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dji-sdk / Guidance-SDK-ROS

The official ROS package of Guidance SDK for 32/64 bit Ubuntu and XU3
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Adds node to use ROS perception pipeline for calibration, stereo processing, viewing pointclouds etc. #5

Closed madratman closed 8 years ago

madratman commented 8 years ago

This PR tries to adds features I requested in issue #2. I'll try to wrap the driver camera_info_manager on the lines of camera_1394 soon (as explained in the updated README on my fork.

One thing I am not sure of is that the DJI API calibration params don't give the distortion params, and have same focal_x and focal_y. Is it that the images are already rectified?

Tagging @tangketan for review. Let me know if I should squash the commits, or add this to GuidanceNode itself, but I think this should be a separate node for now. Did it in a hurry.

madratman commented 8 years ago

Ah, I made a blunder as the images are already rectified. :. Will make changes to publish on /guidance/right/image_rec and make distortions params zero and fx=fy. Hence, I should add a YAML writer as well that takes in data from the Guidance API call to get the stereo params. So, basically I was adding another layer of calibration over to the already rectified images. I am not sure if this will make it more accurate or not!? Can we get access to the raw images as well?

tangketan commented 8 years ago

Thank you very much for your contribution. Yes, the images are already distorted and rectified. Usually one more rectification would not make it more accurate, unless the Guidance sensors have hit something and the parameters have changed. Currently we do not provide interface to access the raw images as we can't find an application which needs raw images instead of rectified ones.

madratman commented 8 years ago

Hey, thanks for the merge. I think you guys should give access to the raw image, the community will find the applications. :D