wrong camera_info broadcasted with camera1394
Hello,
I am trying to use the ~camera_info_url parameter of camera1394.
I created the following config file:
image_width: 1200
image_height: 1600
camera_name: 00b09d01009f01a2
distortion_model: plump_bob
binning_x: 0
binning_y: 0
camera_matrix:
rows: 3
cols: 3
data: [390.0, 0.0, 616.0, 0.0, 390.0, 808.0, 0, 0, 1.0]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [0, 0, 0, 0, 0]
rectification_matrix:
rows: 3
cols: 3
data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
projection_matrix:
rows: 3
cols: 4
data: [390.0, 0.0, 616.0, 0.0 , 0.0, 390.0, 808.0, 0.0, 0, 0, 1.0, 0.0]
That I run using the following launch file:
<launch>
<node pkg="camera1394" type="camera1394_node" name="ladybug" >
<param name="guid" value="00b09d01009f01a2" />
<param name="video_mode" value="1600x1200_mono8" />
<param name="frame_id" value="ladybug0" />
<param name="bayer_pattern" value="rggb" />
<param name="auto_white_balance" value="2" />
<param name="camera_info_url" value="package://mojo_camera/ladybug0_config.yaml" />
</node>
<node ns="camera" pkg="image_proc" type="image_proc" name="image_proc" />
<node pkg="image_view" type="image_view" name="image_view" >
<remap from="image" to="camera/image_color" />
</node>
</launch>
My problem is that when I try to print the camera_info messages sent by camera1394 I get the default null ones:
header:
seq: 80
stamp:
secs: 1305893240
nsecs: 937414885
frame_id: /ladybug0
height: 1200
width: 1600
distortion_model: ''
D: []
K: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
R: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
P: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
binning_x: 0
binning_y: 0
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
do_rectify: False
---
I tried to inspire from the example of the tests folder of camera1394 and I can't seem to get my mistake. Would anyone know what I do wrong here?
Thanks in advance
Raph