updated calibrate function, and recalibrated left/right cameras

mdkennedy3 · Aug 8, 2018 · 7df41e3 · 7df41e3
1 parent 0775cd3
commit 7df41e3
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Showing 3 changed files with 14 additions and 9 deletions.
diff --git a/calibration/elp_left.yaml b/calibration/elp_left.yaml
@@ -4,17 +4,17 @@ camera_name: elp_left
 camera_matrix:
   rows: 3
   cols: 3
-  data: [840.032298, 0.000000, 692.586423, 0.000000, 838.804585, 516.178469, 0.000000, 0.000000, 1.000000]
+  data: [839.611800, 0.000000, 687.971733, 0.000000, 838.909842, 515.026946, 0.000000, 0.000000, 1.000000]
 distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.377259, 0.118919, 0.000593, 0.000109, 0.000000]
+  data: [-0.368423, 0.110447, 0.000985, 0.000249, 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]
+  data: [0.999378, 0.003560, -0.035099, -0.003424, 0.999986, 0.003924, 0.035112, -0.003801, 0.999376]
 projection_matrix:
   rows: 3
   cols: 4
-  data: [625.471069, 0.000000, 712.410764, 0.000000, 0.000000, 711.699768, 531.311885, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
+  data: [746.735518, 0.000000, 727.019386, 0.000000, 0.000000, 746.735518, 512.514748, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
diff --git a/calibration/elp_right.yaml b/calibration/elp_right.yaml
@@ -4,17 +4,17 @@ camera_name: elp_right
 camera_matrix:
   rows: 3
   cols: 3
-  data: [848.762717, 0.000000, 684.689731, 0.000000, 848.444519, 516.033598, 0.000000, 0.000000, 1.000000]
+  data: [844.539385, 0.000000, 688.611136, 0.000000, 843.891321, 509.847686, 0.000000, 0.000000, 1.000000]
 distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.368150, 0.107947, -0.000370, 0.001652, 0.000000]
+  data: [-0.361349, 0.101721, 0.001885, 0.000485, 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]
+  data: [0.999321, 0.002060, -0.036790, -0.002202, 0.999990, -0.003823, 0.036781, 0.003901, 0.999316]
 projection_matrix:
   rows: 3
   cols: 4
-  data: [621.595215, 0.000000, 718.438184, 0.000000, 0.000000, 726.255371, 529.081200, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
+  data: [746.735518, 0.000000, 727.019386, -44.755307, 0.000000, 746.735518, 512.514748, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
diff --git a/launch/calibrate.launch b/launch/calibrate.launch
@@ -10,7 +10,12 @@
     <arg name="CAMERA_NAME" value="$(arg CAMERA_NAME)" />
   </include>
 
+
   <!-- start calibration -->
-  <node pkg="camera_calibration" type="cameracalibrator.py" name="cameracalibrator" args=" --size 8x6 --square 0.025 --approximate=0.3 left:=/$(arg CAMERA_NAME)/$(arg sync_split_node)/left/image_raw right:=/$(arg CAMERA_NAME)/$(arg sync_split_node)/right/image_raw left_camera:=/$(arg CAMERA_NAME)/$(arg sync_split_node)/left right_camera:=/$(arg CAMERA_NAME)/$(arg sync_split_node)/right" required="true">
+
+ <node pkg="camera_calibration" type="cameracalibrator.py" name="cameracalibrator" args=" --size 10x7 --square 0.036 left:=/$(arg CAMERA_NAME)/$(arg sync_split_node)/left/image_raw right:=/$(arg CAMERA_NAME)/$(arg sync_split_node)/right/image_raw " required="true">
   </node>
+
+
 </launch>
+