feat: change parameters in sample insta360 config yaml

mjlee111 · Nov 5, 2024 · a0a5296 · a0a5296
1 parent f1fe453
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Showing 3 changed files with 23 additions and 21 deletions.
diff --git a/image_projection/dual_fisheye_camera/config/sample_insta360_air.yaml b/image_projection/dual_fisheye_camera/config/sample_insta360_air.yaml
@@ -1,11 +1,11 @@
 /**:
     ros__parameters:
       viewer: true
-      camera_name: "insta360"
+      camera_name: "insta360air"
       topic: "/camera/image_raw"
       compressed_topic: "/camera/compressed_image"
       compressed_depth_topic: "/camera/compressed_depth"
-      device: "/dev/insta360"
+      device: "/dev/insta360air"
       frame_id: "camera"
       resolution: "1472x736"
       fps: 30.0

diff --git a/image_projection/dual_fisheye_camera/config/sample_insta360_air_info.yaml b/image_projection/dual_fisheye_camera/config/sample_insta360_air_info.yaml
diff --git a/image_projection/dual_fisheye_camera/config/sample_insta360_air_left_info.yaml b/image_projection/dual_fisheye_camera/config/sample_insta360_air_left_info.yaml
@@ -0,0 +1,21 @@
+/**:
+  ros__parameters:
+    image_width: 736
+    image_height: 736
+    camera_matrix:
+      rows: 3
+      cols: 3
+      data: [230.835588, -0.104723, 366.729170, 0.000000, 232.336174, 365.053040, 0.000000, 0.000000, 1.000000]
+    distortion_model: "plumb_bob"
+    distortion_coefficients:
+      rows: 1
+      cols: 4
+      data: [-0.020724, -0.004885, 0.002493, -0.000835]
+    rectification_matrix:
+      rows: 3
+      cols: 3
+      data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
+    projection_matrix:
+      rows: 3
+      cols: 4
+      data: [230.835588, -0.104723, 366.729170, 0.000000, 0.000000, 232.336174, 365.053040, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]