[ros-users] ar_pose basic questions

[Prasad Dixit]

Hello Bill,

I have two cameras, laptop default and uvc: webcam Logitech pro 9000 (Auto
focus is off)
I enabled uvc and calibrated camera using 8x6 --square 0.108 mm chessboard.
It automatically sets the resolution 1600 X 1200 pxl. I did not find a way
to change it. 

In  usb_cam_nose.cpp It is mentioned as, 
   node_.param("image_width", image_width_, 640);
    node_.param("image_height", image_height_, 480);

then it asked for the file with the autogenerated name as
v046Dp0990d0008dcEFdsc02dp01ic0Eisc01ip00_01604D55_640x480.yaml
I created the same name file with below calib parameters:

image_width: 1600
image_height: 1200
camera_name: camera
camera_matrix:
  rows: 3
  cols: 3
  data: [1386.75, 0, 851.704, 0, 1386.18, 572.83, 0, 0, 1]
distortion_coefficients:
  rows: 1
  cols: 5
  data: [0.072094, -0.133644, -0.001888, 0.006912, 0]
rectification_matrix:
  rows: 3
  cols: 3
  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
projection_matrix:
  rows: 3
  cols: 4
  data: [1386.75, 0, 851.704, 0, 0, 1386.18, 572.83, 0, 0, 0, 1, 0]

It works well with image_proc or simple image show. but, /camera topic is
published and not display anything in rviz even after camera_info is being
generated which i checked using rostopic echo.

No CameraInfo received on [/usb_cam/camera_info].  Topic may not exist.
> Image: No image received.
> Transform [Sender=/usb_cam] = For frame [camera]: Frame [camera] does not
> exist 

I tried to change the parameter of usb_cam_node.cpp from 640 X 480 to 1600 X
1200 and created new file named
v046Dp0990d0008dcEFdsc02dp01ic0Eisc01ip00_01604D55_1600x1200.yaml with the
same above parameters.

When i run ar_pose with below launch file, i get same output in rviz as
above along with error messages from one of the codes:
"outbuf size mismatch.  pic_size: %d bufsize: %d\n",pic_size

Am i going wrong somewhere?
Is this a right approach to configure ar_pose and usb_cam?

Thanks,
- Prasad

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