From 03fb0e96444fb0c4785221e1a22529fdc796aac3 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Wed, 29 Nov 2017 23:09:42 +0300
Subject: [PATCH] Cmaera parameters

---
 clever/camera_info/fisheye_cam.yaml     | 20 -----------
 clever/camera_info/fisheye_cam_320.yaml | 45 +++++++++++++++++++++++++
 clever/camera_info/fisheye_cam_640.yaml | 45 +++++++++++++++++++++++++
 clever/launch/bottom_camera.launch      |  2 +-
 4 files changed, 91 insertions(+), 21 deletions(-)
 delete mode 100644 clever/camera_info/fisheye_cam.yaml
 create mode 100644 clever/camera_info/fisheye_cam_320.yaml
 create mode 100644 clever/camera_info/fisheye_cam_640.yaml

diff --git a/clever/camera_info/fisheye_cam.yaml b/clever/camera_info/fisheye_cam.yaml
deleted file mode 100644
index 55946f2c..00000000
--- a/clever/camera_info/fisheye_cam.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-image_width: 2592
-image_height: 1944
-distortion_model: pinhole
-camera_name: raspicam
-camera_matrix:
-  rows: 3
-  cols: 3
-  data: [1.34689524e+03, 0., 1.30767920e+03, 0., 1.35094361e+03,  9.60238450e+02, 0.0e+00, 0.0e+00, 1.0]
-distortion_coefficients:
-  rows: 1
-  cols: 8
-  data: [1.11718277e+00, 4.70912345e-01, -2.16258281e-04, 1.71516924e-04, 2.32202095e-02, 1.46837794e+00, 7.92173021e-01, 1.19647684e-01]
-rectification_matrix:
-  rows: 3
-  cols: 3
-  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-projection_matrix:
-  rows: 3
-  cols: 4
-  data: [1.34689524e+03, 0., 1.30767920e+03, 0., 0., 1.35094361e+03, 9.60238450e+02, 0., 0., 0., 1., 0.]
diff --git a/clever/camera_info/fisheye_cam_320.yaml b/clever/camera_info/fisheye_cam_320.yaml
new file mode 100644
index 00000000..76fcd8c2
--- /dev/null
+++ b/clever/camera_info/fisheye_cam_320.yaml
@@ -0,0 +1,45 @@
+image_width: 320
+image_height: 240
+distortion_model: plumb_bob
+camera_name: raspicam
+camera_matrix:
+  rows: 3
+  cols: 3
+  data:
+  - 166.23942373073172
+  - 0.
+  - 162.19011246829268
+  - 0.
+  - 166.5880923974026
+  - 109.82227735714285
+  - 0.
+  - 0.
+  - 1.
+distortion_coefficients:
+  rows: 1
+  cols: 8
+  data:  [  2.15356885e-01,  -1.17472846e-01,  -3.06197672e-04,
+   -1.09444025e-04,  -4.53657258e-03,   5.73090623e-01,
+   -1.27574577e-01,  -2.86125589e-02,   0.00000000e+00,
+    0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
+    0.00000000e+00,   0.00000000e+00]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data:
+  - 166.23942373073172
+  - 0.
+  - 162.19011246829268
+  - 0.
+  - 0.
+  - 166.5880923974026
+  - 109.82227735714285
+  - 0.
+  - 0.
+  - 0.
+  - 1.
+  - 0.
diff --git a/clever/camera_info/fisheye_cam_640.yaml b/clever/camera_info/fisheye_cam_640.yaml
new file mode 100644
index 00000000..f664bb7c
--- /dev/null
+++ b/clever/camera_info/fisheye_cam_640.yaml
@@ -0,0 +1,45 @@
+image_width: 640
+image_height: 480
+distortion_model: plumb_bob
+camera_name: raspicam
+camera_matrix:
+  rows: 3
+  cols: 3
+  data:
+  - 332.47884746146343
+  - 0.
+  - 324.38022493658536
+  - 0.
+  - 333.1761847948052
+  - 219.6445547142857
+  - 0.
+  - 0.
+  - 1.
+distortion_coefficients:
+  rows: 1
+  cols: 8
+  data:  [  2.15356885e-01,  -1.17472846e-01,  -3.06197672e-04,
+   -1.09444025e-04,  -4.53657258e-03,   5.73090623e-01,
+   -1.27574577e-01,  -2.86125589e-02,   0.00000000e+00,
+    0.00000000e+00,   0.00000000e+00,   0.00000000e+00,
+    0.00000000e+00,   0.00000000e+00]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data:
+  - 332.47884746146343
+  - 0.
+  - 324.38022493658536
+  - 0.
+  - 0.
+  - 333.1761847948052
+  - 219.6445547142857
+  - 0.
+  - 0.
+  - 0.
+  - 1.
+  - 0.
diff --git a/clever/launch/bottom_camera.launch b/clever/launch/bottom_camera.launch
index b0c629f9..65beb928 100644
--- a/clever/launch/bottom_camera.launch
+++ b/clever/launch/bottom_camera.launch
@@ -8,7 +8,7 @@
 
     <node pkg="nodelet" type="nodelet" name="bottom_camera" args="load cv_camera/CvCameraNodelet nodelet_manager">
         <param name="frame_id" value="bottom_camera_optical"/>
-        <param name="camera_info_url" value="file://$(find clever)/camera_info/fisheye_cam_new_320.yaml"/>
+        <param name="camera_info_url" value="file://$(find clever)/camera_info/fisheye_cam_320.yaml"/>
         <param name="rate" value="30"/>
         <param name="image_width" value="320"/>
         <param name="image_height" value="240"/>