diff --git a/src/examples/camera_logitech_c300_640_480.yaml b/src/examples/camera_logitech_c300_640_480.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5f8a1899b71df3721e6f9722d39bd8e09e34509a --- /dev/null +++ b/src/examples/camera_logitech_c300_640_480.yaml @@ -0,0 +1,22 @@ +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] diff --git a/src/examples/maps/map_apriltag_logitech_1234.yaml b/src/examples/maps/map_apriltag_logitech_1234.yaml index 850c04adf9e76e6588cae936acb5086d4caf51e0..f313d1a11a3f2b4fa239f710cbbea7372747677d 100644 --- a/src/examples/maps/map_apriltag_logitech_1234.yaml +++ b/src/examples/maps/map_apriltag_logitech_1234.yaml @@ -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 diff --git a/src/examples/test_apriltag.cpp b/src/examples/test_apriltag.cpp index 2a71fa5832face827c8d14ccbc1b5b6e10914c84..4964ce4cd77943a5a863d3a09992ef6c9edcabfc 100644 --- a/src/examples/test_apriltag.cpp +++ b/src/examples/test_apriltag.cpp @@ -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)