From 264a210aeb6426d9e22edc31019ba566451ee07f Mon Sep 17 00:00:00 2001 From: Farid Alijani <farid.alijani@student.lut.fi> Date: Wed, 24 Feb 2016 22:13:55 +0100 Subject: [PATCH] pid gain for y direction --- .../CamMark/camtomar/include/VisionControl.h | 9 +- .../CamMark/camtomar/include/VisionControl.h~ | 5 +- .../CamMark/camtomar/src/VisionControl.cpp | 86 +- .../CamMark/camtomar/src/VisionControl.cpp~ | 55 +- .../build/bin/Android_calibrated_data.yml | 881 ++++++++++++++++-- .../build/bin/Xperia_calibrated_data.yml | 795 ++++++++++++++++ .../CameraCalibration/data/camera_conf.xml | 2 +- 7 files changed, 1670 insertions(+), 163 deletions(-) create mode 100644 MobileRobot/CameraCalibration/build/bin/Xperia_calibrated_data.yml diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h b/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h index fdfa7f22..e1e6b02f 100644 --- a/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h +++ b/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h @@ -119,10 +119,11 @@ public: void myhandler(int value); - - static double Pos_P,Pos_I,Pos_D; - static double Ang_P,Ang_I,Ang_D; - + static double Pos_Px,Pos_Ix,Pos_Dx; + static double Pos_Py,Pos_Iy,Pos_Dy; + + static double S_Ang_P,S_Ang_I,S_Ang_D; + static double L_Ang_P,L_Ang_I,L_Ang_D; // ---- CONTROLL PARAMETERS ------ // static double prev_errorX; diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h~ b/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h~ index c933f60c..fdfa7f22 100644 --- a/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h~ +++ b/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h~ @@ -96,8 +96,9 @@ private: void Controller(double RefX, double MarPoseX, double refY, double MarPoseY, double refYAW, double MarPoseYAW, double dt); void dock(double VelX, double VelY, double omegaZ); + + void move2docking(double VelX_est, double VelY_est, double omegaZ_est); - void move2docking(double VelX_est, double VelY_est, double omegaZ_est); public: ImageConverter(); @@ -157,7 +158,7 @@ public: static double Py_eps,Pz_eps,A_eps; double marpose[6]; - double campose[6]; + double camPose[6]; double RefPose[6]; /*double prev_error[6]; diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp index 99a12017..e7668aef 100644 --- a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp +++ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp @@ -42,13 +42,21 @@ using namespace cv; using namespace aruco; using namespace std; -double ImageConverter::Pos_P = .0001; -double ImageConverter::Pos_I = 0.002; -double ImageConverter::Pos_D = 0; +double ImageConverter::Pos_Px = .0001; +double ImageConverter::Pos_Ix = 0.002; +double ImageConverter::Pos_Dx = 0; -double ImageConverter::Ang_P = 0.01 * ImageConverter::Pos_P; -double ImageConverter::Ang_I = 0.01 * ImageConverter::Pos_I; -double ImageConverter::Ang_D = 0.01 * ImageConverter::Pos_D; +double ImageConverter::Pos_Py = 4 * ImageConverter::Pos_Px; +double ImageConverter::Pos_Iy = 4 * ImageConverter::Pos_Ix; +double ImageConverter::Pos_Dy = 4 * ImageConverter::Pos_Dx; + +double ImageConverter::S_Ang_P = 0.01 * ImageConverter::Pos_Px; +double ImageConverter::S_Ang_I = 0.01 * ImageConverter::Pos_Ix; +double ImageConverter::S_Ang_D = 0.01 * ImageConverter::Pos_Dx; + +double ImageConverter::L_Ang_P = 0.7 * ImageConverter::Pos_Px; +double ImageConverter::L_Ang_I = 0.7 * ImageConverter::Pos_Ix; +double ImageConverter::L_Ang_D = 0.7 * ImageConverter::Pos_Dx; float ImageConverter::TheMarkerSize = -1; @@ -100,9 +108,9 @@ double ImageConverter::control_signalYAW; double ImageConverter::zeroMax = .0000000000000000001; double ImageConverter::zeroMin = -.0000000000000000001; -double ImageConverter::Pz_eps = .011; +double ImageConverter::Pz_eps = .012; double ImageConverter::Py_eps = .0001; -double ImageConverter::A_eps = .05; +double ImageConverter::A_eps = .02; // ? deg. ImageConverter::ImageConverter() : @@ -282,10 +290,10 @@ void ImageConverter::ProgStart(int argc,char** argv) if(curr_errorYAW > RefPose[3]) { - move2docking(-control_signalX, -control_signalY, control_signalYAW); // CW (---|| \\) + move2docking(-control_signalX, control_signalY, control_signalYAW); // CW (---|| \\) } else { - move2docking(-control_signalX, -control_signalY, -control_signalYAW); // CCW (// || ---) + move2docking(-control_signalX, control_signalY, -control_signalYAW); // CCW (// || ---) } } @@ -428,9 +436,9 @@ void ImageConverter::camCB(const geometry_msgs::PoseStamped::ConstPtr& CamFB) { RefPose[0] = -.0957; -RefPose[1] = 0.00521064; -RefPose[2] = 0.35; -RefPose[3] = -0.679162; +RefPose[1] = 0.0054; +RefPose[2] = 0.365; +RefPose[3] = -0.65; camPose[0] = CamFB->pose.position.x; camPose[1] = CamFB->pose.position.y; @@ -449,13 +457,13 @@ camPose[3] = CamFB->pose.orientation.x; // correspondingly ... // roll in Marker coordinate => yaw in Robot coordinate - ROS_INFO_STREAM(" Zmar = " << CamFB->pose.position.z << " m. \n"); + ROS_INFO_STREAM(" Zmar = " << camPose[2] << " m. \n"); ROS_INFO_STREAM(" Zref = " << RefPose[2] << " m. \n"); - ROS_INFO_STREAM(" Ymar = " << CamFB->pose.position.y << " m. \n"); + ROS_INFO_STREAM(" Ymar = " << camPose[1] << " m. \n"); ROS_INFO_STREAM(" Yref = " << RefPose[1] << " m. \n"); - ROS_INFO_STREAM(" rollmar = " << CamFB->pose.orientation.x << " rad. \n"); + ROS_INFO_STREAM(" rollmar = " << camPose[3] << " rad. \n"); ROS_INFO_STREAM(" rollref = " << RefPose[3] << " rad. \n"); ROS_INFO_STREAM(" ------------------------------------------------------------- \n"); @@ -498,9 +506,9 @@ void ImageConverter::Controller(double RefX, double MarPoseX, double RefY, doubl diffX = ((curr_errorX - prev_errorX) / dt); // scalling - p_termX = Pos_P * curr_errorX; - i_termX = Pos_I * int_errorX; - d_termX = Pos_D * diffX; + p_termX = Pos_Px * curr_errorX; + i_termX = Pos_Ix * int_errorX; + d_termX = Pos_Dx * diffX; // control signal control_signalX = p_termX + i_termX + d_termX; @@ -533,9 +541,9 @@ void ImageConverter::Controller(double RefX, double MarPoseX, double RefY, doubl diffY = ((curr_errorY - prev_errorY) / dt); // scalling - p_termY = Pos_P * curr_errorY; - i_termY = Pos_I * int_errorY; - d_termY = Pos_D * diffY; + p_termY = Pos_Py * curr_errorY; + i_termY = Pos_Iy * int_errorY; + d_termY = Pos_Dy * diffY; // control signal control_signalY = p_termY + i_termY + d_termY; @@ -567,12 +575,22 @@ void ImageConverter::Controller(double RefX, double MarPoseX, double RefY, doubl // differentiation diffYAW = ((curr_errorYAW - prev_errorYAW) / dt); - - // scalling - p_termYAW = Ang_P * curr_errorYAW; - i_termYAW = Ang_I * int_errorYAW; - d_termYAW = Ang_D * diffYAW; - + + if (curr_errorYAW < .08726 && curr_errorYAW > -.08726) // -5 < err < +5 + { + ROS_INFO(" -5 < err < +5 \n"); + // scalling + p_termYAW = S_Ang_P * curr_errorYAW; + i_termYAW = S_Ang_I * int_errorYAW; + d_termYAW = S_Ang_D * diffYAW; + } else if (curr_errorYAW > .08726 || curr_errorYAW < -.08726) // err > +5 or err < -5 + { + ROS_INFO(" err > +5 or err < -5 \n"); + // scalling + p_termYAW = L_Ang_P * curr_errorYAW; + i_termYAW = L_Ang_I * int_errorYAW; + d_termYAW = L_Ang_D * diffYAW; + } // control signal control_signalYAW = p_termYAW + i_termYAW + d_termYAW; @@ -586,16 +604,16 @@ void ImageConverter::Controller(double RefX, double MarPoseX, double RefY, doubl } //ROS_INFO_STREAM("Control signalX = " << control_signalX <<" . \n"); - //ROS_INFO_STREAM("Control signaly = " << control_signalY << ". \n"); - ROS_INFO_STREAM("Control signalYAW = "<< control_signalYAW <<". \n"); - + //ROS_INFO_STREAM("RAW Control signalY = " << control_signalY << ". \n"); + //ROS_INFO_STREAM("RAW Control signalYAW = "<< control_signalYAW <<". \n"); + ROS_INFO_STREAM(" ------------------------------------------------------------- \n"); if(curr_errorYAW > RefYAW) { - dock(-control_signalX, -control_signalY, control_signalYAW); // CW (---|| \\) + dock(-control_signalX, control_signalY, control_signalYAW); // CW (---|| \\) } else { - dock(-control_signalX, -control_signalY, -control_signalYAW); // CCW (// || ---) + dock(-control_signalX, control_signalY, -control_signalYAW); // CCW (// || ---) } } @@ -625,8 +643,6 @@ void ImageConverter::move2docking(double VelX_est, double VelY_est, double omega ROS_INFO_STREAM(" rollmar = " << camPose[3] << " rad. \n"); ROS_INFO_STREAM(" rollref = " << RefPose[3] << " rad. \n"); - //ROS_INFO(" ------- /\/\/\/\ --------- \n"); - ROS_INFO(".... ESTIMATION .... !\n"); geometry_msgs::Twist msg; diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~ index 38414113..99a12017 100644 --- a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~ +++ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~ @@ -42,13 +42,13 @@ using namespace cv; using namespace aruco; using namespace std; -double ImageConverter::Pos_P = .0000001; -double ImageConverter::Pos_I = .02; +double ImageConverter::Pos_P = .0001; +double ImageConverter::Pos_I = 0.002; double ImageConverter::Pos_D = 0; -double ImageConverter::Ang_P = 0.05 * ImageConverter::Pos_P; -double ImageConverter::Ang_I = 0.05 * ImageConverter::Pos_I; -double ImageConverter::Ang_D = 0.05 * ImageConverter::Pos_D; +double ImageConverter::Ang_P = 0.01 * ImageConverter::Pos_P; +double ImageConverter::Ang_I = 0.01 * ImageConverter::Pos_I; +double ImageConverter::Ang_D = 0.01 * ImageConverter::Pos_D; float ImageConverter::TheMarkerSize = -1; @@ -100,10 +100,9 @@ double ImageConverter::control_signalYAW; double ImageConverter::zeroMax = .0000000000000000001; double ImageConverter::zeroMin = -.0000000000000000001; - -double ImageConverter::Pz_eps = .01; -double ImageConverter::Py_eps = .001; -double ImageConverter::A_eps = .1; +double ImageConverter::Pz_eps = .011; +double ImageConverter::Py_eps = .0001; +double ImageConverter::A_eps = .05; ImageConverter::ImageConverter() : @@ -216,7 +215,6 @@ void ImageConverter::ProgStart(int argc,char** argv) cerr<<"check the authenticity of your file again!"<<endl; nh_.shutdown(); } - createTrackbars(); // IP address for raw3_lund @@ -255,7 +253,7 @@ void ImageConverter::ProgStart(int argc,char** argv) char key=0; int index=0; // Capture until press ESC or until the end of the video - while ((key != 'x') && (key!=27) && TheVideoCapturer.grab() && ros::ok()){ + while ((key != 'x') && (key!=27) && TheVideoCapturer.grab() && ros::ok() && keepMoving){ ros::spinOnce(); @@ -281,7 +279,14 @@ void ImageConverter::ProgStart(int argc,char** argv) }else { found = false; - move2docking(-control_signalX, -control_signalY, control_signalYAW); + + if(curr_errorYAW > RefPose[3]) + { + move2docking(-control_signalX, -control_signalY, control_signalYAW); // CW (---|| \\) + } else + { + move2docking(-control_signalX, -control_signalY, -control_signalYAW); // CCW (// || ---) + } } if (ros::ok() && found) @@ -423,9 +428,9 @@ void ImageConverter::camCB(const geometry_msgs::PoseStamped::ConstPtr& CamFB) { RefPose[0] = -.0957; -RefPose[1] = .006; -RefPose[2] = .35; -RefPose[3] = -.68952; +RefPose[1] = 0.00521064; +RefPose[2] = 0.35; +RefPose[3] = -0.679162; camPose[0] = CamFB->pose.position.x; camPose[1] = CamFB->pose.position.y; @@ -462,9 +467,8 @@ camPose[3] = CamFB->pose.orientation.x; ) { - ROS_INFO("--------/*******//----- Dock is completed ! -----/*********---- \n "); - //keepMoving = false; - nh_.shutdown(); + ROS_INFO("--------/*******//----- Dock is completed ! -----/*********---- \n "); + keepMoving = false; }else { @@ -581,11 +585,18 @@ void ImageConverter::Controller(double RefX, double MarPoseX, double RefY, doubl control_signalYAW = 0; } - ROS_INFO_STREAM("Control signalX = " << control_signalX <<" . \n"); - ROS_INFO_STREAM("Control signaly = " << control_signalY << ". \n"); + //ROS_INFO_STREAM("Control signalX = " << control_signalX <<" . \n"); + //ROS_INFO_STREAM("Control signaly = " << control_signalY << ". \n"); ROS_INFO_STREAM("Control signalYAW = "<< control_signalYAW <<". \n"); - dock(-control_signalX, -control_signalY, control_signalYAW); + + if(curr_errorYAW > RefYAW) + { + dock(-control_signalX, -control_signalY, control_signalYAW); // CW (---|| \\) + } else + { + dock(-control_signalX, -control_signalY, -control_signalYAW); // CCW (// || ---) + } } void ImageConverter::dock(double VelX, double VelY, double omegaZ) @@ -599,7 +610,7 @@ void ImageConverter::dock(double VelX, double VelY, double omegaZ) commandPub.publish(msg); - ROS_INFO_STREAM(" Current speed of robot: " << msg << ".\n"); + ROS_INFO_STREAM(" Current speed of robot: \n" << msg << ".\n"); } void ImageConverter::move2docking(double VelX_est, double VelY_est, double omegaZ_est) diff --git a/MobileRobot/CameraCalibration/build/bin/Android_calibrated_data.yml b/MobileRobot/CameraCalibration/build/bin/Android_calibrated_data.yml index 93fdad54..6cf7f4ab 100644 --- a/MobileRobot/CameraCalibration/build/bin/Android_calibrated_data.yml +++ b/MobileRobot/CameraCalibration/build/bin/Android_calibrated_data.yml @@ -1,112 +1,795 @@ %YAML:1.0 -calibration_Time: "Thu Jan 28 20:49:41 2016" -nframes: 25 -image_width: 640 -image_height: 480 -board_width: 9 -board_height: 6 -square_size: 25. -flags: 14 -camera_matrix: !!opencv-matrix +calibration_Time: "Wed Feb 24 16:50:06 2016" +nrOfFrames: 25 +image_Width: 640 +image_Height: 480 +board_Width: 9 +board_Height: 6 +square_Size: 25. +FixAspectRatio: 1. +# flags: +fix_aspectRatio +fix_principal_point +zero_tangent_dist +flagValue: 14 +Camera_Matrix: !!opencv-matrix rows: 3 cols: 3 dt: d - data: [ 4.3885336776199966e+02, 0., 3.1950000000000000e+02, 0., - 4.3885336776199966e+02, 2.3950000000000000e+02, 0., 0., 1. ] -distortion_coefficients: !!opencv-matrix + data: [ 4.9031223533168264e+02, 0., 3.1950000000000000e+02, 0., + 4.9031223533168264e+02, 2.3950000000000000e+02, 0., 0., 1. ] +Distortion_Coefficients: !!opencv-matrix rows: 5 cols: 1 dt: d - data: [ 1.7935688861528923e-01, -7.7499648947306266e-01, 0., 0., - 7.8402390383601062e-01 ] -avg_reprojection_error: 2.4981405385515072e+00 -per_view_reprojection_errors: !!opencv-matrix + data: [ 1.4399436323751644e-01, -1.2796039720497560e-01, 0., 0., + -6.0770347834399863e-01 ] +Avg_Reprojection_Error: 8.5885035883430993e-01 +Per_View_Reprojection_Errors: !!opencv-matrix rows: 25 cols: 1 dt: f - data: [ 3.57268906e+00, 3.99192119e+00, 2.90065944e-01, - 1.16031790e+00, 1.70506015e-01, 1.46292651e+00, 1.53549254e-01, - 4.34785396e-01, 4.56490099e-01, 1.70323861e+00, 2.52026296e+00, - 6.90914512e-01, 2.55129194e+00, 3.63088584e+00, 3.10711956e+00, - 6.87528706e+00, 6.26607001e-01, 5.05158520e+00, 1.98911294e-01, - 1.09289420e+00, 2.30857044e-01, 1.05702937e+00, 2.89913940e+00, - 2.73852974e-01, 3.94171149e-01 ] -extrinsic_parameters: !!opencv-matrix + data: [ 4.63754267e-01, 2.51068443e-01, 1.94270805e-01, + 2.36312449e-01, 1.48495167e-01, 1.35369956e-01, 1.54188156e-01, + 1.54869199e-01, 2.09137380e-01, 1.57230124e-01, 2.70036757e-01, + 2.94935256e-01, 3.74449730e-01, 4.51102346e-01, 6.07178628e-01, + 9.73838270e-01, 3.79880428e-01, 1.39952153e-01, 2.66872108e-01, + 3.82923722e+00, 8.43535066e-01, 2.39103660e-01, 2.56929129e-01, + 3.84845018e-01, 4.58980739e-01 ] +# a set of 6-tuples (rotation vector + translation vector) for each view +Extrinsic_Parameters: !!opencv-matrix rows: 25 cols: 6 dt: d - data: [ 2.9534092898769038e-01, 6.1191203211706580e-01, - 2.7470360197503951e-01, 3.0897767118905767e+02, - -2.7028243575734706e+02, 8.6565084060147069e+02, - 2.9297173480178690e-01, 4.3627724238355592e-02, - 2.7557341503636601e-01, 3.3116979020558648e+02, - -2.5617405901847133e+02, 8.2311266833216223e+02, - 1.9960958806751974e-01, 3.1570035545892154e-02, - 1.2708962425660275e-01, 1.6156231430746246e+02, - -1.4514954021277916e+02, 8.0137640295345932e+02, - 1.7494303625327573e-01, 7.3762512539771466e-02, - 5.0445851712512930e-02, 7.1987206587896949e+01, - -1.1500106245595917e+02, 8.2353927348596790e+02, - 1.0234705790811430e-01, -1.1539621441104764e-01, - 9.3823337675376525e-02, 3.1951578907123128e+00, - -7.3345485888594339e+01, 5.4473869138122870e+02, - 1.0942603376568098e-01, -5.9318892360192710e-01, - 9.5775466286502769e-02, -3.8823998417529481e+01, - -1.1592244101755368e+02, 4.9920788777776937e+02, - 6.8545562709697624e-02, 4.7150822752278299e-01, - 5.2612943896158552e-02, 1.5473586270837305e+02, - -1.0640641837833310e+02, 6.2691384100114965e+02, - 1.5582922702769697e-01, 5.6434576422285321e-01, - 9.5494730612276979e-02, 8.2172601659744345e+01, - -1.5297884236621007e+02, 5.3820013174960172e+02, - 1.8623402210617349e-01, 2.7477364423716788e-01, - 1.1619238784968636e-01, 1.3013169685435821e+02, - -1.6908286907798981e+02, 5.2732415507752728e+02, - 2.5001935451799207e-01, 1.3919306246366922e-01, - 1.1387570030390901e-01, 2.3011041935951960e+02, - -1.4881298454444874e+02, 7.9529542227003276e+02, - 1.4906893801704874e-01, 3.2683974627624546e-01, - 1.2784547920327755e-01, 1.9702946845625539e+02, - 3.0672296429566011e+01, 8.5412803073139594e+02, - 1.4661178235065710e-02, 2.2089421006768134e-01, - 2.0889456740306961e-01, 2.1049717214878478e+02, - -7.5615018923352594e+01, 8.1175021107970872e+02, - 2.0772197244104273e-01, -1.5278211730844371e-01, - 1.6558980588750838e-01, 1.5264531308526819e+02, - -2.2242338564518585e+02, 7.3221106482620826e+02, - 4.4478179836890613e-01, -1.3524735559255108e-01, - 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+1,795 @@ +%YAML:1.0 +calibration_Time: "Wed Feb 24 16:57:06 2016" +nrOfFrames: 25 +image_Width: 640 +image_Height: 480 +board_Width: 9 +board_Height: 6 +square_Size: 25. +FixAspectRatio: 1. +# flags: +fix_aspectRatio +fix_principal_point +zero_tangent_dist +flagValue: 14 +Camera_Matrix: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ 4.7136606676766610e+02, 0., 3.1950000000000000e+02, 0., + 4.7136606676766610e+02, 2.3950000000000000e+02, 0., 0., 1. ] +Distortion_Coefficients: !!opencv-matrix + rows: 5 + cols: 1 + dt: d + data: [ 2.5950413525891219e-01, -9.6878915315682701e-01, 0., 0., + 9.5876009923065553e-01 ] +Avg_Reprojection_Error: 1.3739146985063082e+00 +Per_View_Reprojection_Errors: !!opencv-matrix + rows: 25 + cols: 1 + dt: f + data: [ 4.56384987e-01, 1.61582291e-01, 1.58945695e-01, + 4.22061831e-01, 1.82164162e-01, 6.86100781e-01, 6.23899281e-01, + 3.20313394e-01, 3.07660758e-01, 2.69823819e-01, 4.10134649e+00, + 3.93545413e+00, 3.08526784e-01, 4.39901441e-01, 5.90555131e-01, + 5.63646615e-01, 3.43293142e+00, 1.62783697e-01, 3.53263706e-01, + 2.39584595e-01, 1.71859145e-01, 2.82185227e-01, 4.04530853e-01, + 1.78368255e-01, 1.66381136e-01 ] +# a set of 6-tuples (rotation vector + translation vector) for each view +Extrinsic_Parameters: !!opencv-matrix + rows: 25 + cols: 6 + dt: d + data: [ 9.3845151700898619e-02, 1.8407372341288561e-01, + 3.4093271440633288e-02, -1.6180913834820265e+00, + -7.1904545651843875e+01, 5.1139866359750943e+02, + 1.6213006651235654e-02, 3.6589107694278381e-02, + 4.2924221688357377e-03, 2.5197452581595172e+00, + -3.4959064676157404e+01, 5.0125820736451647e+02, + 4.9372748217359624e-02, 8.5425991784445043e-02, + -1.7638422897256902e-02, 5.7662430264855278e+00, + -1.9760910503757728e+01, 5.4090682544063554e+02, + -5.6326255225352184e-01, 3.4237757535934937e-01, + -7.6764030514972270e-02, -6.1889345229960369e+01, + -4.2659723196344927e+01, 5.5713753916601217e+02, + -8.1147474967258465e-02, 2.3093731298923817e-01, + 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5.8353268426055513e+02, + -6.7670279835636879e-02, 1.9815852923070595e-01, + 7.6480138518751928e-01, 1.7331476350433643e+01, + -1.4858447404134847e+02, 5.8600650246942564e+02 ] +Image_points: !!opencv-matrix + rows: 25 + cols: 54 + dt: "2f" + data: [ 3.18305206e+02, 1.72453003e+02, 3.41059479e+02, + 1.72813324e+02, 3.64497284e+02, 1.73076691e+02, 3.88611145e+02, + 1.73350052e+02, 4.13097778e+02, 1.73602417e+02, 4.38331177e+02, + 1.73743774e+02, 4.64284546e+02, 1.73966904e+02, 4.90616211e+02, + 1.74066711e+02, 5.16906799e+02, 1.74546204e+02, 3.17680481e+02, + 1.96025635e+02, 3.40394989e+02, 1.96642288e+02, 3.63585632e+02, + 1.97180679e+02, 3.87494080e+02, 1.97725998e+02, 4.11718872e+02, + 1.98169434e+02, 4.36723846e+02, 1.98722748e+02, 4.62420807e+02, + 1.99187180e+02, 4.88758636e+02, 1.99589981e+02, 5.15142151e+02, + 2.00193039e+02, 3.17120972e+02, 2.19345337e+02, 3.39656860e+02, + 2.20068573e+02, 3.62659851e+02, 2.20953857e+02, 3.86343079e+02, + 2.21673477e+02, 4.10553955e+02, 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2.05938843e+02, 2.91391144e+02, + 2.19564590e+02, 3.05671997e+02, 2.33558380e+02, 3.20271759e+02, + 2.47584808e+02, 3.35050751e+02, 2.61906158e+02, 3.50294312e+02, + 2.76581543e+02, 3.65723145e+02, 2.91563141e+02, 3.81699585e+02, + 3.06871399e+02 ] diff --git a/MobileRobot/CameraCalibration/data/camera_conf.xml b/MobileRobot/CameraCalibration/data/camera_conf.xml index e3f89e06..2335bf25 100644 --- a/MobileRobot/CameraCalibration/data/camera_conf.xml +++ b/MobileRobot/CameraCalibration/data/camera_conf.xml @@ -36,7 +36,7 @@ <Calibrate_FixPrincipalPointAtTheCenter> 1 </Calibrate_FixPrincipalPointAtTheCenter> <!-- The name of the output log file. --> - <Write_outputFileName>"Android_calibrated_data.yml"</Write_outputFileName> + <Write_outputFileName>"Xperia_calibrated_data.yml"</Write_outputFileName> <!-- If true (non-zero) we write to the output file the feature points.--> <Write_DetectedFeaturePoints>1</Write_DetectedFeaturePoints> <!-- If true (non-zero) we write to the output file the extrinsic camera parameters.--> -- GitLab