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Publish rectified images #14

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Publish rectified images #14

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ed4dd67
rectification using openCV
eshahrivar-cpr Apr 24, 2018
34ec339
config file
eshahrivar-cpr Apr 24, 2018
18a5c26
automatic rectification
eshahrivar-cpr May 10, 2018
2cd6e30
removedFile
eshahrivar-cpr May 10, 2018
08978f1
removedDebugs
eshahrivar-cpr May 10, 2018
d38dec4
removedDebugs
eshahrivar-cpr May 10, 2018
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Empty file modified .clang-format
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4 changes: 2 additions & 2 deletions CMakeLists.txt
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Expand Up @@ -12,14 +12,14 @@ find_package(catkin REQUIRED
)
# set(CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}")

# find_package(Eigen3 REQUIRED)
find_package(Eigen3 REQUIRED)
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you might need to add eigen in .travis.yml file for the build to pass

find_package(Boost REQUIRED)
find_package(OpenCV REQUIRED)

include_directories(
include
${catkin_INCLUDE_DIRS}
${EIGEN_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
)

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78 changes: 0 additions & 78 deletions config/SN1267.conf
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81 changes: 81 additions & 0 deletions config/SN16988.conf
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[LEFT_CAM_2K]
fx=1399.19
fy=1399.19
cx=1120.12
cy=605.935
k1=-0.175198
k2=0.0283066

[RIGHT_CAM_2K]
fx=1397.86
fy=1397.86
cx=1088.53
cy=619.88
k1=-0.169327
k2=0.0242271

[LEFT_CAM_FHD]
fx=1399.19
fy=1399.19
cx=976.118
cy=524.935
k1=-0.175198
k2=0.0283066

[RIGHT_CAM_FHD]
fx=1397.86
fy=1397.86
cx=944.533
cy=538.88
k1=-0.169327
k2=0.0242271

[LEFT_CAM_HD]
fx=699.594
fy=699.594
cx=646.559
cy=350.967
k1=-0.175198
k2=0.0283066

[RIGHT_CAM_HD]
fx=698.93
fy=698.93
cx=630.767
cy=357.94
k1=-0.169327
k2=0.0242271

[LEFT_CAM_VGA]
fx=349.797
fy=349.797
cx=338.78
cy=182.984
k1=-0.175198
k2=0.0283066

[RIGHT_CAM_VGA]
fx=349.465
fy=349.465
cx=330.883
cy=186.47
k1=-0.169327
k2=0.0242271

[STEREO]
Baseline=120
CV_2K=0.0151461
CV_FHD=0.0151461
CV_HD=0.0151461
CV_VGA=0.0151461
RX_2K=-0.00494921
RX_FHD=-0.00494921
RX_HD=-0.00494921
RX_VGA=-0.00494921
RZ_2K=-0.00136568
RZ_FHD=-0.00136568
RZ_HD=-0.00136568
RZ_VGA=-0.00136568



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75 changes: 75 additions & 0 deletions config/roscalib
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Left:
('D = ', [-0.17209557748433973, 0.019845104434456348, 0.00027261236865564414, 0.0016244601754901989, 0.0])
('K = ', [346.9886945006349, 0.0, 342.85535647927907, 0.0, 348.4307489217302, 188.1122835603919, 0.0, 0.0, 1.0])
('R = ', [0.9999425796061927, 0.0029751801025626403, 0.010294940207228378, -0.0030202762948984122, 0.999985900674699, 0.004367651876408269, -0.010281800504559827, -0.0043984946479828, 0.9999374669564173])
('P = ', [447.6473712801969, 0.0, 274.16839599609375, 0.0, 0.0, 447.6473712801969, 252.97887706756592, 0.0, 0.0, 0.0, 1.0, 0.0])

Right:
('D = ', [-0.15663493579274437, -0.0040409990254712804, 0.0004213587763997123, 0.0007789422114619799, 0.0])
('K = ', [348.99129838873466, 0.0, 333.3911990483944, 0.0, 349.33097992390356, 190.2016195118505, 0.0, 0.0, 1.0])
('R = ', [0.999910992826379, 0.000784361000948321, 0.013318828881901066, -0.000725973926201859, 0.9999901088594528, -0.00438806849514147, -0.013322138973289746, 0.004378008803071259, 0.9999016719918498])
('P = ', [447.6473712801969, 0.0, 274.16839599609375, -47.97524256627728, 0.0, 447.6473712801969, 252.97887706756592, 0.0, 0.0, 0.0, 1.0, 0.0])
('self.T ', [-0.1071624128794584, -8.406149950671951e-05, -0.0014274048889883432])
('self.R ', [0.9999927457604559, 0.0023075489567089486, -0.003030452817080847, -0.0022809442714145263, 0.9999590866405643, 0.008753418657825964, 0.003050527773166973, -0.008746442864437284, 0.9999570960883893])
# oST version 5.0 parameters


[image]

width
672

height
376

[narrow_stereo/left]

camera matrix
346.988695 0.000000 342.855356
0.000000 348.430749 188.112284
0.000000 0.000000 1.000000

distortion
-0.172096 0.019845 0.000273 0.001624 0.000000

rectification
0.999943 0.002975 0.010295
-0.003020 0.999986 0.004368
-0.010282 -0.004398 0.999937

projection
447.647371 0.000000 274.168396 0.000000
0.000000 447.647371 252.978877 0.000000
0.000000 0.000000 1.000000 0.000000

# oST version 5.0 parameters


[image]

width
672

height
376

[narrow_stereo/right]

camera matrix
348.991298 0.000000 333.391199
0.000000 349.330980 190.201620
0.000000 0.000000 1.000000

distortion
-0.156635 -0.004041 0.000421 0.000779 0.000000

rectification
0.999911 0.000784 0.013319
-0.000726 0.999990 -0.004388
-0.013322 0.004378 0.999902

projection
447.647371 0.000000 274.168396 -47.975243
0.000000 447.647371 252.978877 0.000000
0.000000 0.000000 1.000000 0.000000
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24 changes: 9 additions & 15 deletions launch/zed_cpu_ros.launch
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<?xml version="1.0" encoding="utf-8"?>
<launch>
<arg name="config_file_location" default="$(find zed_cpu_ros)/config/SN1267.conf"/>
<arg name="config_file_location" default="$(find zed_cpu_ros)/config/SN16988.conf"/>
<arg name="undistort_config_file_location" default="$(find zed_cpu_ros)/config/ORB_SLAM_ZED.yaml"/>
<arg name="camera_namespace" default="camera"/>
<!-- to find your device id, use ls /dev/ and look for the numbder after video -->
<arg name="device_id" default="4"/>
<arg name="resolution" default="1"/>
<arg name="frame_rate" default="30"/>
<arg name="show_image" default="false"/>
<arg name="encoding" default="bgr8"/>
<arg name="use_zed_config" default="false"/>

<node pkg="zed_cpu_ros" type="zed_cpu_ros" name="zed_cpu_ros_node" output="screen" ns="$(arg camera_namespace)" required="true">
<param name="resolution" value="$(arg resolution)" unless="$(eval resolution>3)"/>
<param name="frame_rate" value="$(arg frame_rate)"/>
<param name="resolution" value="2"/>
<param name="frame_rate" value="60"/>
<param name="config_file_location" value="$(arg config_file_location)"/>
<param name="show_image" value="$(arg show_image)"/>
<!--param name="undistort_config_file_location" value="$(arg undistort_config_file_location)"/-->
<param name="show_image" value="false"/>
<param name="left_frame_id" value="left_frame"/>
<param name="right_frame_id" value="right_frame"/>
<param name="use_zed_config" value="$(arg use_zed_config)"/>
<param name="device_id" value="$(arg device_id)"/>
<param name="encoding" value="$(arg encoding)"/>
<param name="load_zed_config" value="true"/>
</node>

<!-- <node pkg="tf" type="static_transform_publisher" name="static_tf_1" args="0.25 0 0.4 0 0 0 1 base_link left_frame 30"/> -->
<node pkg="tf" type="static_transform_publisher" name="static_tf_1" args="0.25 0 0.4 0 0 0 1 base_link left_frame 30"/>
<!-- <node pkg="tf" type="static_transform_publisher" name="static_tf_2" args="0 0.120 0 0 0 0 1 left_frame right_frame 30"/> -->

</launch>
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