From b08ad5a61856ae85329c1c9c789c6f3b8082112e Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Thu, 13 Feb 2020 23:14:05 +0300
Subject: [PATCH 1/3] Camera calibration: set principal point strictly to the
 center

---
 clover/camera_info/fisheye_cam_640.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/clover/camera_info/fisheye_cam_640.yaml b/clover/camera_info/fisheye_cam_640.yaml
index f664bb7c..42825540 100644
--- a/clover/camera_info/fisheye_cam_640.yaml
+++ b/clover/camera_info/fisheye_cam_640.yaml
@@ -8,10 +8,10 @@ camera_matrix:
   data:
   - 332.47884746146343
   - 0.
-  - 324.38022493658536
+  - 320.0
   - 0.
   - 333.1761847948052
-  - 219.6445547142857
+  - 240.0
   - 0.
   - 0.
   - 1.

From 2f69ad3f43f2ef92f95f876d3cee253b12f568d9 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Thu, 13 Feb 2020 23:17:52 +0300
Subject: [PATCH 2/3] Keep only one calibration file

---
 ...{fisheye_cam_640.yaml => fisheye_cam.yaml} |  0
 clover/camera_info/fisheye_cam_320.yaml       | 45 -------------------
 clover/launch/main_camera.launch              |  2 +-
 3 files changed, 1 insertion(+), 46 deletions(-)
 rename clover/camera_info/{fisheye_cam_640.yaml => fisheye_cam.yaml} (100%)
 delete mode 100644 clover/camera_info/fisheye_cam_320.yaml

diff --git a/clover/camera_info/fisheye_cam_640.yaml b/clover/camera_info/fisheye_cam.yaml
similarity index 100%
rename from clover/camera_info/fisheye_cam_640.yaml
rename to clover/camera_info/fisheye_cam.yaml
diff --git a/clover/camera_info/fisheye_cam_320.yaml b/clover/camera_info/fisheye_cam_320.yaml
deleted file mode 100644
index 76fcd8c2..00000000
--- a/clover/camera_info/fisheye_cam_320.yaml
+++ /dev/null
@@ -1,45 +0,0 @@
-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/clover/launch/main_camera.launch b/clover/launch/main_camera.launch
index ad17b443..890ff0dd 100644
--- a/clover/launch/main_camera.launch
+++ b/clover/launch/main_camera.launch
@@ -18,7 +18,7 @@
     <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true">
         <param name="device_path" value="/dev/video0"/> <!-- v4l2 device -->
         <param name="frame_id" value="main_camera_optical"/>
-        <param name="camera_info_url" value="file://$(find clover)/camera_info/fisheye_cam_320.yaml"/>
+        <param name="camera_info_url" value="file://$(find clover)/camera_info/fisheye_cam.yaml"/>
 
         <param name="rate" value="100"/> <!-- poll rate -->
         <param name="cv_cap_prop_fps" value="40"/> <!-- camera FPS -->

From 3e79c251470a708068f4561b058fd58de4fa9ec6 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Thu, 20 Feb 2020 19:16:23 +0300
Subject: [PATCH 3/3] Camera info resolution matching camera resolution is not
 necessary with auto rescaling

---
 clover/launch/main_camera.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/clover/launch/main_camera.launch b/clover/launch/main_camera.launch
index 890ff0dd..8fae7872 100644
--- a/clover/launch/main_camera.launch
+++ b/clover/launch/main_camera.launch
@@ -25,7 +25,7 @@
         <param name="capture_delay" value="0.02"/> <!-- approximate delay on frame retrieving -->
         <param name="rescale_camera_info" value="true"/> <!-- automatically rescale camera calibration info -->
 
-        <!-- camera resolution, NOTE: camera_info file should match it -->
+        <!-- camera resolution -->
         <param name="image_width" value="320"/>
         <param name="image_height" value="240"/>
     </node>