Updated cameras calibration.

openlmd · Nov 25, 2016 · c8a7d60 · c8a7d60
1 parent 370a88b
commit c8a7d60
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Showing 31 changed files with 17 additions and 16 deletions.
diff --git a/mashes_calibration/data/20160921calibnir.png b/mashes_calibration/data/20160921calibnir.png
diff --git a/mashes_calibration/data/20160921calibnit.png b/mashes_calibration/data/20160921calibnit.png
diff --git a/mashes_calibration/data/20160921frame0002.png b/mashes_calibration/data/20160921frame0002.png
diff --git a/mashes_calibration/data/20160921frame0004.png b/mashes_calibration/data/20160921frame0004.png
diff --git a/mashes_calibration/data/20160921frame0006.png b/mashes_calibration/data/20160921frame0006.png
diff --git a/mashes_calibration/data/_frame0001.png b/mashes_calibration/data/_frame0001.png
diff --git a/mashes_calibration/data/frame0001.png b/mashes_calibration/data/frame0001.png
diff --git a/mashes_calibration/data/frame0001_.png b/mashes_calibration/data/frame0001_.png
diff --git a/mashes_calibration/data/frame0001_a.png b/mashes_calibration/data/frame0001_a.png
diff --git a/mashes_calibration/data/frame0002.png b/mashes_calibration/data/frame0002.png
diff --git a/mashes_calibration/data/frame0002_.png b/mashes_calibration/data/frame0002_.png
diff --git a/mashes_calibration/data/frame0003.png b/mashes_calibration/data/frame0003.png
diff --git a/mashes_calibration/data/frame0004.png b/mashes_calibration/data/frame0004.png
diff --git a/mashes_calibration/data/frame0005.png b/mashes_calibration/data/frame0005.png
diff --git a/mashes_calibration/data/frame0006.png b/mashes_calibration/data/frame0006.png
diff --git a/mashes_calibration/data/nirg.png b/mashes_calibration/data/nirg.png
diff --git a/mashes_calibration/data/nit.png b/mashes_calibration/data/nit.png
diff --git a/mashes_calibration/data/nit_calib.png b/mashes_calibration/data/nit_calib.png
diff --git a/mashes_calibration/data/nit_calib2.png b/mashes_calibration/data/nit_calib2.png
diff --git a/mashes_calibration/data/pose0001.txt b/mashes_calibration/data/pose0001.txt
@@ -1 +1 @@
-((1.2740572455247403, -0.18973958715357295, 1.5220485214965036), (6.865761699031971e-06, 0.8660388783959461, -3.1458448124174762e-06, 0.4999766605049248))
+((1.4338031632896486, 0.008105807097976613, 1.5213387806268766), (0.008972216992726358, 0.8653096680792038, 0.0010315368340355286, 0.5011562766070614))
diff --git a/mashes_calibration/data/pose0002.txt b/mashes_calibration/data/pose0002.txt
@@ -1 +1 @@
-((1.274056427184639, -0.18974091272850185, 1.5220504759716933), (8.66354975888328e-06, 0.8660388276606203, -3.049696949759817e-06, 0.49997674835922173))
+((1.329213020413509, -0.02639944092189906, 1.5200767622116904), (0.008998193470163118, 0.8652149028573103, 0.001062202886831088, 0.5013193354668419))
diff --git a/mashes_calibration/data/pose0003.txt b/mashes_calibration/data/pose0003.txt
@@ -1 +1 @@
-((1.4700907667032317, 0.2341490629240643, 1.373057420686553), (0.008957878391808076, 0.8652137404885911, 0.0010687173851156246, 0.5013220497121679))
+((1.4168685192929897, -0.07004440942593079, 1.524127201062211), (2.299551148484194e-05, 0.8660518684213881, -7.151442860198546e-06, 0.49995415852244474))
diff --git a/mashes_calibration/data/pose0004.txt b/mashes_calibration/data/pose0004.txt
@@ -1 +1 @@
-((1.470089146714518, 0.23415086844787764, 1.3730593952005308), (0.008959236691997264, 0.8652136754201446, 0.0010697327430971779, 0.5013221355732455))
+((1.3292071329040032, -0.026366668570601763, 1.5311028977759047), (0.008999896138235482, 0.8652119175061956, 0.0010707064587992395, 0.5013244391234406))
diff --git a/mashes_calibration/data/pose0005.txt b/mashes_calibration/data/pose0005.txt
@@ -1 +1 @@
-((1.4700897256281378, 0.23415078801443476, 1.373060448533295), (0.008960397743181013, 0.8652130015472778, 0.0010710487722607673, 0.5013232750235741))
+((1.329207835749762, -0.026367550462376422, 1.5311037713597886), (0.008997871831981015, 0.8652124054112279, 0.001068608425970051, 0.5013236378837966))
diff --git a/mashes_calibration/data/pose0006.txt b/mashes_calibration/data/pose0006.txt
@@ -1 +1 @@
-((1.4012694902916294, 0.039703150740943674, 1.531571385892511), (0.014758685923308607, 0.8637962479473887, -0.0024272316673949433, 0.5036192329213245))
+((1.329206877912182, -0.026366817691603983, 1.5311022188325696), (0.008998611615247754, 0.8652131440609148, 0.0010693305767348212, 0.5013223482604205))
diff --git a/mashes_calibration/scripts/nd_viewer.py b/mashes_calibration/scripts/nd_viewer.py
@@ -19,7 +19,7 @@ class ImageViewer():
     def __init__(self):
         rospy.init_node('viewer', anonymous=True)
 
-        image_topic = rospy.get_param('~image', '/camera/image')
+        image_topic = rospy.get_param('~image', '/image/image')
         self.camera = image_topic.split('/')[1]
 
         rospy.Subscriber(image_topic, Image, self.callback, queue_size=1)

diff --git a/mashes_measures/config/tachyon.yaml b/mashes_measures/config/tachyon.yaml
@@ -1,4 +1,4 @@
 hom:
-- [0.0, -0.33333333333333337, 6.000000000000001]
-- [-0.3125000000000002, 0.0, 3.906250000000002]
+- [ 0, -0.19230769, 3.07692308]
+- [-0.19230769,0, 3.07692308]
 - [0.0, 0.0, 1.0]
diff --git a/mashes_measures/config/tachyon_.yaml b/mashes_measures/config/tachyon_.yaml
@@ -0,0 +1,4 @@
+hom:
+- [0.0, -0.33333333333333337, 6.000000000000001]
+- [-0.3125000000000002, 0.0, 3.906250000000002]
+- [0.0, 0.0, 1.0]
diff --git a/mashes_measures/config/tachyon_coolrate.yaml b/mashes_measures/config/tachyon_coolrate.yaml
diff --git a/mashes_tachyon/config/tachyon.yml b/mashes_tachyon/config/tachyon.yml
@@ -1,5 +1,5 @@
-int_time: 500.0
-wait_time: 500.0
+int_time: 400.0
+wait_time: 600.0
 bias: 1
 vth_value: 256
 timeout: 1000
diff --git a/mashes_tachyon/scripts/nd_tachyon.py b/mashes_tachyon/scripts/nd_tachyon.py
@@ -53,7 +53,8 @@ def __init__(self):
                     frame = LUT_IRON[frame]
                 elif mode == 'mono16':
                     frame = np.uint16(frame)
-                    frame = cv2.resize(frame[9:25,5:21], (32, 32))
+                    frame = cv2.resize(frame[11:27,6:22], (32, 32))
+                    # frame = cv2.resize(frame, (32, 32))
                 else:
                     frame = np.uint8(frame >> 2)
                 image_msg = bridge.cv2_to_imgmsg(frame, encoding=mode)
Original file line number	Diff line number	Diff line change
		@@ -1 +1 @@
		((1.2740572455247403, -0.18973958715357295, 1.5220485214965036), (6.865761699031971e-06, 0.8660388783959461, -3.1458448124174762e-06, 0.4999766605049248))
		((1.4338031632896486, 0.008105807097976613, 1.5213387806268766), (0.008972216992726358, 0.8653096680792038, 0.0010315368340355286, 0.5011562766070614))
Original file line number	Diff line number	Diff line change
		@@ -1 +1 @@
		((1.274056427184639, -0.18974091272850185, 1.5220504759716933), (8.66354975888328e-06, 0.8660388276606203, -3.049696949759817e-06, 0.49997674835922173))
		((1.329213020413509, -0.02639944092189906, 1.5200767622116904), (0.008998193470163118, 0.8652149028573103, 0.001062202886831088, 0.5013193354668419))
Original file line number	Diff line number	Diff line change
		@@ -1 +1 @@
		((1.4700907667032317, 0.2341490629240643, 1.373057420686553), (0.008957878391808076, 0.8652137404885911, 0.0010687173851156246, 0.5013220497121679))
		((1.4168685192929897, -0.07004440942593079, 1.524127201062211), (2.299551148484194e-05, 0.8660518684213881, -7.151442860198546e-06, 0.49995415852244474))
Original file line number	Diff line number	Diff line change
		@@ -1 +1 @@
		((1.470089146714518, 0.23415086844787764, 1.3730593952005308), (0.008959236691997264, 0.8652136754201446, 0.0010697327430971779, 0.5013221355732455))
		((1.3292071329040032, -0.026366668570601763, 1.5311028977759047), (0.008999896138235482, 0.8652119175061956, 0.0010707064587992395, 0.5013244391234406))
Original file line number	Diff line number	Diff line change
		@@ -1 +1 @@
		((1.4700897256281378, 0.23415078801443476, 1.373060448533295), (0.008960397743181013, 0.8652130015472778, 0.0010710487722607673, 0.5013232750235741))
		((1.329207835749762, -0.026367550462376422, 1.5311037713597886), (0.008997871831981015, 0.8652124054112279, 0.001068608425970051, 0.5013236378837966))
Original file line number	Diff line number	Diff line change
		@@ -1 +1 @@
		((1.4012694902916294, 0.039703150740943674, 1.531571385892511), (0.014758685923308607, 0.8637962479473887, -0.0024272316673949433, 0.5036192329213245))
		((1.329206877912182, -0.026366817691603983, 1.5311022188325696), (0.008998611615247754, 0.8652131440609148, 0.0010693305767348212, 0.5013223482604205))