default="4000"/> + + <node name="usb_cam" + pkg ="usb_cam" + type="usb_cam_node" + output="screen" > + <param name="video_device" value="$(arg dev)" /> + <param name="image_width" value="$(arg w)" /> + <param name="image_height" value="$(arg h)" /> + <param name="pixel_format" value="yuyv" /> + <param name="camera_frame_id" value="usb_cam" /> + <param name="io_method" value="mmap"/> + <param name="camera_info_url" value="file://$(arg camera_info_url)"/> + <param name="autoexposure" value="false"/> + <param name="exposure" value="$(arg exposure)"/> + <param name="auto_white_balance" value="false"/> + <param name="white_balance" value="$(arg white_balance)"/> + </node> + + <node pkg="tf" type="static_transform_publisher" name="static_tf_camera_top" args="0.128 0 0.187 0 -1.5709 -3.14159 base_link top_camera 100" /> + <node pkg="tf" type="static_transform_publisher" name="static_tf_camera_top_optical" args="0 0 0 -1.5709 0 -1.5709 top_camera top_camera_optical 100" /> + +</launch> \ No newline at end of file diff --git a/launch/node.launch b/launch/node.launch index 266ed9e..2ddb72e 100644 --- a/launch/node.launch +++ b/launch/node.launch @@ -2,7 +2,7 @@ <!-- --> <launch> - <arg name="node_name" default="iri_visual_gps"/> + <arg name="node_name" default="visual_gps"/> <arg name="positions_file" default="position_sample.yaml"/> <arg name="param_file" default="params_sample.yaml"/> <arg name="param_path" default="$(find iri_visual_gps)/config"/> diff --git a/launch/real.launch b/launch/real.launch index de71734..ffb227e 100644 --- a/launch/real.launch +++ b/launch/real.launch @@ -2,6 +2,7 @@ <!-- --> <launch> + <include file="$(find iri_blob_detector)/launch/node.launch"> <arg name="node_name" value="blob_detector_red"/> <arg name="param_file" value="red_lab.yaml"/> @@ -34,32 +35,32 @@ <arg name="blobs_topic" value="blob_detector_yellow/blobs"/> </include> - <include file="$(find undistort_pixels)/launch/node.launch"> + <include file="$(find iri_undistort_pixels)/launch/node.launch"> <arg name="node_name" value="undistort_blob_red"/> <arg name="topic_blobs_in" value="blob_detector_red/blobs"/> <arg name="topic_blobs_out" value="blob_detector_red/blobs_undist"/> </include> - <include file="$(find undistort_pixels)/launch/node.launch"> + <include file="$(find iri_undistort_pixels)/launch/node.launch"> <arg name="node_name" value="undistort_blob_green"/> <arg name="topic_blobs_in" value="blob_detector_green/blobs"/> <arg name="topic_blobs_out" value="blob_detector_green/blobs_undist"/> </include> - <include file="$(find undistort_pixels)/launch/node.launch"> + <include file="$(find iri_undistort_pixels)/launch/node.launch"> <arg name="node_name" value="undistort_blob_blue"/> <arg name="topic_blobs_in" value="blob_detector_blue/blobs"/> <arg name="topic_blobs_out" value="blob_detector_blue/blobs_undist"/> </include> - <include file="$(find undistort_pixels)/launch/node.launch"> + <include file="$(find iri_undistort_pixels)/launch/node.launch"> <arg name="node_name" value="undistort_blob_yellow"/> <arg name="topic_blobs_in" value="blob_detector_yellow/blobs"/> <arg name="topic_blobs_out" value="blob_detector_yellow/blobs_undist"/> </include> <include file="$(find iri_visual_gps)/launch/node.launch"> - <arg name="node_name" value="iri_visual_gps"/> + <arg name="node_name" value="visual_gps"/> <arg name="positions_file" value="position_lab.yaml"/> <arg name="param_file" value="params_lab.yaml"/> <arg name="param_path" value="$(find iri_visual_gps)/config"/> diff --git a/launch/sim.launch b/launch/sim.launch index 6799cb4..343035e 100644 --- a/launch/sim.launch +++ b/launch/sim.launch @@ -1,6 +1,12 @@ <?xml version="1.0"?> <!-- --> <launch> + + <!-- + <include file="$(find seat_car_gazebo)/launch/sim.launch"> + <arg name="fake_localization" value="false"/> + </include> + --> <include file="$(find iri_blob_detector)/launch/node.launch"> <arg name="node_name" value="blob_detector_red"/> @@ -34,32 +40,33 @@ <arg name="blobs_topic" value="blob_detector_yellow/blobs"/> </include> - <include file="$(find undistort_pixels)/launch/node.launch"> + <include file="$(find iri_undistort_pixels)/launch/node.launch"> <arg name="node_name" value="undistort_blob_red"/> <arg name="topic_blobs_in" value="blob_detector_red/blobs"/> <arg name="topic_blobs_out" value="blob_detector_red/blobs_undist"/> </include> - <include file="$(find undistort_pixels)/launch/node.launch"> + <include file="$(find iri_undistort_pixels)/launch/node.launch"> <arg name="node_name" value="undistort_blob_green"/> <arg name="topic_blobs_in" value="blob_detector_green/blobs"/> <arg name="topic_blobs_out" value="blob_detector_green/blobs_undist"/> </include> - <include file="$(find undistort_pixels)/launch/node.launch"> + <include file="$(find iri_undistort_pixels)/launch/node.launch"> <arg name="node_name" value="undistort_blob_blue"/> <arg name="topic_blobs_in" value="blob_detector_blue/blobs"/> <arg name="topic_blobs_out" value="blob_detector_blue/blobs_undist"/> </include> - <include file="$(find undistort_pixels)/launch/node.launch"> + <include file="$(find iri_undistort_pixels)/launch/node.launch"> <arg name="node_name" value="undistort_blob_yellow"/> <arg name="topic_blobs_in" value="blob_detector_yellow/blobs"/> <arg name="topic_blobs_out" value="blob_detector_yellow/blobs_undist"/> + <arg name="config_file" value="params_image.yaml"/> </include> <include file="$(find iri_visual_gps)/launch/node.launch"> - <arg name="node_name" value="iri_visual_gps"/> + <arg name="node_name" value="visual_gps"/> <arg name="positions_file" value="position_sim.yaml"/> <arg name="param_file" value="params_sim.yaml"/> <arg name="param_path" value="$(find iri_visual_gps)/config"/> diff --git a/launch/sim_no_undist.launch b/launch/sim_no_undist.launch index c040052..a24ded5 100644 --- a/launch/sim_no_undist.launch +++ b/launch/sim_no_undist.launch @@ -1,6 +1,12 @@ <?xml version="1.0"?> <!-- --> <launch> + + <!-- + <include file="$(find seat_car_gazebo)/launch/sim.launch"> + <arg name="fake_localization" value="false"/> + </include> + --> <include file="$(find iri_blob_detector)/launch/node.launch"> <arg name="node_name" value="blob_detector_red"/> @@ -35,7 +41,7 @@ </include> <include file="$(find iri_visual_gps)/launch/node.launch"> - <arg name="node_name" value="iri_visual_gps"/> + <arg name="node_name" value="visual_gps"/> <arg name="positions_file" value="position_sim.yaml"/> <arg name="param_file" value="params_sim.yaml"/> <arg name="param_path" value="$(find iri_visual_gps)/config"/> -- GitLab