Commits

iorodeo committed 7edd842 Draft

Modified extra_video ... so that raw version of fisheye is saved. Changed camera calibration.

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Files changed (33)

cameras/calibrations/camera_1.yaml

 camera_matrix:
   rows: 3
   cols: 3
-  data: [877.887096, 0, 319.420589, 0, 873.374843, 244.699443, 0, 0, 1]
+  data: [884.408517, 0, 360.230571, 0, 886.415847, 233.099646, 0, 0, 1]
 distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.394133, 0.533355, 0.004398, 0.003076, 0]
+  data: [-0.376257, 0.207547, 0.000812, -0.000669, 0]
 rectification_matrix:
   rows: 3
   cols: 3
 projection_matrix:
   rows: 3
   cols: 4
-  data: [835.957581, 0, 320.150566, 0, 0, 846.864624, 245.409016, 0, 0, 0, 1, 0]
+  data: [836.631348, 0, 363.603396, 0, 0, 859.183655, 232.39282, 0, 0, 0, 1, 0]
 

cameras/calibrations/camera_10.yaml

 camera_matrix:
   rows: 3
   cols: 3
-  data: [902.063049, 0, 356.772759, 0, 900.367754, 248.855304, 0, 0, 1]
+  data: [894.388258, 0, 358.396668, 0, 894.037543, 221.551388, 0, 0, 1]
 distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.378259, 0.219151, 0.000175, 0.000972, 0]
+  data: [-0.367119, 0.203135, -0.000971, 0.001671, 0]
 rectification_matrix:
   rows: 3
   cols: 3
 projection_matrix:
   rows: 3
   cols: 4
-  data: [854.945374, 0, 360.308871, 0, 0, 873.314392, 248.872111, 0, 0, 0, 1, 0]
+  data: [847.602356, 0, 362.345266, 0, 0, 867.155945, 219.863843, 0, 0, 0, 1, 0]
 

cameras/calibrations/camera_11.yaml

 camera_matrix:
   rows: 3
   cols: 3
-  data: [885.538986, 0, 356.227984, 0, 884.166932, 239.861062, 0, 0, 1]
+  data: [879.886506, 0, 360.010928, 0, 880.079974, 242.553715, 0, 0, 1]
 distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.356361, 0.102576, -0.002499, 0.001151, 0]
+  data: [-0.359759, 0.069531, -0.00139, -0.000152, 0]
 rectification_matrix:
   rows: 3
   cols: 3
 projection_matrix:
   rows: 3
   cols: 4
-  data: [838.074036, 0, 360.102294, 0, 0, 857.729248, 238.80315, 0, 0, 0, 1, 0]
+  data: [830.680481, 0, 364.017652, 0, 0, 853.077454, 241.892293, 0, 0, 0, 1, 0]
 

cameras/calibrations/camera_2.yaml

 camera_matrix:
   rows: 3
   cols: 3
-  data: [915.832369, 0, 362.007925, 0, 912.562808, 260.491307, 0, 0, 1]
+  data: [907.32911, 0, 365.860096, 0, 908.402938, 241.629152, 0, 0, 1]
 distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.372861, 0.158712, -0.003631, -0.000987, 0]
+  data: [-0.392171, 0.17495, 6.8e-05, -0.002722, 0]
 rectification_matrix:
   rows: 3
   cols: 3
 projection_matrix:
   rows: 3
   cols: 4
-  data: [868.951843, 0, 365.279795, 0, 0, 885.963745, 260.304621, 0, 0, 0, 1, 0]
+  data: [857.694397, 0, 369.150044, 0, 0, 880.432739, 241.236488, 0, 0, 0, 1, 0]
 

cameras/calibrations/camera_3.yaml

 camera_matrix:
   rows: 3
   cols: 3
-  data: [891.187762, 0, 318.017981, 0, 890.280367, 281.411198, 0, 0, 1]
+  data: [901.250407, 0, 341.473861, 0, 906.413012, 255.048758, 0, 0, 1]
 distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.429964, 0.459127, -0.000779, 0.00079, 0]
+  data: [-0.38996, 0.286266, 0.001381, -0.006108, 0]
 rectification_matrix:
   rows: 3
   cols: 3
 projection_matrix:
   rows: 3
   cols: 4
-  data: [843.126953, 0, 317.657848, 0, 0, 859.306946, 283.080244, 0, 0, 0, 1, 0]
+  data: [856.239258, 0, 340.552799, 0, 0, 879.444092, 255.645607, 0, 0, 0, 1, 0]
 

cameras/calibrations/camera_4.yaml

 camera_matrix:
   rows: 3
   cols: 3
-  data: [881.650749, 0, 346.519681, 0, 879.391184, 268.075895, 0, 0, 1]
+  data: [883.225022, 0, 353.690492, 0, 882.91126, 227.094726, 0, 0, 1]
 distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.385058, 0.263918, -0.001198, -0.000699, 0]
+  data: [-0.389741, 0.246715, 0.000384, -0.000608, 0]
 rectification_matrix:
   rows: 3
   cols: 3
 projection_matrix:
   rows: 3
   cols: 4
-  data: [834.683594, 0, 348.428078, 0, 0, 851.242554, 268.887581, 0, 0, 0, 1, 0]
+  data: [834.870972, 0, 356.476632, 0, 0, 854.838989, 225.934801, 0, 0, 0, 1, 0]
 

cameras/calibrations/camera_5.yaml

 camera_matrix:
   rows: 3
   cols: 3
-  data: [845.745266, 0, 333.069895, 0, 846.211613, 249.724483, 0, 0, 1]
+  data: [853.919288, 0, 321.694301, 0, 852.486586, 250.328664, 0, 0, 1]
 distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.375243, 0.225895, -0.001537, 5.5e-05, 0]
+  data: [-0.386391, 0.223365, 0.001037, 0.002092, 0]
 rectification_matrix:
   rows: 3
   cols: 3
 projection_matrix:
   rows: 3
   cols: 4
-  data: [798.342468, 0, 334.062074, 0, 0, 818.62854, 249.462088, 0, 0, 0, 1, 0]
+  data: [805.33844, 0, 322.332405, 0, 0, 824.067322, 250.710229, 0, 0, 0, 1, 0]
 

cameras/calibrations/camera_7.yaml

 camera_matrix:
   rows: 3
   cols: 3
-  data: [846.139501, 0, 324.680901, 0, 848.143158, 218.67884, 0, 0, 1]
+  data: [851.099384, 0, 320.929313, 0, 851.164608, 239.379388, 0, 0, 1]
 distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.373257, 0.179394, -0.003611, -0.000426, 0]
+  data: [-0.390551, 0.250233, -0.000168, 0.000174, 0]
 rectification_matrix:
   rows: 3
   cols: 3
 projection_matrix:
   rows: 3
   cols: 4
-  data: [797.815491, 0, 324.538932, 0, 0, 819.288025, 216.042987, 0, 0, 0, 1, 0]
+  data: [802.504761, 0, 320.61439, 0, 0, 822.809143, 238.80199, 0, 0, 0, 1, 0]
 

cameras/calibrations/camera_8.yaml

 camera_matrix:
   rows: 3
   cols: 3
-  data: [874.272989, 0, 342.442404, 0, 873.26574, 234.464719, 0, 0, 1]
+  data: [880.125061, 0, 333.984785, 0, 879.872185, 253.777018, 0, 0, 1]
 distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.399682, 0.29468, 0.001721, -0.002672, 0]
+  data: [-0.3818, 0.240155, 0.000601, -0.000669, 0]
 rectification_matrix:
   rows: 3
   cols: 3
 projection_matrix:
   rows: 3
   cols: 4
-  data: [826.368713, 0, 343.180716, 0, 0, 845.060791, 234.019012, 0, 0, 0, 1, 0]
+  data: [833.776062, 0, 334.660665, 0, 0, 852.530762, 254.190688, 0, 0, 0, 1, 0]
 

cameras/calibrations/camera_9.yaml

 camera_matrix:
   rows: 3
   cols: 3
-  data: [873.509791, 0, 356.628659, 0, 872.50271, 262.025849, 0, 0, 1]
+  data: [880.346285, 0, 349.635715, 0, 879.619148, 238.915121, 0, 0, 1]
 distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.365483, 0.223182, 0.000959, 9.4e-05, 0]
+  data: [-0.393405, 0.265872, -0.000618, -0.001414, 0]
 rectification_matrix:
   rows: 3
   cols: 3
 projection_matrix:
   rows: 3
   cols: 4
-  data: [827.08313, 0, 359.82462, 0, 0, 845.086365, 262.944907, 0, 0, 0, 1, 0]
+  data: [832.348694, 0, 351.658727, 0, 0, 851.646912, 238.214407, 0, 0, 0, 1, 0]
 

cameras/camera_assignment.yaml

   computer: mct_master
   guid: 0030530001412079
 camera_2:
-  computer: mct_slave3
+  computer: mct_master
   guid: 00305300013f2ef8
 camera_3:
-  computer: mct_slave2
+  computer: mct_slave3
   guid: 00305300013f2ef5
 camera_4:
   computer: mct_slave3
   computer: mct_slave3
   guid: 00305300013f2ef4
 camera_9:
-  computer: mct_master
+  computer: mct_slave2
   guid: 00305300013f2ef9

cameras/camera_assignment.yaml.120518

+
+# Autogenerated configuration file - do not hand edit
+
+camera_1:
+  computer: mct_slave1
+  guid: 00305300013f2ef3
+camera_10:
+  computer: mct_slave2
+  guid: 00305300013f2efb
+camera_11:
+  computer: mct_slave1
+  guid: 00305300013f2ef6
+camera_12:
+  computer: mct_master
+  guid: 0030530001412079
+camera_2:
+  computer: mct_slave3
+  guid: 00305300013f2ef8
+camera_3:
+  computer: mct_slave2
+  guid: 00305300013f2ef5
+camera_4:
+  computer: mct_slave3
+  guid: 003053000140e715
+camera_5:
+  computer: mct_master
+  guid: 00305300013f2ef7
+camera_6:
+  computer: mct_slave2
+  guid: 00305300013f2efa
+camera_7:
+  computer: mct_slave1
+  guid: 0030530001410997
+camera_8:
+  computer: mct_slave3
+  guid: 00305300013f2ef4
+camera_9:
+  computer: mct_master
+  guid: 00305300013f2ef9

logging/extra_video.yaml

-fisheye: /mct_slave2/camera_6/camera/image_raw_skip
+fisheye: /mct_slave2/camera_6/camera/image_raw

tracking_2d/homographies/camera_1.yaml

 rows: 3
 cols: 3
 data:
-- 0.002648428548127413
-- 7.452381396433339e-05
-- -0.7514312863349915
-- 9.224849054589868e-05
-- -0.0026232919190078974
-- 1.0292948484420776
-- 1.1515121514094062e-05
-- -4.2545696487650275e-05
+- 0.0026471747551113367
+- 6.2246595007309224e-06
+- -0.784542441368103
+- -1.7722412621878902e-06
+- -0.0026010225992649794
+- 1.116674780845642
+- -2.539373963372782e-05
+- -2.028531343967188e-05
 - 1.0

tracking_2d/homographies/camera_10.yaml

 rows: 3
 cols: 3
 data:
-- -0.002620514715090394
-- -6.786826997995377e-05
-- 1.1266995668411255
-- -6.926900096004829e-05
-- 0.002561216941103339
-- -0.6734659671783447
-- -1.1747973985620774e-05
-- -1.596715628693346e-05
+- -0.002645147731527686
+- -9.976164392355713e-07
+- 1.1423964500427246
+- -1.188520968753437e-06
+- 0.0025742347352206707
+- -0.7698447108268738
+- -1.538146534585394e-05
+- 1.3876880075258669e-05
 - 1.0

tracking_2d/homographies/camera_11.yaml

 rows: 3
 cols: 3
 data:
-- -0.0026867189444601536
-- -3.548455788404681e-05
-- 1.095390796661377
-- -3.438226121943444e-05
-- 0.0026164918672293425
-- -0.8017225861549377
-- -2.483293974364642e-05
-- 1.265465652977582e-05
+- -0.0026983346324414015
+- -6.674275937257335e-05
+- 1.1985838413238525
+- -6.699284131173044e-05
+- 0.00261937128379941
+- -0.8179752230644226
+- -2.3014339603832923e-05
+- 1.0316090993001126e-05
 - 1.0

tracking_2d/homographies/camera_12.yaml

 rows: 3
 cols: 3
 data:
-- -7.49558093957603e-05
-- -0.0015092871617525816
-- 0.6790828704833984
-- -0.0015017961850389838
-- 7.14266425347887e-05
-- 0.7113659977912903
-- 6.761078839190304e-05
-- -5.5569664255017415e-05
+- -0.0009672531741671264
+- -0.00020634608517866582
+- 0.7390029430389404
+- 0.00011321828060317785
+- 0.0010323493042960763
+- -0.007524682208895683
+- 0.0006467405473813415
+- -0.0005664743948727846
 - 1.0

tracking_2d/homographies/camera_2.yaml

 rows: 3
 cols: 3
 data:
-- 0.0025731592904776335
-- -3.959215246140957e-05
-- -0.5904430747032166
-- -3.9660342736169696e-05
-- -0.002536412328481674
-- 1.0239192247390747
-- -1.5442463336512446e-05
-- -4.293369784136303e-05
+- 0.0026022924575954676
+- 0.00011849475413328037
+- -0.6051096320152283
+- 0.00011006485146936029
+- -0.0025540334172546864
+- 1.0829771757125854
+- -2.434087946312502e-05
+- -5.211250936554279e-06
 - 1.0

tracking_2d/homographies/camera_3.yaml

 rows: 3
 cols: 3
 data:
-- 0.002638514619320631
-- 2.8239683160791174e-05
-- -0.754832923412323
-- 3.022234704985749e-05
-- -0.002590616699308157
-- 0.9209932684898376
-- 1.8414467604088713e-06
-- -3.527880471665412e-05
+- 0.0026346256490796804
+- -8.04557857918553e-05
+- -0.781371533870697
+- -8.41049404698424e-05
+- -0.002580477623268962
+- 0.9240648150444031
+- -1.348094974673586e-05
+- -1.392240392306121e-05
 - 1.0

tracking_2d/homographies/camera_4.yaml

 rows: 3
 cols: 3
 data:
-- 0.002666997956112027
-- 4.421638368512504e-05
-- -0.6437221765518188
-- 6.458716234192252e-05
-- -0.0026211997028440237
-- 0.8274760246276855
-- -2.400707217020681e-06
-- -5.5926109780557454e-05
+- 0.002709051826968789
+- 3.097961234743707e-05
+- -0.7568342685699463
+- 3.41753511747811e-05
+- -0.0026471754536032677
+- 0.8401294350624084
+- -1.4858759413982625e-06
+- -1.167019217973575e-05
 - 1.0

tracking_2d/homographies/camera_5.yaml

 rows: 3
 cols: 3
 data:
-- 0.0027725149411708117
-- -7.440133049385622e-05
-- -0.5861571431159973
-- -8.245878416346386e-05
-- -0.002710639964789152
-- 0.9890117645263672
-- -1.842749406932853e-05
-- -1.822329750211793e-06
+- 0.0027761992532759905
+- 2.7075946491095237e-05
+- -0.4502907395362854
+- 3.051430030609481e-05
+- -0.0027189862448722124
+- 0.9257417917251587
+- -1.3093372217554133e-05
+- -1.959691508091055e-05
 - 1.0

tracking_2d/homographies/camera_7.yaml

 rows: 3
 cols: 3
 data:
-- -0.002824134659022093
-- -5.6901935749920085e-05
-- 0.9687257409095764
-- -5.512075586011633e-05
-- 0.002762353979051113
-- -0.39908429980278015
-- 8.287928721983917e-06
-- 3.605922756833024e-05
+- -0.002791706705465913
+- -0.00016633901395834982
+- 1.0537835359573364
+- -0.00017552904319018126
+- 0.002721434226259589
+- -0.5167114734649658
+- -5.70913925912464e-06
+- -3.7028344195277896e-06
 - 1.0

tracking_2d/homographies/camera_8.yaml

 rows: 3
 cols: 3
 data:
-- -0.0027242072392255068
-- -5.600238364422694e-05
-- 1.0524152517318726
-- -5.832635724800639e-05
-- 0.0026605718303471804
-- -0.4689392149448395
-- 8.001232345122844e-06
-- 1.255879396921955e-05
+- -0.0027034194208681583
+- 3.9198937884066254e-05
+- 0.8919907808303833
+- 3.497075886116363e-05
+- 0.002636745572090149
+- -0.5823543667793274
+- -1.0010172445618082e-05
+- -1.505726345385483e-06
 - 1.0

tracking_2d/homographies/camera_9.yaml

 rows: 3
 cols: 3
 data:
-- -0.002700334182009101
-- -4.637330857804045e-05
-- 1.3456180095672607
-- -4.056811667396687e-05
-- 0.0026352698914706707
-- -0.4546070396900177
-- -4.54713426734088e-06
-- -1.0060396562039386e-05
+- -0.002739337272942066
+- -6.928724178578705e-05
+- 1.3934032917022705
+- -7.532722520409152e-05
+- 0.002684943610802293
+- -0.5312134027481079
+- 1.3788470823783427e-05
+- 2.5126839318545535e-05
 - 1.0

tracking_2d/transforms/camera_1_camera_4.yaml

 
 # Autogenerated configuration file - do not hand edit
 
-rotation: -0.00976412184536457
-translation_x: -0.3713207542896271
-translation_y: 0.5143294334411621
+rotation: 0.012768255546689034
+translation_x: -0.4209381341934204
+translation_y: 0.4458043873310089

tracking_2d/transforms/camera_2_camera_4.yaml

 
 # Autogenerated configuration file - do not hand edit
 
-rotation: 0.0260488111525774
-translation_x: 0.48496460914611816
-translation_y: 0.5447362661361694
+rotation: -0.050022415816783905
+translation_x: 0.3277677595615387
+translation_y: 0.4567564129829407

tracking_2d/transforms/camera_3_camera_4.yaml

 
 # Autogenerated configuration file - do not hand edit
 
-rotation: 0.014227718114852905
-translation_x: -0.7682847380638123
-translation_y: -0.015502472408115864
+rotation: 0.05268175154924393
+translation_x: -0.8064619302749634
+translation_y: 0.017833286896348

tracking_2d/transforms/camera_4_camera_5.yaml

 
 # Autogenerated configuration file - do not hand edit
 
-rotation: -0.03985181823372841
-translation_x: -0.967287540435791
-translation_y: 0.078504778444767
+rotation: 0.013804018497467041
+translation_x: -0.6904013752937317
+translation_y: -0.006147418636828661

tracking_2d/transforms/camera_4_camera_8.yaml

 
 # Autogenerated configuration file - do not hand edit
 
-rotation: -0.0024056420661509037
-translation_x: -0.2023981511592865
-translation_y: 0.630126416683197
+rotation: -0.024373609572649002
+translation_x: -0.17897172272205353
+translation_y: 0.5640199780464172

tracking_2d/transforms/camera_7_camera_8.yaml

 
 # Autogenerated configuration file - do not hand edit
 
-rotation: -0.0061458684504032135
-translation_x: -0.8887337446212769
-translation_y: -0.06591743975877762
+rotation: -0.07904894649982452
+translation_x: -1.0600056648254395
+translation_y: 0.06122522056102753

tracking_2d/transforms/camera_8_camera_10.yaml

 
 # Autogenerated configuration file - do not hand edit
 
-rotation: 0.0010777306742966175
-translation_x: 0.5613802671432495
-translation_y: 0.48201504349708557
+rotation: 0.014436728321015835
+translation_x: 0.6924539804458618
+translation_y: 0.46276095509529114

tracking_2d/transforms/camera_8_camera_11.yaml

 
 # Autogenerated configuration file - do not hand edit
 
-rotation: -0.017478933557868004
-translation_x: -0.4203691780567169
-translation_y: 0.4191746711730957
+rotation: 0.03186068311333656
+translation_x: -0.23609821498394012
+translation_y: 0.4533396363258362

tracking_2d/transforms/camera_8_camera_9.yaml

 
 # Autogenerated configuration file - do not hand edit
 
-rotation: 0.00831073708832264
-translation_x: -0.686735987663269
-translation_y: 0.011904498562216759
+rotation: 0.05408162996172905
+translation_x: -0.5582659244537354
+translation_y: -0.011355015449225903