calibration_input.xml

<?xml version="1.0"?>
<!-- PATHS ARE RELATIVE TO RH_CALIBRATION NODE, THIS IS DEFINED IN THE LAUNCH FILE -->
<opencv_storage>
<Settings>
  <!-- Number of inner corners per item row and column -->
  <BoardSize_Width>9</BoardSize_Width>
  <BoardSize_Height>6</BoardSize_Height>

  <!-- The size of a square in some user defined metric system (pixel, millimeter) [defined in mm or m]-->
  <Square_Size>0.024</Square_Size>

  <!-- Maximum reprojection error in calibration; If error is less than this, the image is used for calibratrion [defined in pixels] -->
  <Max_Error>100.0</Max_Error>

  <!-- Scale ration in order to reduce the  image resolution while finding the inner corners-->
  <Scale_Input>4.0</Scale_Input>

   <!-- DEFINE FOR DEBUG PURPOSES ONLY!!
      The input to use for calibration.
    To use an image list -> give the path to the XML file containing the list of the images 
  -->
  <Input>"src/simulation_nodes/input_images_models.xml"</Input>
  <!-- If true (non-zero) the program will read the list in Input-->
  <Debug_Mode>0</Debug_Mode>
  <!-- If true (non-zero) the program will save processed images-->
  <Save_Mode>1</Save_Mode>
  <!-- If true (non-zero) the program will save image points of the calibration target for each camera-->
  <Save_Points_Mode>1</Save_Points_Mode>
  <!-- Path to the directory where to save images. -->
  <Write_dirPathImages>"src/output/"</Write_dirPathImages>
  <!-- The number of images to be used in the calibration while in debug mode -->
  <!-- 0 will run normal program, >0 will run continuously -->
  <NoImages_Camera>0</NoImages_Camera>
  <!-- The number of images to be used in the hand eye calibration while in debug mode -->
  <NoImages_HandEye>0</NoImages_HandEye>

  <!-- The options below are standard and should not be changed. Change them at your own risk! -->
  <!-- The name of the output log file for left and right camera -->
  <Write_outputFileNameLeftCamera>"calibrations/out_camera_data_left.xml"</Write_outputFileNameLeftCamera>
  <Write_outputFileNameRightCamera>"calibrations/out_camera_data_right.xml"</Write_outputFileNameRightCamera>

  <!-- The name of the output log file for Euler angles -->
  <Write_outputFileNameEulerAngles>"calibrations/euler_angles.xml"</Write_outputFileNameEulerAngles>

  <!-- The name of the output log file for the extrinsic parameters -->
  <Write_outputFileNameExtrinsic>"calibrations/out_cameras_data_extrinsic.xml"</Write_outputFileNameExtrinsic>
  <Write_outputGripper2Camera>"calibrations/out_gripper2camera.xml"</Write_outputGripper2Camera>

  <!-- The name of the output log for the stereo calibration -->
  <Write_stereoCalib>"calibrations/out_stereoCalibration.xml"</Write_stereoCalib>

</Settings>
</opencv_storage>