Libor Wagner's Notes

Prague Workshop February 2013

  • Can camera node use serial id instead of usb address?
  • Localised configuration.

Parameter Server vs Dynamic Reconfigure

Work Log

- clopema_perception

http://answers.ros.org/question/42698/difference-between-using-dynamic_reconfigure-and-using-getparam-at-runtime/

Cameras

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).

PTU

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.