camera_config.py

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import roslib
roslib.load_manifest('hrl_camera')
import cv

camera_parameters = {
        #A sample configuration
        'default' :
        {
            'calibration_image_width' : 320.0,
            'calibration_image_height' : 240.0, 
            'focal_length_x_in_pixels' : 161.80593,
            'focal_length_y_in_pixels' : 163.49099,
            'optical_center_x_in_pixels' : 159.78997,
            'optical_center_y_in_pixels' : 136.73113,
            'lens_distortion_radial_1' : -0.26334,
            'lens_distortion_radial_2' : 0.05096,
            'lens_distortion_tangential_1' : 0.00105,
            'lens_distortion_tangential_2' : -0.00016,
            'opencv_bayer_pattern' : None,
            #whether this camera was mounted upside down
            'upside_down': True,
            'color': False,
            #the class to load in a normal python import statement
            'class': 'firefly',
            #UUID obtained by calling 'python camera_uuid.py'
            'uid': None 
        },

        'dummy_deepthought':
        {
            'calibration_image_width' : 640.0,
            'calibration_image_height' : 480.0, 
            'focal_length_x_in_pixels' : 362.381,
            'focal_length_y_in_pixels' : 362.260,
            'optical_center_x_in_pixels' : 275.630,
            'optical_center_y_in_pixels' : 267.914,
            'lens_distortion_radial_1' :    -0.270544,
            'lens_distortion_radial_2' :    0.0530850,
            'lens_distortion_tangential_1' : 0,
            'lens_distortion_tangential_2' : 0,
            'opencv_bayer_pattern' :  cv.CV_BayerBG2BGR,
            'upside_down': False,
            'color': True,
            'class': 'firefly',
            'uid': 7281161
        },

#########################################################################
# Start of cameras on Cody
#########################################################################
    'mekabotUTM':
    {
        'calibration_image_width' : 640.0,
        'calibration_image_height' : 480.0,
        'focal_length_x_in_pixels' : 362.381,
        'focal_length_y_in_pixels' : 362.260,
        'optical_center_x_in_pixels' : 275.630,
        'optical_center_y_in_pixels' : 267.914,
        'lens_distortion_radial_1' : -0.270544,
        'lens_distortion_radial_2' : 0.0530850,
        'lens_distortion_tangential_1' : 0,
        'lens_distortion_tangential_2' : 0,
        'opencv_bayer_pattern' : cv.CV_BayerGB2BGR,
        #'opencv_bayer_pattern' : cv.CV_BayerBG2BGR,
        'type': 'Point Grey Firefly',
        'class': 'firefly',
        'color': True,
        'uid': 8520228
    },



#########################################################################
# Start of camera on ELE
#########################################################################
        'catadioptric' :
        {  
            'calibration_image_width' : 640.0,
            'calibration_image_height' : 480.0, 
            'focal_length_x_in_pixels' : 360,
            'focal_length_y_in_pixels' : 360,
            'optical_center_x_in_pixels' : 320,
            'optical_center_y_in_pixels' : 240,
            'lens_distortion_radial_1' :    0,
            'lens_distortion_radial_2' :    0,
            'lens_distortion_tangential_1' : 0,
            'lens_distortion_tangential_2' : 0,
            'opencv_bayer_pattern' : None,
            'type': 'Point Grey Firefly',
            'class': 'firefly',
            'color': False,
            'uid': 7281154
        },

        'stereo_left':
        {  
            'calibration_image_width' : 640.0,
            'calibration_image_height' : 480.0, 
            'focal_length_x_in_pixels' : 1017.33,
            'focal_length_y_in_pixels' : 1018.47,
            'optical_center_x_in_pixels' : 306.264,
            'optical_center_y_in_pixels' : 226.465,
            'lens_distortion_radial_1' :    -0.480961,
            'lens_distortion_radial_2' :     0.341886,
            'lens_distortion_tangential_1' : 0,
            'lens_distortion_tangential_2' : 0,
            'opencv_bayer_pattern' : cv.CV_BayerGR2BGR,
            'type': 'Point Grey Firefly',
            'class': 'firefly',
            'color': True,
            'frame_rate': 7.5,
            'ros_topic': '/stereohead/left/color_image',
            'uid': 7140923
        },

        'stereo_right':
        {  
            'calibration_image_width' : 640.0,
            'calibration_image_height' : 480.0, 
            'focal_length_x_in_pixels' : 1013.70,
            'focal_length_y_in_pixels' : 1015.33,
            'optical_center_x_in_pixels' : 303.834,
            'optical_center_y_in_pixels' : 219.792,
            'lens_distortion_radial_1' :   -0.530238,
            'lens_distortion_radial_2' :   0.766580,
            'lens_distortion_tangential_1' : 0,
            'lens_distortion_tangential_2' : 0,
            'opencv_bayer_pattern' : cv.CV_BayerGR2BGR,
            'type': 'Point Grey Firefly',
            'class': 'firefly',
            'color': True,
            'frame_rate': 7.5,
            'ros_topic': '/stereohead/right/color_image',
            'uid': 7041054
        },

        'snozzberry_hand' :
        {
            'calibration_image_width' : 640.0,
            'calibration_image_height' : 480.0, 
            'focal_length_x_in_pixels' : 351.38 ,
            'focal_length_y_in_pixels' : 351.01, 
            'optical_center_x_in_pixels' : 301.92,
            'optical_center_y_in_pixels' : 203.98,
            'lens_distortion_radial_1' :   -0.258504,
            'lens_distortion_radial_2' : 0.0482161,
            'lens_distortion_tangential_1' : 0.0,
            'lens_distortion_tangential_2' : 0.0,
            'opencv_bayer_pattern' : cv.CV_BayerGR2BGR,
            'color': True,
            'type': 'Point Grey Firefly',
            'class': 'firefly',
            'uid': 7140879,
            'fovy': 62.
        },

        'ele_carriage' :
        {
            'calibration_image_width' : 1024.0,
            'calibration_image_height' : 768.0, 
            'focal_length_x_in_pixels' : 624.043,
            'focal_length_y_in_pixels' : 625.488,
            'optical_center_x_in_pixels' : 531.805 ,
            'optical_center_y_in_pixels' : 404.651,
            'lens_distortion_radial_1' :  -0.314033,
            'lens_distortion_radial_2' :  0.0973255,
            'lens_distortion_tangential_1' : 0.,
            'lens_distortion_tangential_2' : 0,
            'opencv_bayer_pattern' : cv.CV_BayerGR2RGB,
            'cv_cap_prop_mode' : 101,
            'upside_down': False,
            'color': True,
            'type': 'Point Grey DragonFly2',
            'class': 'dragonfly2',
            'uid': 9030523
        },

        'ele_utm_old' :
        {
            'calibration_image_width' : 640.0,
            'calibration_image_height' : 480.0, 
            'focal_length_x_in_pixels' :   358.804,
            'focal_length_y_in_pixels' :   359.702,
            'optical_center_x_in_pixels' : 309.151,
            'optical_center_y_in_pixels' : 226.581,

            'lens_distortion_radial_1' : -0.273398,
            'lens_distortion_radial_2' : 0.0546037,
            'lens_distortion_tangential_1' : 0,
            'lens_distortion_tangential_2' : 0,

             'cv_cap_prop_mode' : 101,
            'opencv_bayer_pattern' :  cv.CV_BayerBG2BGR,
            'color': True,
            'type': 'Point Grey Firefly',
            'class': 'firefly',
            'uid': 8520136
        },
#########################################################################
# End of cameras on ELE.
#########################################################################
        'remote_head' :
        {
            'calibration_image_width': 1024.0,
            'calibration_image_height': 768.0, 

            'focal_length_x_in_pixels':   863.136719,
            'focal_length_y_in_pixels':   863.513672,
            'optical_center_x_in_pixels': 546.340088,
            'optical_center_y_in_pixels': 403.253998,

            'lens_distortion_radial_1':     -0.417464,
            'lens_distortion_radial_2':     0.217398 ,
            'lens_distortion_tangential_1': 0.002538 ,
            'lens_distortion_tangential_2': 0.000321 ,

            'cv_cap_prop_mode': 101,
            'opencv_bayer_pattern': cv.CV_BayerGR2RGB,
            'color': True,
            'type': 'Point Grey DragonFly2',
            'class': 'dragonfly2',
            'uid': 9030543
        },

        'lab_overhead' :
        {
            'calibration_image_width' : 1024.0,
            'calibration_image_height' : 768.0, 
            'focal_length_x_in_pixels' : 462.794,
            'focal_length_y_in_pixels' : 462.041,
            'optical_center_x_in_pixels' : 488.590,
            'optical_center_y_in_pixels' : 428.419,
            'lens_distortion_radial_1' : -0.240018,
            'lens_distortion_radial_2' : 0.0372740,
            'lens_distortion_tangential_1' : 0,
            'lens_distortion_tangential_2' : 0,
            'opencv_bayer_pattern' : None,
            #whether this camera was mounted upside down
            'upside_down': True,
            'color': True,
            'type': 'Point Grey DragonFly2',
            #the class to load in a normal python import statement
            'class': 'dragonfly2',
            #UUID obtained by calling 'python camera_uuid.py'
            'uid': None 
            }
    }