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Launch-file for the bottom camera

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This commit is contained in:
Oleg Kalachev
2017-11-07 15:36:25 +03:00
parent d0f2dda58b
commit dfebf7e4e2
2 changed files with 34 additions and 0 deletions
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20
clever/camera_info/fisheye_cam.yaml Normal file
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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.]

14
clever/launch/bottom_camera.launch Normal file
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<launch>
<!-- the bottom facing camera -->
<!-- TODO: use quaternion for orientation -->
<node pkg="tf2_ros" type="static_transform_publisher" name="bottom_camera_frame" args="0 0 0 -1.5707963 0 3.1415926 fcu bottom_camera"/>
<node pkg="cv_camera" type="cv_camera_node" name="bottom_camera">
<param name="frame_id" value="bottom_camera"/>
<param name="camera_info_url" value="file://$(find clever)/camera_info/fisheye_cam.yaml"/>
<param name="rate" value="30"/>
<param name="image_width" value="320"/>
<param name="image_height" value="240"/>
</node>
</launch>