Stereo Calibration for Low resolution
This commit is contained in:
AhmedElsafy
parent
6615e8d36c
commit
40663b2f5d
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image_width: 1920
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image_height: 1080
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image_width: 320
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image_height: 240
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camera_name: left
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camera_matrix:
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rows: 3
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image_width: 1920
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image_height: 1080
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image_width: 320
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image_height: 240
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camera_name: right
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camera_matrix:
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rows: 3
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<launch>
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<!-- Command Line Arguments -->
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<arg name="sync_sink" default="true" /> <!-- Synchronize the app sink -->
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<arg name="width" default="320" /> <!-- Image Width -->
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<arg name="height" default="240" /> <!-- Image Height -->
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<arg name="fps" default="30" /> <!-- Desired framerate -->
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<!-- Make arguments available to parameter server -->
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<param name="image_width" type="int" value="$(arg width)" />
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<param name="image_height" type="int" value="$(arg height)" />
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<param name="target_fps" type="int" value="$(arg fps)" />
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<group ns="stereo">
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<node name="right" pkg="gscam" type="gscam" output='screen' >
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<param name="camera_name" value="right" />
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<param name="gscam_config" value="nvcamerasrc sensor-id=0 auto-exposure=1 aeLock=1 contrast=0.7 ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)I420,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=2 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
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<param name="camera_id" value="0" />
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<param name="frame_id" value="right_link" />
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<param name="sync_sink" value="true" />
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<param name="right/image_width" type="int" value="$(arg width)" />
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<param name="right/image_height" type="int" value="$(arg height)" />
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<param name="right/target_fps" type="int" value="$(arg fps)" />
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<param name="camera_info_url" value="package://jetson_csi_cam/right_320x240.yaml" />
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<remap from="camera/image_raw" to="right/image_raw" />
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<remap from="camera/camera_info" to="right/camera_info" />
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<remap from="set_camera_info" to="camera_info" />
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</node>
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<node name="left" pkg="gscam" type="gscam" output='screen' >
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<param name="camera_name" value="left" />
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<param name="gscam_config" value="nvcamerasrc sensor-id=1 auto-exposure=1 aeLock=1 contrast=0.7 ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)I420, framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=2 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
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<param name="frame_id" value="left_link" />
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<param name="sync_sink" value="true" />
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<param name="left/image_width" type="int" value="$(arg width)" />
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<param name="left/image_height" type="int" value="$(arg height)" />
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<param name="left/target_fps" type="int" value="$(arg fps)" />
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<param name="camera_info_url" value="package://jetson_csi_cam/left_320x240.yaml" />
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<remap from="camera/image_raw" to="left/image_raw" />
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<remap from="camera/camera_info" to="left/camera_info" />
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<remap from="/set_camera_info" to="/left/set_camera_info" />
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</node>
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<!--<node name="both" pkg="stereo_image_proc" type="stereo_image_proc" output="screen" >
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<param name="stereo" value="stereo"/>
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<param name="image" value="image_rect"/>
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<param name="_approximate_sync" value="true"/>
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<param name="queue_size" value="10000"/>
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</node>-->
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</group>
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</launch>
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image_width: 320
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image_height: 240
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camera_name: left
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camera_matrix:
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rows: 3
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cols: 3
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data: [244.429325, 0.000000, 165.897763, 0.000000, 325.915464, 123.820184, 0.000000, 0.000000, 1.000000]
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distortion_model: plumb_bob
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distortion_coefficients:
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rows: 1
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cols: 5
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data: [-0.412729, 0.153568, -0.000334, -0.003140, 0.000000]
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rectification_matrix:
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rows: 3
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cols: 3
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data: [0.920705, 0.002779, 0.390251, -0.008226, 0.999891, 0.012287, -0.390174, -0.014523, 0.920627]
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projection_matrix:
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rows: 3
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cols: 4
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data: [343.984335, 0.000000, -82.478912, 0.000000, 0.000000, 343.984335, 132.359158, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
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image_width: 320
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image_height: 240
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camera_name: right
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camera_matrix:
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rows: 3
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cols: 3
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data: [231.318831, 0.000000, 152.641652, 0.000000, 308.097601, 127.750465, 0.000000, 0.000000, 1.000000]
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distortion_model: plumb_bob
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distortion_coefficients:
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rows: 1
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cols: 5
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data: [-0.373994, 0.139767, 0.000333, -0.001028, 0.000000]
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rectification_matrix:
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rows: 3
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cols: 3
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data: [0.918165, 0.031804, 0.394919, -0.026285, 0.999467, -0.019379, -0.395324, 0.007413, 0.918512]
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projection_matrix:
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rows: 3
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cols: 4
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data: [343.984335, 0.000000, -82.478912, -22.005200, 0.000000, 343.984335, 132.359158, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
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@ -7,9 +7,9 @@
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<!-- Command Line Arguments -->
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<arg name="sync_sink" default="true" /> <!-- Synchronize the app sink -->
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<arg name="width" default="1280" /> <!-- Image Width -->
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<arg name="height" default="720" /> <!-- Image Height -->
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<arg name="fps" default="60" /> <!-- Desired framerate -->
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<arg name="width" default="320" /> <!-- Image Width -->
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<arg name="height" default="240" /> <!-- Image Height -->
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<arg name="fps" default="30" /> <!-- Desired framerate -->
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<!-- Make arguments available to parameter server -->
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<param name="image_width" type="int" value="$(arg width)" />
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@ -27,7 +27,7 @@
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<param name="right/image_width" type="int" value="$(arg width)" />
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<param name="right/image_height" type="int" value="$(arg height)" />
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<param name="right/target_fps" type="int" value="$(arg fps)" />
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<param name="camera_info_url" value="package://jetson_csi_cam/calibration-right.yaml" />
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<param name="camera_info_url" value="package://jetson_csi_cam/right_320x240.yaml" />
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<!--<param name="image_encoding_" value="jpeg" />-->
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<remap from="camera/image_raw" to="right/image_raw" />
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<remap from="camera/camera_info" to="right/camera_info" />
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<param name="left/image_width" type="int" value="$(arg width)" />
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<param name="left/image_height" type="int" value="$(arg height)" />
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<param name="left/target_fps" type="int" value="$(arg fps)" />
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<param name="camera_info_url" value="package://jetson_csi_cam/calibration-left.yaml" />
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<param name="camera_info_url" value="package://jetson_csi_cam/left_320x240.yaml" />
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<!--<param name="image_encoding_" value="jpeg" />-->
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<remap from="camera/image_raw" to="left/image_raw" />
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<remap from="camera/camera_info" to="left/camera_info" />
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