Add delock calibration file

calibration/delock_1280x960.yaml

+image_width: 1280
+image_height: 960
+camera_name: narrow_stereo
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [744.492923, 0, 602.268315, 0, 743.285879, 502.094536, 0, 0, 1]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.324192, 0.08111499999999999, 0.002398, 0.000735, 0]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [530.792297, 0, 597.76504, 0, 0, 617.536865, 517.314024, 0, 0, 0, 1, 0]
\ No newline at end of file

calibration/delock_640x480.yaml

-image_width: 640
-image_height: 480
-camera_name: camera
-camera_matrix:
-  rows: 3
-  cols: 3
-  data: [811.587917, 0.000000, 316.684131, 0.000000, 809.975436, 232.835325, 0.000000, 0.000000, 1.000000]
-distortion_model: plumb_bob
-distortion_coefficients:
-  rows: 1
-  cols: 5
-  data: [-0.016863, 0.026776, -0.005160, 0.000093, 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: [811.962280, 0.000000, 316.721055, 0.000000, 0.000000, 809.312805, 231.520901, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]

config/basler_camera_config.yaml

@@ -12,8 +12,8 @@ device_user_id: ""
 #  from the ROS-CameraInfoManager:
 #  http://docs.ros.org/api/camera_info_manager/html/classcamera__info__manager_
 #  1_1CameraInfoManager.html#details
-camera_info_url: ""
-camera_info_url: "file:///home/car/iri-lab/iri_ws/src/iri_model_car_bringup/calibration/basler_640x480.yaml"
+# camera_info_url: ""
+camera_info_url: "file:///home/adc/model_car_ws/src/platforms/model_car/iri_model_car_bringup/calibration/basler_1280x960.yaml"
 
 #  The encoding of the pixels -- channel meaning, ordering, size
 #  taken from the list of strings in include/sensor_msgs/image_encodings.h

config/delock_camera_config.yaml

-width: 640
-height: 480
+width: 1280
+height: 960
 frame_id: 'model_car/rear_camera_uvc_camera_optical'
-video_mode: 'uncompressed'
-frame_rate: 30
-timestamp_method: 'start'
-auto_exposure: 3
-auto_exposure_priority: 0
-exposure_absolute: 0.9
-auto_white_balance: 'False'
-white_balance_temperature: 4000
+video_mode: 'mjpeg'
+frame_rate: 30.0

launch/bringup.launch

@@ -28,7 +28,7 @@
 
   <arg name="delock_device_file"        default="$(find iri_model_car_bringup)/config/delock_96368.yaml" />
   <arg name="delock_format_file"        default="$(find iri_model_car_bringup)/config/delock_camera_config.yaml" />
-  <arg name="delock_calib_file"         default="$(find iri_model_car_bringup)/calibration/delock_640x480.yaml" />
+  <arg name="delock_calib_file"         default="$(find iri_model_car_bringup)/calibration/delock_1280x960.yaml" />
 
   <arg name="rplidar_config_file"       default="$(find iri_model_car_bringup)/config/rplidar_config.yaml" />
   <arg name="scan_topic_name"           default="/$(arg car_name)/sensors/scan"/>