calibration for full resolution
This commit is contained in:
AhmedElsafy
parent
fcc06a3059
commit
9b554ac9fa
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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="1280" /> <!-- Image Width -->
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<arg name="height" default="720" /> <!-- 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="$(arg fps)" />
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<group ns="stereo">
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<node name="right" pkg="gscam" type="gscam" >
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<param name="camera_name" value="right" />
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<param name="gscam_config" value="nvarguscamerasrc sensor-id=0 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=0 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
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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="image_encoding" value="mono8" />
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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="$(arg fps)" />
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<param name="camera_info_url" value="package://jetson_csi_cam/right_1280x720.yaml" />
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<remap from="camera/image_raw" to="right/image_raw" />
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<remap from="camera/camera_info" to="right/camera_info" />
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<!-- <remap from="/set_camera_info" to="/right/set_camera_info" /> -->
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</node>
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<node name="left" pkg="gscam" type="gscam" >
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<param name="camera_name" value="left" />
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<param name="gscam_config" value="nvarguscamerasrc sensor-id=1 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12, framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=0 ! 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="image_encoding" value="mono8" />
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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="$(arg fps)" />
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<param name="camera_info_url" value="package://jetson_csi_cam/left_1280x720.yaml" />
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<remap from="camera/image_raw" to="left/image_raw" />
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<remap from="camera/camera_info" to="left/camera_info" />
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<!-- <remap from="/set_camera_info" to="/left/set_camera_info" /> -->
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</node>
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</group>
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</launch>
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@ -0,0 +1,49 @@
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<launch>
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<!-- Command Line Arguments -->
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<arg name="sync_sink" default="true" /> <!-- Synchronize the app sink -->
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<arg name="width" default="640" /> <!-- Image Width -->
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<arg name="height" default="480" /> <!-- Image Height -->
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<arg name="fps" default="20" /> <!-- Desired framerate -->
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<!-- Make arguments available to parameter server -->
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<param name="image_width" type="int" value="$(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" >
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<param name="camera_name" value="right" />
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<param name="gscam_config" value="nvarguscamerasrc sensor-id=0 aelock=true awblock=true maxperf=true exposuretimerange="0 500" gainrange="0 1000" ispdigitalgainrange="0 100" ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=0 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
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<param name="frame_id" value="right_link" />
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<param name="sync_sink" value="true" />
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<!--<param name="image_encoding" value="mono8" />-->
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<param name="right/image_width" type="int" value="$(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_640x480.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="/right/set_camera_info" />
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</node>
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<node name="left" pkg="gscam" type="gscam" >
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<param name="camera_name" value="left" />
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<param name="gscam_config" value="nvarguscamerasrc sensor-id=1 aelock=true awblock=true maxperf=true exposuretimerange="0 500" gainrange="0 1000" ispdigitalgainrange="0 100" ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12, framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=0 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
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<param name="frame_id" value="left_link" />
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<param name="sync_sink" value="true" />
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<!--<param name="image_encoding" value="mono8" />-->
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<param name="left/image_width" type="int" value="$(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_640x480.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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</group>
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</launch>
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@ -0,0 +1,49 @@
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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="1280" /> <!-- Image Width -->
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<arg name="height" default="720" /> <!-- 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="$(arg fps)" />
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<group ns="stereo">
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<node name="right" pkg="gscam" type="gscam" >
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<param name="camera_name" value="right" />
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<param name="gscam_config" value="nvarguscamerasrc sensor-id=0 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=0 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
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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="image_encoding" value="mono8" />
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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="$(arg fps)" />
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<param name="camera_info_url" value="package://jetson_csi_cam/right_1280x720.yaml" />
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<remap from="camera/image_raw" to="right/image_raw" />
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<remap from="camera/camera_info" to="right/camera_info" />
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<!-- <remap from="/set_camera_info" to="/right/set_camera_info" /> -->
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</node>
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<node name="left" pkg="gscam" type="gscam" >
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<param name="camera_name" value="left" />
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<param name="gscam_config" value="nvarguscamerasrc sensor-id=1 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12, framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=0 ! 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="image_encoding" value="mono8" />
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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_1280x720.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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</group>
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</launch>
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@ -4,23 +4,23 @@ 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: [ 873.68467, 0. , 657.89992,
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0. , 871.77207, 360.60431,
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data: [ 901.65045, 0. , 695.89579,
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0. , 907.78138, 359.46417,
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0. , 0. , 1. ]
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camera_model: plumb_bob
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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: [-0.345111, 0.109548, 0.007497, 0.001845, 0.000000]
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data: [-0.379567, 0.150186, 0.005721, -0.005452, 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: [ 0.999594 , 0.01840935, 0.02174699,
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-0.0188595 , 0.99960827, 0.02067903,
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-0.02135778, -0.02108077, 0.99954962]
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data: [ 0.99551285, 0.03384525, 0.0883667 ,
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-0.03399252, 0.99942207, 0.00016189,
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-0.08831015, -0.00316497, 0.996088 ]
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projection_matrix:
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rows: 3
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cols: 4
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data: [ 869.23405, 0. , 590.64311, 0. ,
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0. , 869.23405, 366.70978, 0. ,
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data: [ 877.42844, 0. , 562.22726, 0. ,
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0. , 877.42844, 367.71714, 0. ,
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0. , 0. , 1. , 0. ]
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@ -4,17 +4,23 @@ 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: [216.587179, 0.000000, 152.272854, 0.000000, 288.814935, 123.514917, 0.000000, 0.000000, 1.000000]
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data: [224.12527, 0. , 163.50569,
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0. , 298.99365, 124.05618,
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0. , 0. , 1. ]
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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: [-0.400277, 0.190072, -0.003888, 0.002995, 0.000000]
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data: [-0.366492, 0.131390, 0.003942, 0.002818, 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: [0.990367, 0.059907, -0.124836, -0.059914, 0.998197, 0.003704, 0.124833, 0.003811, 0.992170]
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data: [ 0.96991977, -0.02257566, -0.2423757 ,
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0.0204853 , 0.99972807, -0.0111415 ,
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0.24256132, 0.00584122, 0.97011849]
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projection_matrix:
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rows: 3
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cols: 4
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data: [296.195350, 0.000000, 215.261782, 0.000000, 0.000000, 296.195350, 120.768448, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
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data: [306.37919, 0. , 283.52062, 0. ,
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0. , 306.37919, 131.00384, 0. ,
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0. , 0. , 1. , 0. ]
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@ -0,0 +1,20 @@
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image_width: 640
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image_height: 480
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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: [393.442886, 0.000000, 316.396309, 0.000000, 527.629636, 245.194696, 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: [-0.297615, 0.086264, -0.006647, 0.000153, 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: [0.919720, 0.066902, -0.386832, -0.062786, 0.997755, 0.023281, 0.387522, 0.002876, 0.921856]
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projection_matrix:
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rows: 3
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cols: 4
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data: [649.830717, 0.000000, 758.397034, 0.000000, 0.000000, 649.830717, 214.621260, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
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@ -0,0 +1,20 @@
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image_width: 752
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image_height: 480
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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: [536.856720, 0.000000, 411.167808, 0.000000, 610.175773, 214.936536, 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: [-0.394093, 0.190040, -0.000195, -0.005364, 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: [0.961468, -0.039407, 0.272077, 0.043047, 0.999045, -0.007423, -0.271525, 0.018849, 0.962247]
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projection_matrix:
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rows: 3
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cols: 4
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data: [671.408773, 0.000000, 176.309061, 0.000000, 0.000000, 671.408773, 212.536057, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
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@ -4,23 +4,23 @@ 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: [ 879.81628, 0. , 631.55074,
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0. , 877.90835, 349.78586,
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data: [ 911.43902, 0. , 674.74696,
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0. , 914.29415, 365.37436,
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0. , 0. , 1. ]
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camera_model: plumb_bob
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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: [-0.359859, 0.129457, 0.002187, 0.006292, 0.000000]
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data: [-0.374960, 0.127904, -0.000372, -0.002388, 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: [ 0.99680464, 0.0451326 , 0.06590573,
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-0.04374539, 0.99879285, -0.02234257,
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-0.06683455, 0.0193881 , 0.99757568]
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data: [ 0.99541202, 0.01286463, 0.09481247,
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-0.01270654, 0.99991669, -0.00227096,
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-0.09483379, 0.00105581, 0.99549256]
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projection_matrix:
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rows: 3
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||||
cols: 4
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data: [ 869.23405, 0. , 590.64311, -46.17111,
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0. , 869.23405, 366.70978, 0. ,
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data: [ 877.42844, 0. , 562.22726, -48.58602,
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||||
0. , 877.42844, 367.71714, 0. ,
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0. , 0. , 1. , 0. ]
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@ -4,17 +4,23 @@ 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: [223.401364, 0.000000, 161.232191, 0.000000, 297.556234, 124.851974, 0.000000, 0.000000, 1.000000]
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data: [230.458 , 0. , 160.56834,
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0. , 306.66993, 129.52017,
|
||||
0. , 0. , 1. ]
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distortion_model: plumb_bob
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distortion_coefficients:
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rows: 1
|
||||
cols: 5
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data: [-0.390714, 0.159344, -0.002090, -0.002267, 0.000000]
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data: [-0.374990, 0.147179, -0.003677, 0.004474, 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: [0.988569, 0.058607, -0.138916, -0.058599, 0.998273, 0.004148, 0.138919, 0.004040, 0.990296]
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data: [ 0.97662177, -0.03351029, -0.21233696,
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0.03533651, 0.99936389, 0.0048104 ,
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0.21204069, -0.01220118, 0.97718467]
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projection_matrix:
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rows: 3
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cols: 4
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data: [296.195350, 0.000000, 215.261782, -18.019714, 0.000000, 296.195350, 120.768448, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
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data: [306.37919, 0. , 283.52062, -17.07839,
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0. , 306.37919, 131.00384, 0. ,
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0. , 0. , 1. , 0. ]
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@ -0,0 +1,20 @@
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image_width: 640
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image_height: 480
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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: [423.305149, 0.000000, 311.646272, 0.000000, 566.582012, 239.355455, 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: [-0.330749, 0.104864, -0.005115, 0.002873, 0.000000]
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rectification_matrix:
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rows: 3
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cols: 3
|
||||
data: [0.934688, 0.037250, -0.353511, -0.040991, 0.999155, -0.003098, 0.353097, 0.017386, 0.935425]
|
||||
projection_matrix:
|
||||
rows: 3
|
||||
cols: 4
|
||||
data: [649.830717, 0.000000, 758.397034, -38.124177, 0.000000, 649.830717, 214.621260, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
image_width: 752
|
||||
image_height: 480
|
||||
camera_name: right
|
||||
camera_matrix:
|
||||
rows: 3
|
||||
cols: 3
|
||||
data: [539.551055, 0.000000, 414.246727, 0.000000, 612.233691, 226.196697, 0.000000, 0.000000, 1.000000]
|
||||
distortion_model: plumb_bob
|
||||
distortion_coefficients:
|
||||
rows: 1
|
||||
cols: 5
|
||||
data: [-0.366376, 0.132750, 0.000150, -0.007624, 0.000000]
|
||||
rectification_matrix:
|
||||
rows: 3
|
||||
cols: 3
|
||||
data: [0.969135, -0.051258, 0.241142, 0.048030, 0.998660, 0.019250, -0.241806, -0.007074, 0.970299]
|
||||
projection_matrix:
|
||||
rows: 3
|
||||
cols: 4
|
||||
data: [671.408773, 0.000000, 176.309061, -39.834733, 0.000000, 671.408773, 212.536057, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
|
||||
|
|
@ -14,30 +14,32 @@
|
|||
<group ns="stereo">
|
||||
<node name="right" pkg="gscam" type="gscam" >
|
||||
<param name="camera_name" value="right" />
|
||||
<param name="gscam_config" value="nvarguscamerasrc sensor-id=0 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=0 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
|
||||
<param name="gscam_config" value="nvarguscamerasrc sensor-id=0 aelock=true awblock=true maxperf=true exposuretimerange="0 500" gainrange="0 1000" ispdigitalgainrange="0 100" ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=0 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
|
||||
<param name="frame_id" value="right_link" />
|
||||
<param name="sync_sink" value="true" />
|
||||
<!--<param name="image_encoding" value="mono8" />-->
|
||||
<param name="right/image_width" type="int" value="$(arg width)" />
|
||||
<param name="right/image_height" type="int" value="$(arg height)" />
|
||||
<param name="right/target_fps" type="int" value="$(arg fps)" />
|
||||
<param name="camera_info_url" value="package://jetson_csi_cam/right_320x240.yaml" />
|
||||
<remap from="camera/image_raw" to="right/image_raw" />
|
||||
<remap from="camera/camera_info" to="right/camera_info" />
|
||||
<!-- <remap from="/set_camera_info" to="/right/set_camera_info" /> -->
|
||||
<remap from="/set_camera_info" to="/right/set_camera_info" />
|
||||
</node>
|
||||
|
||||
<node name="left" pkg="gscam" type="gscam" >
|
||||
<param name="camera_name" value="left" />
|
||||
<param name="gscam_config" value="nvarguscamerasrc sensor-id=1 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12, framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=0 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
|
||||
<param name="gscam_config" value="nvarguscamerasrc sensor-id=1 aelock=true awblock=true maxperf=true exposuretimerange="0 500" gainrange="0 1000" ispdigitalgainrange="0 100" ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12, framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=0 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
|
||||
<param name="frame_id" value="left_link" />
|
||||
<param name="sync_sink" value="true" />
|
||||
<!--<param name="image_encoding" value="mono8" />-->
|
||||
<param name="left/image_width" type="int" value="$(arg width)" />
|
||||
<param name="left/image_height" type="int" value="$(arg height)" />
|
||||
<param name="left/target_fps" type="int" value="$(arg fps)" />
|
||||
<param name="camera_info_url" value="package://jetson_csi_cam/left_320x240.yaml" />
|
||||
<remap from="camera/image_raw" to="left/image_raw" />
|
||||
<remap from="camera/camera_info" to="left/camera_info" />
|
||||
<!-- <remap from="/set_camera_info" to="/left/set_camera_info" /> -->
|
||||
<remap from="/set_camera_info" to="/left/set_camera_info" />
|
||||
</node>
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue