diff --git a/config/basler_camera_info.yaml b/calibration/basler_640x480.yaml similarity index 100% rename from config/basler_camera_info.yaml rename to calibration/basler_640x480.yaml diff --git a/calibration/delock_640x480.yaml b/calibration/delock_640x480.yaml new file mode 100644 index 0000000000000000000000000000000000000000..318add77ae3c8af42feba129b4f83c5b6bf83ccc --- /dev/null +++ b/calibration/delock_640x480.yaml @@ -0,0 +1,20 @@ +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] diff --git a/config/basler_camera_config.yaml b/config/basler_camera_config.yaml index 8b179ed7f6cacaff69b3e3ff44346f04b6129b54..894c9341da141834d5f5c749751be3a549e34739 100644 --- a/config/basler_camera_config.yaml +++ b/config/basler_camera_config.yaml @@ -13,7 +13,7 @@ device_user_id: "" # 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/config/basler_camera_info.yaml" +camera_info_url: "file:///home/car/iri-lab/iri_ws/src/iri_model_car_bringup/calibration/basler_640x480.yaml" # The encoding of the pixels -- channel meaning, ordering, size # taken from the list of strings in include/sensor_msgs/image_encodings.h diff --git a/launch/bringup.launch b/launch/bringup.launch index 4f9b6f8a92d3d45e1ab798cd19b02208ea16c9e6..668e62f6dcc4bea14f3f55d250b14faaee5219d9 100644 --- a/launch/bringup.launch +++ b/launch/bringup.launch @@ -25,8 +25,10 @@ <arg name="encoders_topic_name" default="/$(arg car_name)/encoders"/> <arg name="basler_config_file" default="$(find iri_model_car_bringup)/config/basler_camera_config.yaml" /> + <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="$(find iri_model_car_bringup)/calibration/delock_640x480.yaml" /> <arg name="rplidar_config_file" default="$(find iri_model_car_bringup)/config/rplidar_config.yaml" /> <arg name="scan_topic_name" default="/$(arg car_name)/sensors/scan"/> @@ -70,8 +72,9 @@ <arg name="magnetic_field_topic_name" value="$(arg magnetic_field_topic_name)"/> <arg name="encoders_topic_name" value="$(arg encoders_topic_name)"/> <arg name="basler_config_file" value="$(arg basler_config_file)" /> - <arg name="device_file" value="$(arg delock_device_file)" /> - <arg name="format_file" value="$(arg delock_format_file)" /> + <arg name="delock_device_file" value="$(arg delock_device_file)" /> + <arg name="delock_format_file" value="$(arg delock_format_file)" /> + <arg name="delock_calib_file" value="$(arg delock_calib_file)" /> <arg name="rplidar_config_file" value="$(arg rplidar_config_file)" /> <arg name="scan_topic_name" value="$(arg scan_topic_name)"/> </include> diff --git a/launch/include/sensors.launch b/launch/include/sensors.launch index 9b2f3104e5040778d9b75d4cfe47d2ef6b4bf5f4..2c91f4a202cb40a40f4414a4d1930e5db9f31416 100644 --- a/launch/include/sensors.launch +++ b/launch/include/sensors.launch @@ -21,9 +21,11 @@ <arg name="magnetic_field_topic_name" default="$(arg car_name)/sensors/magnetic_field"/> <arg name="encoders_topic_name" default="$(arg car_name)/encoders"/> - <arg name="basler_config_file" default="$(find pylon_camera)/config/default.yaml" /> - <arg name="device_file" default="$(find iri_uvc_camera_bringup)/config/devices/delock_96368.yaml" /> - <arg name="format_file" default="$(find iri_uvc_camera_bringup)/config/640x480_30fps_config.yaml" /> + <arg name="basler_config_file" default="$(find iri_model_car_bringup)/config/basler_camera_config.yaml" /> + + <arg name="delock_device_file" default="$(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="rplidar_config_file" default="$(find iri_rplidar_laser2d_bringup)/config/rplidar_config.yaml" /> <arg name="scan_topic_name" default="/$(arg car_name)/sensors/scan"/> @@ -102,8 +104,9 @@ <remap from="/$(arg car_name)/sensors/camera_info" to="/$(arg car_name)/sensors/delock_camera/camera_info"/> <include file="$(find iri_uvc_camera_bringup)/launch/uvc_camera.launch"> - <arg name="device_file" value="$(arg device_file)"/> - <arg name="format_file" value="$(arg format_file)"/> + <arg name="device_file" value="$(arg delock_device_file)"/> + <arg name="format_file" value="$(arg delock_format_file)"/> + <arg name="calib_file" value="$(arg delock_calib_file)"/> <arg name="node_name" value="delock_camera"/> <arg name="output" value="$(arg output)"/> <arg name="launch_prefix" value="$(arg launch_prefix)"/>