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Hydro Updates #51

Merged
merged 12 commits into from
Apr 28, 2014
Merged

Hydro Updates #51

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899ff64
new prosilica camera calibration
Aug 28, 2013
19adf02
changed calibration of camera head
Aug 30, 2013
fda2d82
Merge branch 'groovy_dev' of https://github.com/ipa-raw3-1/cob_calibr…
Sep 2, 2013
5011ebc
changed camera calibration
Sep 3, 2013
111a76c
Merge branch 'groovy_dev' of github.com:ipa320/cob_calibration_data i…
Mar 14, 2014
3e263da
added calibration offsets for raw3-3s head
Mar 24, 2014
3dbb490
Added sensors to cob4 description
Mar 26, 2014
e1f5074
Merge pull request #47 from ipa-bnm/groovy_dev
Mar 26, 2014
1b0d22c
Merge branch 'groovy_dev' of http://github.com/ipa-nhg/cob_calibratio…
ipa-cob4-1 Mar 28, 2014
be87a27
Merge pull request #48 from ipa-cob4-1/groovy_dev
Apr 2, 2014
404188e
Merge branch 'groovy_dev' of github.com:ipa320/cob_calibration_data i…
Apr 16, 2014
15aac2a
Merge branch 'hydro_dev' of github.com:ipa320/cob_calibration_data in…
fmessmer Apr 28, 2014
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8 changes: 4 additions & 4 deletions raw3-1/calibration/cameras/left.yaml
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -5,17 +5,17 @@ image_height: 1024
camera_matrix:
rows: 3
cols: 3
data: [1451.2239242707201, 0.0, 647.33159357949535, 0.0, 1451.512357466929, 505.19364095186694, 0.0, 0.0, 1.0]
data: [2478.10117, 0.0, 676.94299, 0.0, 2480.12385, 500.31739, 0.0, 0.0, 1.0]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [-0.25648209827532603, 0.21535276176875215, -0.00076700926780839441, -0.0010578565343022676, -0.053446645001753126]
data: [-0.11020, 0.13941, -0.00081, -0.00164, 0.00000]
rectification_matrix:
rows: 3
cols: 3
data: [0.99992009750099486, 0.0079444814385283887, -0.0098327935132465714, -0.0079216726602033809, 0.99996584655826892, 0.002356442078415095, 0.0098511783998591895, -0.0022783616212569972, 0.99994888036962026]
data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
projection_matrix:
rows: 3
cols: 4
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]
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]
13 changes: 6 additions & 7 deletions raw3-1/calibration/cameras/right.yaml
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Original file line number Diff line number Diff line change
@@ -1,22 +1,21 @@
camera_name: right
frame_id: /head_color_camera_l_link
image_width: 1360
frame_id: /head_color_camera_r_link
image_width: 1024
image_height: 1024
camera_matrix:
rows: 3
cols: 3
data: [1446.21137, 0.0, 663.37706, 0.0, 1441.56567, 525.39049, 0.0, 0.0, 1.0]
data: [1680.427850, 0.000000, 519.168401, 0.000000, 1680.703878, 489.716604, 0.000000, 0.000000, 1.000000]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [-0.25773, 0.20704, -0.00061, -0.00063, 0.00000]
data: [-0.267916, 0.275592, 0.000280, 0.000391, 0.000000]
rectification_matrix:
rows: 3
cols: 3
data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
# data: [0.99996690524286469, -0.0038442590186795254, 0.007170083096109235, 0.0038608651288062818, 0.99998989346341471, -0.0023036257259529034, -0.00716115489742946, 0.0023312322118153451, 0.99997164120634441]
data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
projection_matrix:
rows: 3
cols: 4
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]
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]
48 changes: 48 additions & 0 deletions raw3-3/calibration/calibration_offset.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -37,4 +37,52 @@
<property name="offset_gripper_right_pitch" value="0.0"/>
<property name="offset_gripper_right_yaw" value="0.0"/>

<!-- neck mount positions | relative to arm_torso_link -->
<property name="offset_neck_x" value="0.0"/>
<property name="offset_neck_y" value="0.0"/>
<property name="offset_neck_z" value="0.0"/>
<property name="offset_neck_roll" value="0.0"/>
<property name="offset_neck_pitch" value="0.0"/>
<property name="offset_neck_yaw" value="0.0"/>

<!-- head mount positions | relative to neck_mount_link -->
<property name="offset_head_x" value="0.0"/>
<property name="offset_head_y" value="0.0"/>
<property name="offset_head_z" value="0.0"/>
<property name="offset_head_roll" value="0.0"/>
<property name="offset_head_pitch" value="0.0"/>
<property name="offset_head_yaw" value="0.0"/>

<!-- ids_middle mount positions | relative to head_cam_holder_link -->
<property name="offset_ids_middle_x" value="0.0"/>
<property name="offset_ids_middle_y" value="0.0"/>
<property name="offset_ids_middle_z" value="0.0"/>
<property name="offset_ids_middle_roll" value="0.0"/>
<property name="offset_ids_middle_pitch" value="0.0"/>
<property name="offset_ids_middle_yaw" value="0.0"/>

<!-- ids_left mount positions | relative to head_cam_holder_link -->
<property name="offset_ids_left_x" value="0.0"/>
<property name="offset_ids_left_y" value="0.0"/>
<property name="offset_ids_left_z" value="0.0"/>
<property name="offset_ids_left_roll" value="0.0"/>
<property name="offset_ids_left_pitch" value="0.0"/>
<property name="offset_ids_left_yaw" value="0.0"/>

<!-- ids_right mount positions | relative to head_cam_holder_link -->
<property name="offset_ids_right_x" value="0.0"/>
<property name="offset_ids_right_y" value="0.0"/>
<property name="offset_ids_right_z" value="0.0"/>
<property name="offset_ids_right_roll" value="0.0"/>
<property name="offset_ids_right_pitch" value="0.0"/>
<property name="offset_ids_right_yaw" value="0.0"/>

<!-- cam_holder mount positions | relative to head_cam_holder_link -->
<property name="offset_cam_holder_x" value="0.0"/>
<property name="offset_cam_holder_y" value="0.0"/>
<property name="offset_cam_holder_z" value="0.0"/>
<property name="offset_cam_holder_roll" value="0.0"/>
<property name="offset_cam_holder_pitch" value="0.0"/>
<property name="offset_cam_holder_yaw" value="0.0"/>

</robot>