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Sven Schneider
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Jul 19, 2012
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| image_width: 640 | ||
| image_height: 480 | ||
| camera_name: right | ||
| camera_matrix: | ||
| rows: 3 | ||
| cols: 3 | ||
| data: [526.11430030557256, 0, 300.54291573150408, 0, 524.98747064798692, 257.39758836454314, 0, 0, 1] | ||
| distortion_coefficients: | ||
| rows: 1 | ||
| cols: 5 | ||
| data: [0.24327860987087502, -0.82075692895965324, -0.00035209329984236648, -0.0019559583281848580, 0.95382058300602524] | ||
| rectification_matrix: | ||
| rows: 3 | ||
| cols: 3 | ||
| data: [1, 0, 0, 0, 1, 0, 0, 0, 1] | ||
| projection_matrix: | ||
| rows: 3 | ||
| cols: 4 | ||
| data: [526.11430030557256, 0, 300.54291573150408, 0, 0, 524.98747064798692, 257.39758836454314, 0, 0, 0, 1, 0] | ||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,21 @@ | ||
| camera_name: left | ||
| frame_id: /head_color_camera_l_link | ||
| image_width: 1360 | ||
| 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] | ||
| distortion_model: plumb_bob | ||
| distortion_coefficients: | ||
| rows: 1 | ||
| cols: 5 | ||
| data: [-0.25648209827532603, 0.21535276176875215, -0.00076700926780839441, -0.0010578565343022676, -0.053446645001753126] | ||
| 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] | ||
| 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] |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,21 @@ | ||
| camera_name: right | ||
| frame_id: /head_color_camera_l_link | ||
| image_width: 1360 | ||
| image_height: 1024 | ||
| camera_matrix: | ||
| rows: 3 | ||
| cols: 3 | ||
| data: [1451.4054199463656, 0.0, 680.64779530745341, 0.0, 1448.1606054066501, 522.62508312410819, 0.0, 0.0, 1.0] | ||
| distortion_model: plumb_bob | ||
| distortion_coefficients: | ||
| rows: 1 | ||
| cols: 5 | ||
| data: [-0.26540693788495234, 0.25960235060163006, -0.00076220057156406126, -0.0015825195465792492, -0.0082437187321492307] | ||
| rectification_matrix: | ||
| rows: 3 | ||
| cols: 3 | ||
| data: [0.99996690524286469, -0.0038442590186795254, 0.007170083096109235, 0.0038608651288062818, 0.99998989346341471, -0.0023036257259529034, -0.00716115489742946, 0.0023312322118153451, 0.99997164120634441] | ||
| projection_matrix: | ||
| rows: 3 | ||
| cols: 4 | ||
| data: [1455.1678151992817, 0.0, 663.18903350830078, -176.58732580273212, 0.0, 1455.1678151992817, 509.86345291137695, 0.0, 0.0, 0.0, 1.0, 0.0] |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,108 @@ | ||
| <?xml version="1.0"?> | ||
| <robot> | ||
| <!-- ***************** --> | ||
| <!-- base calibration --> | ||
| <!-- ***************** --> | ||
| <!-- laser front mount positions | relative to base_link --> | ||
| <property name="laser_front_x" value="0.325"/> | ||
| <property name="laser_front_y" value="0.0"/> | ||
| <property name="laser_front_z" value="0.135"/> | ||
| <property name="laser_front_roll" value="0"/> | ||
| <property name="laser_front_pitch" value="0"/> | ||
| <property name="laser_front_yaw" value="0"/> | ||
|
|
||
| <!-- laser rear mount positions | relative to base_link --> | ||
| <property name="laser_rear_x" value="-0.325"/> | ||
| <property name="laser_rear_y" value="0.0"/> | ||
| <property name="laser_rear_z" value="0.135"/> | ||
| <property name="laser_rear_roll" value="0"/> | ||
| <property name="laser_rear_pitch" value="0"/> | ||
| <property name="laser_rear_yaw" value="3.1415926"/> | ||
|
|
||
| <!-- laser top mount positions | relative to base_link --> | ||
| <property name="laser_top_x" value="-0.252"/> | ||
| <property name="laser_top_y" value="0.0"/> | ||
| <property name="laser_top_z" value="0.42"/> | ||
| <property name="laser_top_roll" value="0"/> | ||
| <property name="laser_top_pitch" value="0"/> | ||
| <property name="laser_top_yaw" value="0"/> | ||
|
|
||
| <!-- ***************** --> | ||
| <!-- robot calibration --> | ||
| <!-- ***************** --> | ||
| <!-- torso mount positions | relative to base_link --> | ||
| <property name="torso_x" value="0.155"/> | ||
| <property name="torso_y" value="0.0"/> | ||
| <property name="torso_z" value="0.892"/> | ||
| <property name="torso_roll" value="3.1415926"/> | ||
| <property name="torso_pitch" value="0.0"/> | ||
| <property name="torso_yaw" value="0.0"/> | ||
|
|
||
| <!-- arm mount positions | relative to base_link --> | ||
| <property name="arm_x" value="-0.015982"/> | ||
| <property name="arm_y" value="-0.080992"/> | ||
| <property name="arm_z" value="0.875995"/> | ||
| <property name="arm_roll" value="0.7854"/> | ||
| <property name="arm_pitch" value="0.0"/> | ||
| <property name="arm_yaw" value="-0.2618"/> | ||
|
|
||
| <!-- *********************************** --> | ||
| <!-- kinematic chain reference positions --> | ||
| <!-- *********************************** --> | ||
| <!-- torso chain calibration_offest! | relative to reference position (see below)--> | ||
| <!-- not used right now | ||
| <property name="torso_lower_neck_pan_cal_offset" value="0.0"/> | ||
| <property name="torso_lower_neck_tilt_cal_offset" value="0.0"/> | ||
| <property name="torso_upper_neck_pan_cal_offset" value="0.0"/> | ||
| <property name="torso_upper_neck_tilt_cal_offset" value="0.0"/> | ||
| --> | ||
|
|
||
| <!-- torso reference positions | used as calibration_rising for torso chain --> | ||
| <!-- ! set these values to make torso straight with (0, 0, 0) joint angles ! --> | ||
| <property name="torso_lower_neck_pan_ref" value="-0.5306" /> | ||
| <property name="torso_lower_neck_tilt_ref" value="0.0320" /> | ||
| <property name="torso_upper_neck_pan_ref" value="0.5481" /> | ||
| <property name="torso_upper_neck_tilt_ref" value="0.0229" /> | ||
|
|
||
| <!-- tray reference position | used as calibration_rising for tray chain --> | ||
| <property name="torso_tray_ref" value="2.5041" /> | ||
|
|
||
| <!-- head camera axis reference position | used as calibration_rising for head axis chain --> | ||
| <property name="head_axis_ref" value="-3.266798" /> | ||
|
|
||
| <!-- arm reference positions | used as calibration_rising for arm chain --> | ||
| <property name="arm_1_ref" value="0.0" /> | ||
| <property name="arm_2_ref" value="0.0" /> | ||
| <property name="arm_3_ref" value="0.0" /> | ||
| <property name="arm_4_ref" value="0.0" /> | ||
| <property name="arm_5_ref" value="0.0" /> | ||
| <property name="arm_6_ref" value="0.0" /> | ||
| <property name="arm_7_ref" value="0.0" /> | ||
|
|
||
| <!-- ***************************** --> | ||
| <!-- camera calibration properties --> | ||
| <!-- ***************************** --> | ||
| <!-- left | handeye calibration | relative to head_axis_link --> | ||
| <property name="cam_l_x" value="-0.12" /> | ||
| <property name="cam_l_y" value="0.01" /> | ||
| <property name="cam_l_z" value="0.02" /> | ||
| <property name="cam_l_roll" value="0.0" /> | ||
| <property name="cam_l_pitch" value="0.0" /> | ||
| <property name="cam_l_yaw" value="0.0" /> | ||
|
|
||
| <!-- right | stereo baseline calibration | relative to left camera --> | ||
| <property name="cam_r_x" value="-0.00075932" /> | ||
| <property name="cam_r_y" value="-0.00006386" /> | ||
| <property name="cam_r_z" value="-0.00026527" /> | ||
| <property name="cam_r_roll" value="-0.00006" /> | ||
| <property name="cam_r_pitch" value="0.00546" /> | ||
| <property name="cam_r_yaw" value="0.00676" /> | ||
|
|
||
| <!-- cam3d | handeye calibration | relative to head_axis_link --> | ||
| <property name="cam3d_x" value="0.0" /> | ||
| <property name="cam3d_y" value="0.0" /> | ||
| <property name="cam3d_z" value="0.0" /> | ||
| <property name="cam3d_roll" value="0.0" /> | ||
| <property name="cam3d_pitch" value="0.0" /> | ||
| <property name="cam3d_yaw" value="0.0" /> | ||
| </robot> |