Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Consolidate example calibration configuration files and data set files #106

Merged
merged 1 commit into from
Nov 13, 2023
Merged

Consolidate example calibration configuration files and data set files #106

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
16 changes: 0 additions & 16 deletions rct_examples/config/static_camera_guesses.yaml
View file
Open in desktop

This file was deleted.

0 rct_examples/config/kinect_camera_intr.yaml → ...ples/data/test_set_10x10/camera_intr.yaml
View file
Open in desktop
File renamed without changes.
5 changes: 5 additions & 0 deletions rct_examples/data/test_set_10x10/camera_intr_calibrated.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,5 @@
intrinsics:
fx: 542.324 # pixels
fy: 543.515 # pixels
cx: 320.474
cy: 226.039
0 ...qualification/camera_to_target_guess.yaml → ...qualification/camera_to_target_guess.yaml
View file
Open in desktop
File renamed without changes.
0 ...ples/config/noise_qualification/data.yaml → ...t_set_10x10/noise_qualification/data.yaml
View file
Open in desktop
File renamed without changes.
0 ...mples/config/camera_on_wrist_guesses.yaml → ...les/data/test_set_10x10/pose_guesses.yaml
View file
Open in desktop
File renamed without changes.
0 rct_examples/config/target_10x10.yaml → rct_examples/data/test_set_10x10/target.yaml
View file
Open in desktop
File renamed without changes.
0 .../config/avt_gige_camera_intr_nominal.yaml → ...es/data/test_set_charuco/camera_intr.yaml
View file
Open in desktop
File renamed without changes.
0 ...nfig/avt_gige_camera_intr_calibrated.yaml → ...t_set_charuco/camera_intr_calibrated.yaml
View file
Open in desktop
File renamed without changes.
0 ...amples/config/charuco_camera_guesses.yaml → ...s/data/test_set_charuco/pose_guesses.yaml
View file
Open in desktop
File renamed without changes.
0 rct_examples/config/charuco_target_7x5.yaml → ...xamples/data/test_set_charuco/target.yaml
View file
Open in desktop
File renamed without changes.
4 changes: 2 additions & 2 deletions rct_examples/launch/camera_intrinsic_calibration_example.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<launch>
<arg name="camera_file" default="$(find rct_examples)/config/kinect_camera_intr.yaml"/>
<arg name="target_file" default="$(find rct_examples)/config/target_10x10.yaml"/>
<arg name="camera_file" default="$(find rct_examples)/data/test_set_10x10/camera_intr_calibrated.yaml"/>
<arg name="target_file" default="$(find rct_examples)/data/test_set_10x10/target.yaml"/>
<arg name="data_path" default="$(find rct_examples)/data/test_set_10x10/cal_data.yaml"/>

<node pkg="rct_examples" type="intr_camera_cal_ex" name="intrinsic_cal_example" output="screen">
Expand Down
6 changes: 3 additions & 3 deletions rct_examples/launch/camera_intrinsic_calibration_validation.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,8 +1,8 @@
<?xml version="1.0"?>
<launch>
<arg name="camera_file" default="$(find rct_examples)/config/kinect_camera_intr.yaml"/>
<arg name="target_file" default="$(find rct_examples)/config/target_10x10.yaml"/>
<arg name="guess_file" default="$(find rct_examples)/config/camera_on_wrist_guesses.yaml"/>
<arg name="camera_file" default="$(find rct_examples)/data/test_set_10x10/camera_intr_calibrated.yaml"/>
<arg name="target_file" default="$(find rct_examples)/data/test_set_10x10/target.yaml"/>
<arg name="guess_file" default="$(find rct_examples)/data/test_set_10x10/pose_guesses.yaml"/>
<arg name="data_path" default="$(find rct_examples)/data/test_set_10x10/cal_data.yaml"/>

<node pkg="rct_examples" type="camera_intrinsic_calibration_validation" name="camera_intr_validation" output="screen">
Expand Down
8 changes: 4 additions & 4 deletions rct_examples/launch/camera_on_wrist_example.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,10 +1,10 @@
<?xml version="1.0"?>
<launch>
<arg name="camera_file" default="$(find rct_examples)/config/kinect_camera_intr.yaml"/>
<arg name="target_file" default="$(find rct_examples)/config/target_10x10.yaml"/>
<arg name="guess_file" default="$(find rct_examples)/config/camera_on_wrist_guesses.yaml"/>
<arg name="camera_file" default="$(find rct_examples)/data/test_set_10x10/camera_intr.yaml"/>
<arg name="target_file" default="$(find rct_examples)/data/test_set_10x10/target.yaml"/>
<arg name="guess_file" default="$(find rct_examples)/data/test_set_10x10/pose_guesses.yaml"/>
<arg name="data_path" default="$(find rct_examples)/data/test_set_10x10/cal_data.yaml"/>
<arg name="homography_threshold" default="1.0" doc="Threshold for average reprojection error for an obseravation (in pixels), above which an observation will be excluded from the calibration"/>
<arg name="homography_threshold" default="2.0" doc="Threshold for average reprojection error for an obseravation (in pixels), above which an observation will be excluded from the calibration"/>

<node pkg="rct_examples" type="moving_cam_extr_cal_ex" name="camera_on_wrist" output="screen">
<rosparam command="load" file="$(arg camera_file)"/>
Expand Down
8 changes: 4 additions & 4 deletions rct_examples/launch/noise_qualification_2d.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,10 +1,10 @@
<?xml version="1.0"?>
<launch>
<arg name="data_path" default="$(find rct_examples)/data/test_set_10x10"/>
<arg name="data_file" default="$(find rct_examples)/config/noise_qualification/data.yaml"/>
<arg name="pose_file" default="$(find rct_examples)/config/noise_qualification/camera_to_target_guess.yaml"/>
<arg name="target_file" default="$(find rct_examples)/config/target_10x10.yaml"/>
<arg name="camera_intr_file" default="$(find rct_examples)/config/kinect_camera_intr.yaml"/>
<arg name="data_file" default="$(arg data_path)/noise_qualification/data.yaml"/>
<arg name="pose_file" default="$(arg data_path)/noise_qualification/camera_to_target_guess.yaml"/>
<arg name="target_file" default="$(arg data_path)/target.yaml"/>
<arg name="camera_intr_file" default="$(arg data_path)/camera_intr.yaml"/>

<node name="noise_qualification_2d" pkg="rct_examples" type="noise_qualification_2d" output="screen">
<param name="data_path" value="$(arg data_path)"/>
Expand Down
4 changes: 2 additions & 2 deletions rct_examples/launch/pnp_example.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<launch>
<arg name="camera_file" default="$(find rct_examples)/config/kinect_camera_intr.yaml"/>
<arg name="target_file" default="$(find rct_examples)/config/target_10x10.yaml"/>
<arg name="camera_file" default="$(find rct_examples)/data/test_set_10x10/camera_intr.yaml"/>
<arg name="target_file" default="$(find rct_examples)/data/test_set_10x10/target.yaml"/>
<arg name="image_path" default="$(find rct_examples)/data/test_set_10x10/images/0.png"/>

<node pkg="rct_examples" type="solve_pnp_ex" name="solve_pnp_ex" output="screen">
Expand Down
16 changes: 0 additions & 16 deletions rct_examples/launch/static_camera_charuco_example.launch
View file
Open in desktop

This file was deleted.

10 changes: 5 additions & 5 deletions rct_examples/launch/static_camera_example.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,10 +1,10 @@
<?xml version="1.0"?>
<launch>
<arg name="camera_file" default="$(find rct_examples)/config/avt_gige_camera_intr_nominal.yaml"/>
<arg name="target_file" default="$(find rct_examples)/config/target_10x10.yaml"/>
<arg name="guess_file" default="$(find rct_examples)/config/static_camera_guesses.yaml"/>
<arg name="data_path"/>
<arg name="homography_threshold" default="1.0" doc="Threshold for average reprojection error for an obseravation (in pixels), above which an observation will be excluded from the calibration"/>
<arg name="camera_file" default="$(find rct_examples)/data/test_set_charuco/camera_intr_calibrated.yaml"/>
<arg name="target_file" default="$(find rct_examples)/data/test_set_charuco/target.yaml"/>
<arg name="guess_file" default="$(find rct_examples)/data/test_set_charuco/pose_guesses.yaml"/>
<arg name="data_path" default="$(find rct_examples)/data/test_set_charuco/cal_data.yaml"/>
<arg name="homography_threshold" default="2.0" doc="Threshold for average reprojection error for an obseravation (in pixels), above which an observation will be excluded from the calibration"/>

<node pkg="rct_examples" type="static_cam_extr_cal_ex" name="static_camera_cal" output="screen">
<rosparam command="load" file="$(arg camera_file)"/>
Expand Down