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Add camera calibration error

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This commit is contained in:
Michel Breyer 2021-08-27 10:52:27 +02:00
parent 764288d3ac
commit 9f0e2789cf
2 changed files with 12 additions and 2 deletions
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4
cfg/active_grasp.yaml
View File

@ -1,5 +1,7 @@
bt_sim: bt_sim:
gui: True gui: False
cam_noise: True
calib_error: True
active_grasp: active_grasp:
base_frame_id: panda_link0 base_frame_id: panda_link0

8
scripts/bt_sim_node.py
View File

@ -181,6 +181,12 @@ class CameraPlugin(Plugin):
super().__init__(rate) super().__init__(rate)
self.camera = camera self.camera = camera
self.name = name self.name = name
self.cam_noise = rospy.get_param("~cam_noise", True)
if rospy.get_param("~calib_error"):
self.camera.calib_error = Transform(
Rotation.from_euler("xyz", [0.27, 0.034, 0.18], degrees=True),
np.r_[0.002, 0.0018, 0.0007],
)
self.cv_bridge = cv_bridge.CvBridge() self.cv_bridge = cv_bridge.CvBridge()
self.init_publishers() self.init_publishers()
@ -199,6 +205,8 @@ class CameraPlugin(Plugin):
self.info_pub.publish(msg) self.info_pub.publish(msg)
_, depth, _ = self.camera.get_image() _, depth, _ = self.camera.get_image()
if self.cam_noise:
depth = apply_noise(depth) depth = apply_noise(depth)
msg = self.cv_bridge.cv2_to_imgmsg(depth) msg = self.cv_bridge.cv2_to_imgmsg(depth)