I haven't seen any talk on the users list about PointCloud2. Is the API
for PointCloud2 stable? Is it supported in rviz? Or hsould I keep
using the original PointCloud for now.
Patrick Beeson wrote:
> Given that the camera1394 driver is based off my local ROS node, I'm
> definitely using it to update my very similar swissranger node for
> public use. I especially want to be able to use testing of the
> camera1394 node to inform changes to the SR node, as I doubt there will
> be as many testers for the SR node.
>
> Thanks for the help and advice.
>
> Blaise Gassend wrote:
>> The calibration would be done at a higher level, and the parameters
>> passed back to the camera driver whose responsibility it is to publish
>> them. So if you just output default values, people will have a hard time
>> using the device as a camera.
>>
>> You could look at the CameraInfoManager in camera1394. It would be easy
>> for you to pull into your driver, and would allow people to calibrate
>> the camera just like any other camera. At some point I want to move that
>> functionality into some common package, but I haven't had a chance yet.
>>
>> Blaise
>>
>> On Tue, 2010-03-30 at 11:12 -0500, Patrick Beeson wrote:
>>> 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
>>>>> _______________________________________________
>>>>> ros-users mailing list
>>>>> ros-users@code.ros.org
>>>>> https://code.ros.org/mailman/listinfo/ros-users
>>>>
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>>
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