From dfebf7e4e28b8348ede395dc9b8ba82df07f6420 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Tue, 7 Nov 2017 15:36:25 +0300
Subject: [PATCH] Launch-file for the bottom camera

---
 clever/camera_info/fisheye_cam.yaml | 20 ++++++++++++++++++++
 clever/launch/bottom_camera.launch  | 14 ++++++++++++++
 2 files changed, 34 insertions(+)
 create mode 100644 clever/camera_info/fisheye_cam.yaml
 create mode 100644 clever/launch/bottom_camera.launch

diff --git a/clever/camera_info/fisheye_cam.yaml b/clever/camera_info/fisheye_cam.yaml
new file mode 100644
index 00000000..55946f2c
--- /dev/null
+++ b/clever/camera_info/fisheye_cam.yaml
@@ -0,0 +1,20 @@
+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/launch/bottom_camera.launch b/clever/launch/bottom_camera.launch
new file mode 100644
index 00000000..26f4fc5c
--- /dev/null
+++ b/clever/launch/bottom_camera.launch
@@ -0,0 +1,14 @@
+<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>