updated references to the ocamcalib config file

ctu-mrs · Jan 19, 2024 · 475178f · 475178f
1 parent 5027eac
commit 475178f
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Showing 8 changed files with 29 additions and 9 deletions.
diff --git a/config/ocamcalib/calib_results_bf_uv_fe.txt b/config/ocamcalib/calib_results_bf_uv_fe.txt
@@ -0,0 +1,20 @@
+#polynomial coefficients for the DIRECT mapping function (ocam_model.ss in MATLAB). These are used by cam2world
+
+5 -2.595395e+02 0 1.626945e-03 -2.328091e-06 6.601777e-09 
+
+#polynomial coefficients for the inverse mapping function (ocam_model.invpol in MATLAB). These are used by world2cam
+
+10 388.557547 220.910537 -10.127377 31.174444 16.299989 0.874110 31.882430 44.770601 21.586002 3.593416 
+
+#center: "row" and "column", starting from 0 (C convention)
+
+229.581672 364.430465
+
+#affine parameters "c", "d", "e"
+
+1.000314 -0.000012 -0.000158
+
+#image size: "height" and "width"
+
+480 752
+
diff --git a/scripts/sbt.yml b/scripts/sbt.yml
@@ -20,8 +20,8 @@ windows:
   - spawn:
       layout: even-vertical
       panes:
-        - waitForGazebo; rosservice call /mrs_drone_spawner/spawn  "2 $UAV_TYPE --pos-file $(rospack find uvdar_core)/scripts/rx1.csv --enable-rangefinder --enable-ground-truth --enable-dual-uv-cameras --enable-back-uv-camera --uvcam_calib_file \"$(rospack find uvdar_core)/include/OCamCalib/config/calib_results_bf_uv_fe.txt\""
-        # - waitForGazebo; rosservice call /mrs_drone_spawner/spawn  "3 $UAV_TYPE --pos-file $(rospack find uvdar_core)/scripts/rx2.csv --enable-rangefinder --enable-ground-truth --enable-dual-uv-cameras --enable-back-uv-camera --uvcam_calib_file \"$(rospack find uvdar_core)/include/OCamCalib/config/calib_results_bf_uv_fe.txt\""
+        - waitForGazebo; rosservice call /mrs_drone_spawner/spawn  "2 $UAV_TYPE --pos-file $(rospack find uvdar_core)/scripts/rx1.csv --enable-rangefinder --enable-ground-truth --enable-dual-uv-cameras --enable-back-uv-camera --uvcam_calib_file \"$(rospack find uvdar_core)/config/ocamcalib/calib_results_bf_uv_fe.txt\""
+        # - waitForGazebo; rosservice call /mrs_drone_spawner/spawn  "3 $UAV_TYPE --pos-file $(rospack find uvdar_core)/scripts/rx2.csv --enable-rangefinder --enable-ground-truth --enable-dual-uv-cameras --enable-back-uv-camera --uvcam_calib_file \"$(rospack find uvdar_core)/config/ocamcalib/calib_results_bf_uv_fe.txt\""
         - waitForGazebo; sleep 12; rosservice call /mrs_drone_spawner/spawn  "3 $UAV_TYPE --pos-file $(rospack find uvdar_core)/scripts/rx2.csv --enable-rangefinder --enable-ground-truth --enable-uv-leds --uvled_s 0 1 2 3"
         - waitForGazebo; sleep 18; rosservice call /mrs_drone_spawner/spawn  "4 $UAV_TYPE --pos-file $(rospack find uvdar_core)/scripts/tx.csv --enable-rangefinder --enable-ground-truth --enable-uv-leds --uvled_s 4 5 6 7"
         # - waitForGazebo; sleep 24; rosservice call /mrs_drone_spawner/spawn  "9 $UAV_TYPE --pos-file $(rospack find uvdar_core)/scripts/p3.csv --enable-rangefinder --enable-ground-truth --enable-uv-leds --uvled_s 8 9 10 11"

diff --git a/scripts/sequence_setting_test.yml b/scripts/sequence_setting_test.yml
@@ -19,7 +19,7 @@ windows:
   - spawn:
       layout: even-vertical
       panes:
-        - waitForGazebo; rosservice call /mrs_drone_spawner/spawn  "1 $UAV_TYPE --pos-file $(rospack find uvdar_core)/scripts/position1.csv --enable-rangefinder --enable-ground-truth --enable-dual-uv-cameras --enable-back-uv-camera --uvcam_calib_file \"$(rospack find uvdar_core)/include/OCamCalib/config/calib_results_bf_uv_fe.txt\""
+        - waitForGazebo; rosservice call /mrs_drone_spawner/spawn  "1 $UAV_TYPE --pos-file $(rospack find uvdar_core)/scripts/position1.csv --enable-rangefinder --enable-ground-truth --enable-dual-uv-cameras --enable-back-uv-camera --uvcam_calib_file \"$(rospack find uvdar_core)/config/ocamcalib/calib_results_bf_uv_fe.txt\""
         - waitForGazebo; sleep 12; rosservice call /mrs_drone_spawner/spawn  "2 $UAV_TYPE --pos-file $(rospack find uvdar_core)/scripts/position2.csv --enable-rangefinder --enable-ground-truth --enable-uv-leds --uvled_s_first 4"
   - sq_setter:
       layout: even-vertical

diff --git a/scripts/simulation_baseline_test.yml b/scripts/simulation_baseline_test.yml
@@ -20,7 +20,7 @@ windows:
   - spawn:
       layout: even-vertical
       panes:
-        - waitForGazebo; rosservice call /mrs_drone_spawner/spawn  "1 $UAV_TYPE --pos-file $(rospack find uvdar_core)/scripts/position1.csv --enable-rangefinder --enable-ground-truth --enable-dual-uv-cameras --enable-back-uv-camera --uvcam_calib_file \"$(rospack find uvdar_core)/include/OCamCalib/config/calib_results_bf_uv_fe.txt\""
+        - waitForGazebo; rosservice call /mrs_drone_spawner/spawn  "1 $UAV_TYPE --pos-file $(rospack find uvdar_core)/scripts/position1.csv --enable-rangefinder --enable-ground-truth --enable-dual-uv-cameras --enable-back-uv-camera --uvcam_calib_file \"$(rospack find uvdar_core)/config/ocamcalib/calib_results_bf_uv_fe.txt\""
         - waitForGazebo; sleep 12; rosservice call /mrs_drone_spawner/spawn  "2 $UAV_TYPE --pos-file $(rospack find uvdar_core)/scripts/position2.csv --enable-rangefinder --enable-ground-truth --enable-uv-leds --uvled_s 0 1 2 3"
         - waitForGazebo; sleep 18; rosservice call /mrs_drone_spawner/spawn  "3 $UAV_TYPE --pos-file $(rospack find uvdar_core)/scripts/position3.csv --enable-rangefinder --enable-ground-truth --enable-uv-leds --uvled_s 4 5 6 7"
   - hw_api:

diff --git a/scripts/two_drones/session.yml b/scripts/two_drones/session.yml
@@ -24,7 +24,7 @@ windows:
   - spawn:
       layout: tiled
       panes:
-        - waitForGazebo; rosservice call /mrs_drone_spawner/spawn  "1 $UAV_TYPE --pos-file $(rospack find uvdar_core)/scripts/position1.csv --enable-rangefinder --enable-ground-truth --enable-dual-uv-cameras --enable-back-uv-camera --uvcam_calib_file \"$(rospack find uvdar_core)/include/OCamCalib/config/calib_results_bf_uv_fe.txt\""
+        - waitForGazebo; rosservice call /mrs_drone_spawner/spawn  "1 $UAV_TYPE --pos-file $(rospack find uvdar_core)/scripts/position1.csv --enable-rangefinder --enable-ground-truth --enable-dual-uv-cameras --enable-back-uv-camera --uvcam_calib_file \"$(rospack find uvdar_core)/config/ocamcalib/calib_results_bf_uv_fe.txt\""
         - waitForGazebo; sleep 12; rosservice call /mrs_drone_spawner/spawn  "2 $UAV_TYPE --pos-file $(rospack find uvdar_core)/scripts/position2.csv --enable-rangefinder --enable-ground-truth --enable-uv-leds --uvled_s 0 1 2 3"
   - hw_api:
       layout: tiled

diff --git a/scripts/uvcom.yml b/scripts/uvcom.yml
@@ -20,8 +20,8 @@ windows:
   - spawn:
       layout: tiled
       panes:
-        - waitForGazebo; sleep 1; rosservice call /mrs_drone_spawner/spawn "1 $UAV_TYPE --pos -19 15 0.5 3.14 --enable-ground-truth --enable-rangefinder --enable-dual-uv-cameras --uvcam_calib_file \"$(rospack find uvdar_core)/include/OCamCalib/config/calib_results_bf_uv_fe.txt\" --enable-uv-leds --uvled_s_l 0 --uvled_s_r 0"
-        - waitForGazebo; sleep 1; rosservice call /mrs_drone_spawner/spawn "2 $UAV_TYPE --pos -27 15 0.5 0.0 --enable-ground-truth --enable-rangefinder --enable-dual-uv-cameras --uvcam_calib_file \"$(rospack find uvdar_core)/include/OCamCalib/config/calib_results_bf_uv_fe.txt\" --enable-uv-leds --uvled_s_l 1 --uvled_s_r 1"
+        - waitForGazebo; sleep 1; rosservice call /mrs_drone_spawner/spawn "1 $UAV_TYPE --pos -19 15 0.5 3.14 --enable-ground-truth --enable-rangefinder --enable-dual-uv-cameras --uvcam_calib_file \"$(rospack find uvdar_core)/config/ocamcalib/calib_results_bf_uv_fe.txt\" --enable-uv-leds --uvled_s_l 0 --uvled_s_r 0"
+        - waitForGazebo; sleep 1; rosservice call /mrs_drone_spawner/spawn "2 $UAV_TYPE --pos -27 15 0.5 0.0 --enable-ground-truth --enable-rangefinder --enable-dual-uv-cameras --uvcam_calib_file \"$(rospack find uvdar_core)/config/ocamcalib/calib_results_bf_uv_fe.txt\" --enable-uv-leds --uvled_s_l 1 --uvled_s_r 1"
   - control:
       layout: tiled
       panes:

diff --git a/src/bluefox_emulator.cpp b/src/bluefox_emulator.cpp
@@ -49,7 +49,7 @@ class UVDARBluefoxEmulator : public nodelet::Nodelet{
     int i=0;
     for (auto calib_file : _calib_files){
       if (calib_file == "default"){
-        file_name = ros::package::getPath("uvdar_core")+"/include/OCamCalib/config/calib_results_bf_uv_fe.txt";
+        file_name = ros::package::getPath("uvdar_core")+"/config/ocamcalib/calib_results_bf_uv_fe.txt";
       }
       else {
         file_name = calib_file;

diff --git a/src/pose_calculator.cpp b/src/pose_calculator.cpp
@@ -592,7 +592,7 @@ namespace uvdar {
         int i=0;
         for (auto calib_file : _calib_files_){
           if (calib_file == "default"){
-            file_name = ros::package::getPath("uvdar_core")+"/include/OCamCalib/config/calib_results_bf_uv_fe.txt";
+            file_name = ros::package::getPath("uvdar_core")+"/config/ocamcalib/calib_results_bf_uv_fe.txt";
           }
           else {
             file_name = calib_file;