The swissranger is calibrated at the factory.  They do not provide the 
internal optical parameters they use when getting 3D points from 2D 
images.  If one wanted to rectify the 2D depth or intensity images, one 
could run a checkerboard calibration from the intensity image (I've done 
this).  I'm assuming this would be done at a higher level than the 
camera communication driver.   So, for now, camera parameters will need 
to be set to defaults.


Blaise Gassend wrote:
> If it looks like a dog, and barks like a dog, why not put it in
> dog_experimental?
> 
> So if you are publishing an image and a camera info with the standard
> directory structure, it sounds like a good candidate for
> camera_drivers_experimental.
> 
> How are you dealing with calibration?
> 
> Blaise
> 
> On Tue, 2010-03-30 at 09:44 -0500, Patrick Beeson wrote:
>> I think I'll have some time later this week to update my ROS Swissranger 
>> 3000/4000 driver with appropriate image_proc info.  Radu and I had 
>> discussed this replacing his older 3K node, as this is basically a port 
>> of that to work with the newer Mesa Imaging API.
>>
>> I think having this driver in the camera_drivers_experimental would be 
>> fine, as the device is essentially a camera that publishes multiple 2D 
>> images along with a point cloud (I'll make this a runtime option).  Any 
>> objections to locating a 3D flash lidar driver in the 
>> camera_drivers_experimental stack?
>>
>>
>> Patrick Beeson
>> _______________________________________________
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>> ros-users@code.ros.org
>> https://code.ros.org/mailman/listinfo/ros-users
> 
> 
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