update launches and add water calibration

srv · Jul 10, 2020 · 7a186d4 · 7a186d4
1 parent e767ea6
commit 7a186d4
Show file tree

Hide file tree

Showing 7 changed files with 75 additions and 6 deletions.
diff --git a/prosilica_camera/config/calibration_water_left.yaml b/prosilica_camera/config/calibration_water_left.yaml
@@ -0,0 +1,20 @@
+image_width: 968
+image_height: 728
+camera_name: left_optical
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [735.466017, 0.000000, 495.728591, 0.000000, 737.152024, 344.800009, 0.000000, 0.000000, 1.000000]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [0.276054, 0.598468, -0.006349, 0.003771, 0.000000] 
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [0.988383, 0.038607, -0.146997, -0.040079, 0.999172, -0.007065, 0.146602, 0.012874, 0.989112]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [1159.146375, 0.000000, 633.266916, 0.000000, 0.000000, 1159.146375, 355.930935, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
diff --git a/prosilica_camera/config/calibration_water_right.yaml b/prosilica_camera/config/calibration_water_right.yaml
@@ -0,0 +1,20 @@
+image_width: 968
+image_height: 728
+camera_name: right_optical
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [741.843119, 0.000000, 480.284378, 0.000000, 742.310585, 368.801948, 0.000000, 0.000000, 1.000000]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [0.231310, 0.946365, 0.010306, -0.006880, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [0.984522, 0.058527, -0.165202, -0.056866, 0.998273, 0.014771,  0.165781, -0.005148, 0.986149]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [1159.146375, 0.000000, 633.266916, -164.538649, 0.000000, 1159.146375, 355.930935, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
diff --git a/prosilica_camera/launch/mono_left.launch b/prosilica_camera/launch/mono_left.launch
@@ -0,0 +1,9 @@
+<launch>
+    <rosparam command="load" file="$(find prosilica_camera)/config/stereo_down.yaml"/>
+    <include file="$(find prosilica_camera)/launch/prosilica_camera_base.launch">
+        <arg name="camera_ns"     value="/stereo_down" />
+        <arg name="camera_name"   value="left" />
+        <arg name="ip_address"    value="10.0.2.2" />   <!-- 192.168.1.80 -->
+        <arg name="frame_id"      value="/stereo_down/left_optical" />
+    </include>
+</launch>
diff --git a/prosilica_camera/launch/mono_right.launch b/prosilica_camera/launch/mono_right.launch
@@ -0,0 +1,9 @@
+<launch>
+    <rosparam command="load" file="$(find prosilica_camera)/config/stereo_down.yaml"/>
+    <include file="$(find prosilica_camera)/launch/prosilica_camera_base.launch">
+        <arg name="camera_ns"     value="/stereo_down" />
+        <arg name="camera_name"   value="right"/>
+        <arg name="ip_address"    value="10.0.3.2" />   <!-- 192.168.1.81 -->
+        <arg name="frame_id"      value="/stereo_down/left_optical" />
+    </include>
+</launch>
diff --git a/prosilica_camera/launch/stereo_calibration.launch b/prosilica_camera/launch/stereo_calibration.launch
@@ -0,0 +1,11 @@
+<launch>
+    <arg name="stereo" default="stereo_down" />
+    <node pkg="camera_calibration" type="cameracalibrator.py" name="camera_calibrator"
+      args="--approximate=0.1 --size 6x8 --square=0.04" output="screen">
+
+      <remap from="left" to="$(arg stereo)/left/image_raw" />
+      <remap from="left_camera" to="$(arg stereo)/left" />
+      <remap from="right" to="$(arg stereo)/right/image_raw" />
+      <remap from="right_camera" to="$(arg stereo)/right" />
+    </node>
+</launch>
diff --git a/prosilica_camera/launch/stereo_down.launch b/prosilica_camera/launch/stereo_down.launch
@@ -1,23 +1,23 @@
 <launch>
-    <arg name="processing"  default="true"/>
+    <arg name="processing"  default="false"/>
     <arg name="stereo"  default="stereo_down" />
 
     <rosparam command="load" file="$(find prosilica_camera)/config/stereo_down.yaml"/>
     <include file="$(find prosilica_camera)/launch/prosilica_camera_base.launch">
         <arg name="camera_ns"     value="$(arg stereo)" />
         <arg name="camera_name"   value="left" />
-        <arg name="ip_address"    value="192.168.1.80" />
+        <arg name="ip_address"    value="10.0.2.2" />   <!-- 192.168.1.80 -->
         <arg name="frame_id"      value="/stereo_down/left_optical" />
     </include>
     <include file="$(find prosilica_camera)/launch/prosilica_camera_base.launch">
         <arg name="camera_ns"     value="$(arg stereo)" />
         <arg name="camera_name"   value="right" />
-        <arg name="ip_address"    value="192.168.1.81" />
+        <arg name="ip_address"    value="10.0.3.2" />   <!-- 192.168.1.81 -->
         <arg name="frame_id"      value="/stereo_down/right_optical" />
     </include>
 
     <node if="$(arg processing)" ns="$(arg stereo)" pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc" respawn="true" output="screen">
         <rosparam file="$(find prosilica_camera)/config/disparity_params_$(arg stereo).yaml"/>
     </node>
 
-</launch>
+</launch>
diff --git a/prosilica_camera/launch/stereo_pipeline.launch b/prosilica_camera/launch/stereo_pipeline.launch
@@ -1,7 +1,7 @@
 <launch>
 
   <arg name="stereo" />
-  <arg name="enable_decimate_x2" default="true"/>
+  <arg name="enable_decimate_x2" default="false"/>
   <arg name="enable_decimate_x4" default="false"/>
   <arg name="launch_in_nuc" default="true"/>
 
@@ -36,4 +36,4 @@
   </group>
 
 
-</launch>
+</launch>