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Commit f08e767e authored by Mederic Fourmy's avatar Mederic Fourmy
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Camera logitech yaml

parent 44bf0d8a
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1 merge request!233WIP: Apriltag
Pipeline #2382 passed
image_width: 640
image_height: 480
#camera_name: narrow_stereo
camera_name: camera
camera_matrix:
rows: 3
cols: 3
data: [711.687376, 0.000000, 323.306816, 0.000000, 710.933260, 232.005822, 0.000000, 0.000000, 1.000000]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [0.067204, -0.141639, 0, 0, 0]
# data: [0.067204, -0.141639, 0.004462, -0.000636, 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: [718.941772, 0.000000, 323.016804, 0.000000, 0.000000, 717.174622, 233.475721, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
......@@ -3,8 +3,8 @@ map name: "4 tags printed on a A4 sheet vertical recorded at IRI with logitech w
nlandmarks: 4 # This must match the number of landmarks in the list that follows. Otherwise it is an error.
######################
# World frame is considered to be at 75cm from the sheet with RDF convention (like a camera).
# Landmarks facing the Z axis (view axis of the camera) have the same orientation as world frame.
# World frame is considered to be the top left corner of tag id 0. Reference frame is corherent with a camera
# looking straight at the sheet with RBF convention.
######################
landmarks:
......@@ -12,7 +12,7 @@ landmarks:
type: "APRILTAG" # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
tag id: 0
tag width: 0.055
position: [-0.061, -0.185, 0.75]
position: [0.0225, 0.0225, 0]
orientation: [0, 0, 0] # roll pitch yaw in degrees
position fixed: true
orientation fixed: true
......@@ -21,7 +21,7 @@ landmarks:
type: "APRILTAG" # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
tag id: 1
tag width: 0.055
position: [0.061, -0.185, 0.75]
position: [0.1525, 0.0225, 0]
orientation: [0, 0, 0] # roll pitch yaw in degrees
position fixed: true
orientation fixed: true
......@@ -30,7 +30,7 @@ landmarks:
type: "APRILTAG" # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
tag id: 2
tag width: 0.055
position: [-0.061, 0, 0.75]
position: [0.0225, 0.2125, 0]
orientation: [0, 0, 0] # roll pitch yaw in degrees
position fixed: true
orientation fixed: true
......@@ -39,7 +39,7 @@ landmarks:
type: "APRILTAG" # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
tag id: 3
tag width: 0.055
position: [0.061, 0, 0.75]
position: [0.1525, 0.2125, 0]
orientation: [0, 0, 0] # roll pitch yaw in degrees
position fixed: true
orientation fixed: true
......
......@@ -74,7 +74,8 @@ int main(int argc, char *argv[])
covariance.topLeftCorner(3,3) = stdev_m*stdev_m * covariance.topLeftCorner(3,3);
covariance.bottomRightCorner(3,3) = (M_TORAD*stdev_deg)*(M_TORAD*stdev_deg) * covariance.bottomRightCorner(3,3);
FrameBasePtr F1 = problem->setPrior((Vector7s()<<0,0,0,0,0,0,1).finished(), covariance, 0.0, 0.1);
// FrameBasePtr F1 = problem->setPrior((Vector7s()<<0,0,0,0,0,0,1).finished(), covariance, 0.0, 0.1);
FrameBasePtr F1 = problem->setPrior((Vector7s()<<0.08, 0, -0.75, 0, 0, 0, 1).finished(), covariance, 0.0, 0.1);
// first argument is the name of the program.
// following arguments are path to image (from wolf_root)
......
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