[ros-users] ar_pose basic questions
Prasad Dixit
abhimohpra at gmail.com
Wed Dec 22 07:46:45 UTC 2010
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
--
View this message in context: http://ros-users.122217.n3.nabble.com/ar-pose-basic-questions-tp2025177p2130075.html
Sent from the ROS-Users mailing list archive at Nabble.com.
More information about the ros-users
mailing list