ColorCameraCalibrationToROS tool

[bmegli]

Small tool to dump color camera frame level calibration to ROS compatible yaml file

Note that this is not calibration for device computed color texture but for raw color image.

Typical usage

• set camera parameters (e.g. ROS driver)
  • don't forget to enable ColorCamera component and set desired resolution
• Start PhoXi Control
• Connect to the camera

./ColorCameraCalibrationToROS > MyColorCalibration.yaml

Sample output

# Device: 0
#  Name:                    MotionCam-3D-TRD-058
#  Hardware Identification: TRD-058
#  Type:                    MotionCam-3D
#  Firmware version:        1.10.1
#  Variant:                 M+
#  IsFileCamera:            No
#  Feature-Alpha:           No
#  Feature-Color:           Yes
#  Status:                  Attached to PhoXi Control. Ready to connect

# Device: 1
#  Name:                    basic-example
#  Hardware Identification: InstalledExamples-basic-example
#  Type:                    PhoXi3DScan
#  Firmware version:        
#  Variant:                 
#  IsFileCamera:            Yes
#  Feature-Alpha:           No
#  Feature-Color:           No
#  Status:                  Not Attached to PhoXi Control. Ready to connect

# Device: 2
#  Name:                    color-example
#  Hardware Identification: InstalledExamples-color-example
#  Type:                    MotionCam-3D
#  Firmware version:        
#  Variant:                 
#  IsFileCamera:            Yes
#  Feature-Alpha:           No
#  Feature-Color:           Yes
#  Status:                  Not Attached to PhoXi Control. Ready to connect

# You have already PhoXi device opened in PhoXi Control, the API Example is connected to device: TRD-058

# ColorCameraImage (raw RGB, this is not depth aligned RGB texture!)
# ColorCameraScale: 0.5x0.5
image_width: 1932
image_height: 1096
camera_name: TRD-058
camera_matrix: 
  rows: 3
  cols: 3
  data: [1343.28, 0, 955.571, 0, 1343.45, 544.948, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients: 
  rows: 1
  cols: 5
  data: [0.0353329, -0.052106, -0.000742206, -0.000100143, 0.006824]
rectification_matrix: 
  rows: 3
  cols: 3
  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
projection_matrix: 
  rows: 3
  cols: 4
  data: [1158.77, 0, 569.003, 0, 0, 1158.7, 392.4, 0, 0, 0, 1, 0]