Libor Wagner's Notes¶
- DX100 ERRORS
- Time Synchronisations
- toradex and xtion shutters
- Pages I'm Responsible for
- Setting up UDEV rules
- Toradex Robin
- ROS Matlab
Prague Workshop February 2013¶
- Can camera node use serial id instead of usb address?
- Localised configuration.
Parameter Server vs Dynamic Reconfigure¶
to detect camera run:
ros@kinect1:~/Source/ROS$ lsusb Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub Bus 001 Device 002: ID 8087:0024 Intel Corp. Integrated Rate Matching Hub Bus 002 Device 002: ID 8087:0024 Intel Corp. Integrated Rate Matching Hub Bus 003 Device 002: ID 067b:2303 Prolific Technology, Inc. PL2303 Serial Port Bus 001 Device 003: ID 1d27:0600 Bus 001 Device 004: ID 1d27:0600 Bus 002 Device 006: ID 04b0:0429 Nikon Corp. Bus 001 Device 008: ID 04b0:0429 Nikon Corp.
The two last entries are the cameras, to get the serial id run:
ros@kinect1:~/Source/ROS$ lsusb -v -s 001:008 | grep iSerial iSerial 3 000006372504
Serial is the number starting by zeros, omitting the 3.
Integration of dotmatrix detector to Xtion calibration¶
The dotmatrix can detect the matrix even though some of the points are not visible. On the other hand the camera calibration toolbox (http://www.vision.caltech.edu/bouguetj/calib_doc/), used by Smisek's method, require to have all points in all images (check with Smisek).
The PTU should be configured so the left one has _1 and right _2 (check). Easiest way to configure device id is to set both devices _1 by _0 U1 and DS then turn off on of them (that will have id 1) and set the other by _1 U2 DS.