Lab3.pdf

Lab3v2.pdf

1_Lab3_sound_play.pdf

Part I

https://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration

Raw

roslaunch raspicam_node camerav2_1280x960_10fps.launch **enable_raw:=true**

rosrun camera_calibration cameracalibrator.py --size **7x5** --square 0.031 image:=/raspicam_node/image camera:=/raspicam_node

Compressed

~~roslaunch raspicam_node camerav2_410x308_30fps.launch~~

~~rosrun camera_calibration cameracalibrator.py --size 7x5 --square 0.031 image:=/raspicam_node/image/compressed camera:=/raspicam_node~~

ERROR

(display:6265): GLib-GObject-CRITICAL **: 15:12:06.731: g_object_unref: assertion 'G_IS_OBJECT (object)' failed

View YAML

On Raspberrypi

cd ~/.ros/camera_info/

image_width: 1280
image_height: 960
camera_name: camerav2_1280x960
camera_matrix:
  rows: 3
  cols: 3
  data: [980.7700899728034, 0, 639.7768979933879, 0, 982.2381013257042, 444.315$
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [0.05899977265955128, -0.04846596055478205, -0.02047719541790899, 0.001$
rectification_matrix:
  rows: 3
  cols: 3
  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
projection_matrix:
  rows: 3
  cols: 4
  data: [1015.395874023438, 0, 642.4317965395967, 0, 0, 999.9886474609375, 424.$

Problems