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Commit e1f5074

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Florian Weisshardt
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Merge pull request #47 from ipa-bnm/groovy_dev
added calibration offsets for raw3-3s head and neck
2 parents 98ccc7c + 3e263da commit e1f5074

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+58
-11
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3 files changed

+58
-11
lines changed

‎raw3-1/calibration/cameras/left.yaml

+4-4
Original file line numberDiff line numberDiff line change
@@ -5,17 +5,17 @@ image_height: 1024
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camera_matrix:
66
rows: 3
77
cols: 3
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data: [1451.2239242707201, 0.0, 647.33159357949535, 0.0, 1451.512357466929, 505.19364095186694, 0.0, 0.0, 1.0]
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data: [2478.10117, 0.0, 676.94299, 0.0, 2480.12385, 500.31739, 0.0, 0.0, 1.0]
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distortion_model: plumb_bob
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distortion_coefficients:
1111
rows: 1
1212
cols: 5
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data: [-0.25648209827532603, 0.21535276176875215, -0.00076700926780839441, -0.0010578565343022676, -0.053446645001753126]
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data: [-0.11020, 0.13941, -0.00081, -0.00164, 0.00000]
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rectification_matrix:
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rows: 3
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cols: 3
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data: [0.99992009750099486, 0.0079444814385283887, -0.0098327935132465714, -0.0079216726602033809, 0.99996584655826892, 0.002356442078415095, 0.0098511783998591895, -0.0022783616212569972, 0.99994888036962026]
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data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
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projection_matrix:
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rows: 3
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cols: 4
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data: [1455.1678151992817, 0.0, 663.18903350830078, 0.0, 0.0, 1455.1678151992817, 509.86345291137695, 0.0, 0.0, 0.0, 1.0, 0.0]
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data: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0]

‎raw3-1/calibration/cameras/right.yaml

+6-7
Original file line numberDiff line numberDiff line change
@@ -1,22 +1,21 @@
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camera_name: right
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frame_id: /head_color_camera_l_link
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image_width: 1360
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frame_id: /head_color_camera_r_link
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image_width: 1024
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image_height: 1024
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camera_matrix:
66
rows: 3
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cols: 3
8-
data: [1446.21137, 0.0, 663.37706, 0.0, 1441.56567, 525.39049, 0.0, 0.0, 1.0]
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data: [1680.427850, 0.000000, 519.168401, 0.000000, 1680.703878, 489.716604, 0.000000, 0.000000, 1.000000]
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distortion_model: plumb_bob
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distortion_coefficients:
1111
rows: 1
1212
cols: 5
13-
data: [-0.25773, 0.20704, -0.00061, -0.00063, 0.00000]
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data: [-0.267916, 0.275592, 0.000280, 0.000391, 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: [1, 0, 0, 0, 1, 0, 0, 0, 1]
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# data: [0.99996690524286469, -0.0038442590186795254, 0.007170083096109235, 0.0038608651288062818, 0.99998989346341471, -0.0023036257259529034, -0.00716115489742946, 0.0023312322118153451, 0.99997164120634441]
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data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
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projection_matrix:
2019
rows: 3
2120
cols: 4
22-
data: [1446.21137, 0.0, 663.37706, 0.0, 0.0, 1441.56567, 525.39049, 0.0, 0.0, 0.0, 1.0, 0.0]
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data: [1680.427850, 0.000000, 519.168401, 0.000000, 0.000000, 1680.703878, 489.716604, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]

‎raw3-3/calibration/calibration_offset.urdf.xacro

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Original file line numberDiff line numberDiff line change
@@ -37,4 +37,52 @@
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<property name="offset_gripper_right_pitch" value="0.0"/>
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<property name="offset_gripper_right_yaw" value="0.0"/>
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<!-- neck mount positions | relative to arm_torso_link -->
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<property name="offset_neck_x" value="0.0"/>
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<property name="offset_neck_y" value="0.0"/>
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<property name="offset_neck_z" value="0.0"/>
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<property name="offset_neck_roll" value="0.0"/>
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<property name="offset_neck_pitch" value="0.0"/>
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<property name="offset_neck_yaw" value="0.0"/>
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<!-- head mount positions | relative to neck_mount_link -->
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<property name="offset_head_x" value="0.0"/>
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<property name="offset_head_y" value="0.0"/>
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<property name="offset_head_z" value="0.0"/>
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<property name="offset_head_roll" value="0.0"/>
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<property name="offset_head_pitch" value="0.0"/>
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<property name="offset_head_yaw" value="0.0"/>
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<!-- ids_middle mount positions | relative to head_cam_holder_link -->
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<property name="offset_ids_middle_x" value="0.0"/>
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<property name="offset_ids_middle_y" value="0.0"/>
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<property name="offset_ids_middle_z" value="0.0"/>
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<property name="offset_ids_middle_roll" value="0.0"/>
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<property name="offset_ids_middle_pitch" value="0.0"/>
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<property name="offset_ids_middle_yaw" value="0.0"/>
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<!-- ids_left mount positions | relative to head_cam_holder_link -->
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<property name="offset_ids_left_x" value="0.0"/>
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<property name="offset_ids_left_y" value="0.0"/>
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<property name="offset_ids_left_z" value="0.0"/>
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<property name="offset_ids_left_roll" value="0.0"/>
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<property name="offset_ids_left_pitch" value="0.0"/>
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<property name="offset_ids_left_yaw" value="0.0"/>
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<!-- ids_right mount positions | relative to head_cam_holder_link -->
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<property name="offset_ids_right_x" value="0.0"/>
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<property name="offset_ids_right_y" value="0.0"/>
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<property name="offset_ids_right_z" value="0.0"/>
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<property name="offset_ids_right_roll" value="0.0"/>
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<property name="offset_ids_right_pitch" value="0.0"/>
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<property name="offset_ids_right_yaw" value="0.0"/>
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<!-- cam_holder mount positions | relative to head_cam_holder_link -->
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<property name="offset_cam_holder_x" value="0.0"/>
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<property name="offset_cam_holder_y" value="0.0"/>
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<property name="offset_cam_holder_z" value="0.0"/>
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<property name="offset_cam_holder_roll" value="0.0"/>
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<property name="offset_cam_holder_pitch" value="0.0"/>
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<property name="offset_cam_holder_yaw" value="0.0"/>
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</robot>

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