Moved calibration configuration files into respective data directorie…

…s for clarity
Jmeyer1292 · Nov 13, 2023 · 5176e27 · 5176e27
1 parent 21d1627
commit 5176e27
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Showing 18 changed files with 26 additions and 53 deletions.
diff --git a/rct_examples/config/static_camera_guesses.yaml b/rct_examples/config/static_camera_guesses.yaml
diff --git a/rct_examples/config/kinect_camera_intr.yaml → ...ples/data/test_set_10x10/camera_intr.yaml b/rct_examples/config/kinect_camera_intr.yaml → ...ples/data/test_set_10x10/camera_intr.yaml
diff --git a/rct_examples/data/test_set_10x10/camera_intr_calibrated.yaml b/rct_examples/data/test_set_10x10/camera_intr_calibrated.yaml
@@ -0,0 +1,5 @@
+intrinsics:
+  fx: 542.324 # pixels
+  fy: 543.515 # pixels
+  cx: 320.474
+  cy: 226.039
diff --git a/...qualification/camera_to_target_guess.yaml → ...qualification/camera_to_target_guess.yaml b/...qualification/camera_to_target_guess.yaml → ...qualification/camera_to_target_guess.yaml
diff --git a/...ples/config/noise_qualification/data.yaml → ...t_set_10x10/noise_qualification/data.yaml b/...ples/config/noise_qualification/data.yaml → ...t_set_10x10/noise_qualification/data.yaml
diff --git a/...mples/config/camera_on_wrist_guesses.yaml → ...les/data/test_set_10x10/pose_guesses.yaml b/...mples/config/camera_on_wrist_guesses.yaml → ...les/data/test_set_10x10/pose_guesses.yaml
diff --git a/rct_examples/config/target_10x10.yaml → rct_examples/data/test_set_10x10/target.yaml b/rct_examples/config/target_10x10.yaml → rct_examples/data/test_set_10x10/target.yaml
diff --git a/.../config/avt_gige_camera_intr_nominal.yaml → ...es/data/test_set_charuco/camera_intr.yaml b/.../config/avt_gige_camera_intr_nominal.yaml → ...es/data/test_set_charuco/camera_intr.yaml
diff --git a/...nfig/avt_gige_camera_intr_calibrated.yaml → ...t_set_charuco/camera_intr_calibrated.yaml b/...nfig/avt_gige_camera_intr_calibrated.yaml → ...t_set_charuco/camera_intr_calibrated.yaml
diff --git a/...amples/config/charuco_camera_guesses.yaml → ...s/data/test_set_charuco/pose_guesses.yaml b/...amples/config/charuco_camera_guesses.yaml → ...s/data/test_set_charuco/pose_guesses.yaml
diff --git a/rct_examples/config/charuco_target_7x5.yaml → ...xamples/data/test_set_charuco/target.yaml b/rct_examples/config/charuco_target_7x5.yaml → ...xamples/data/test_set_charuco/target.yaml
diff --git a/rct_examples/launch/camera_intrinsic_calibration_example.launch b/rct_examples/launch/camera_intrinsic_calibration_example.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="camera_file" default="$(find rct_examples)/config/kinect_camera_intr.yaml"/>
-  <arg name="target_file" default="$(find rct_examples)/config/target_10x10.yaml"/>
+  <arg name="camera_file" default="$(find rct_examples)/data/test_set_10x10/camera_intr_calibrated.yaml"/>
+  <arg name="target_file" default="$(find rct_examples)/data/test_set_10x10/target.yaml"/>
   <arg name="data_path" default="$(find rct_examples)/data/test_set_10x10/cal_data.yaml"/>
 
   <node pkg="rct_examples" type="intr_camera_cal_ex" name="intrinsic_cal_example" output="screen">

diff --git a/rct_examples/launch/camera_intrinsic_calibration_validation.launch b/rct_examples/launch/camera_intrinsic_calibration_validation.launch
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="camera_file" default="$(find rct_examples)/config/kinect_camera_intr.yaml"/>
-  <arg name="target_file" default="$(find rct_examples)/config/target_10x10.yaml"/>
-  <arg name="guess_file" default="$(find rct_examples)/config/camera_on_wrist_guesses.yaml"/>
+  <arg name="camera_file" default="$(find rct_examples)/data/test_set_10x10/camera_intr_calibrated.yaml"/>
+  <arg name="target_file" default="$(find rct_examples)/data/test_set_10x10/target.yaml"/>
+  <arg name="guess_file" default="$(find rct_examples)/data/test_set_10x10/pose_guesses.yaml"/>
   <arg name="data_path" default="$(find rct_examples)/data/test_set_10x10/cal_data.yaml"/>
 
   <node pkg="rct_examples" type="camera_intrinsic_calibration_validation" name="camera_intr_validation" output="screen">

diff --git a/rct_examples/launch/camera_on_wrist_example.launch b/rct_examples/launch/camera_on_wrist_example.launch
@@ -1,10 +1,10 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="camera_file" default="$(find rct_examples)/config/kinect_camera_intr.yaml"/>
-  <arg name="target_file" default="$(find rct_examples)/config/target_10x10.yaml"/>
-  <arg name="guess_file" default="$(find rct_examples)/config/camera_on_wrist_guesses.yaml"/>
+  <arg name="camera_file" default="$(find rct_examples)/data/test_set_10x10/camera_intr.yaml"/>
+  <arg name="target_file" default="$(find rct_examples)/data/test_set_10x10/target.yaml"/>
+  <arg name="guess_file" default="$(find rct_examples)/data/test_set_10x10/pose_guesses.yaml"/>
   <arg name="data_path" default="$(find rct_examples)/data/test_set_10x10/cal_data.yaml"/>
-  <arg name="homography_threshold" default="1.0" doc="Threshold for average reprojection error for an obseravation (in pixels), above which an observation will be excluded from the calibration"/>
+  <arg name="homography_threshold" default="2.0" doc="Threshold for average reprojection error for an obseravation (in pixels), above which an observation will be excluded from the calibration"/>
 
   <node pkg="rct_examples" type="moving_cam_extr_cal_ex" name="camera_on_wrist" output="screen">
     <rosparam command="load" file="$(arg camera_file)"/>

diff --git a/rct_examples/launch/noise_qualification_2d.launch b/rct_examples/launch/noise_qualification_2d.launch
@@ -1,10 +1,10 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="data_path" default="$(find rct_examples)/data/test_set_10x10"/>
-  <arg name="data_file" default="$(find rct_examples)/config/noise_qualification/data.yaml"/>
-  <arg name="pose_file" default="$(find rct_examples)/config/noise_qualification/camera_to_target_guess.yaml"/>
-  <arg name="target_file" default="$(find rct_examples)/config/target_10x10.yaml"/>
-  <arg name="camera_intr_file" default="$(find rct_examples)/config/kinect_camera_intr.yaml"/>
+  <arg name="data_file" default="$(arg data_path)/noise_qualification/data.yaml"/>
+  <arg name="pose_file" default="$(arg data_path)/noise_qualification/camera_to_target_guess.yaml"/>
+  <arg name="target_file" default="$(arg data_path)/target.yaml"/>
+  <arg name="camera_intr_file" default="$(arg data_path)/camera_intr.yaml"/>
 
   <node name="noise_qualification_2d" pkg="rct_examples" type="noise_qualification_2d" output="screen">
     <param name="data_path" value="$(arg data_path)"/>

diff --git a/rct_examples/launch/pnp_example.launch b/rct_examples/launch/pnp_example.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="camera_file" default="$(find rct_examples)/config/kinect_camera_intr.yaml"/>
-  <arg name="target_file" default="$(find rct_examples)/config/target_10x10.yaml"/>
+  <arg name="camera_file" default="$(find rct_examples)/data/test_set_10x10/camera_intr.yaml"/>
+  <arg name="target_file" default="$(find rct_examples)/data/test_set_10x10/target.yaml"/>
   <arg name="image_path" default="$(find rct_examples)/data/test_set_10x10/images/0.png"/>
 
   <node pkg="rct_examples" type="solve_pnp_ex" name="solve_pnp_ex" output="screen">

diff --git a/rct_examples/launch/static_camera_charuco_example.launch b/rct_examples/launch/static_camera_charuco_example.launch
diff --git a/rct_examples/launch/static_camera_example.launch b/rct_examples/launch/static_camera_example.launch
@@ -1,12 +1,12 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="camera_file" default="$(find rct_examples)/config/avt_gige_camera_intr_nominal.yaml"/>
-  <arg name="target_file" default="$(find rct_examples)/config/target_10x10.yaml"/>
-  <arg name="guess_file" default="$(find rct_examples)/config/static_camera_guesses.yaml"/>
-  <arg name="data_path"/>
-  <arg name="homography_threshold" default="1.0" doc="Threshold for average reprojection error for an obseravation (in pixels), above which an observation will be excluded from the calibration"/>
+  <arg name="camera_file" default="$(find rct_examples)/data/test_set_charuco/camera_intr_calibrated.yaml"/>
+  <arg name="target_file" default="$(find rct_examples)/data/test_set_charuco/target.yaml"/>
+  <arg name="guess_file" default="$(find rct_examples)/data/test_set_charuco/pose_guesses.yaml"/>
+  <arg name="data_path" default="$(find rct_examples)/data/test_set_charuco/cal_data.yaml"/>
+  <arg name="homography_threshold" default="2.0" doc="Threshold for average reprojection error for an obseravation (in pixels), above which an observation will be excluded from the calibration"/>
 
-  <node pkg="rct_examples" type="static_cam_extr_cal_ex" name="static_camera_cal" output="screen">
+  <node pkg="rct_examples" type="static_cam_extr_cal_ex" name="charuco_cal" output="screen">
     <rosparam command="load" file="$(arg camera_file)"/>
     <rosparam command="load" file="$(arg target_file)"/>
     <rosparam command="load" file="$(arg guess_file)"/>