From 10c1e89be6b8928ce305eb81bac4a3715c6a880e Mon Sep 17 00:00:00 2001
From: Fujun Ruan <85526629+Flowerst-0416@users.noreply.github.com>
Date: Thu, 1 Dec 2022 16:58:28 -0500
Subject: [PATCH] laser yaml add

---
 README.md                              | 17 ++----------
 multi_calibration/cfg/laser_calib.yaml | 38 ++++++++++++++++++++++++++
 2 files changed, 41 insertions(+), 14 deletions(-)
 create mode 100644 multi_calibration/cfg/laser_calib.yaml

diff --git a/README.md b/README.md
index c103284..a7812ce 100644
--- a/README.md
+++ b/README.md
@@ -280,18 +280,7 @@ source devel/setup.bash
 roslaunch multi_calibration auto_calibration.launch directory:="[file position]" laser_cam:=1
 ```
 
-Run **rqt** in different terminal
-
 ```shell
-rqt
-```
-
-Go to Plugins -> Topics -> Message Publisher
-
-![Message Publisher](images/rqt2.png)
-
-In the Message Publisher panel switch to the `/execution_status` topic
-
-![Message Publisher Panel](images/rqt3.png)
-
-Publish at a rate you want and the image will be captured automatically at that rate.
+cd ~/Calibration_ws/laser_calib
+rosrun multi_calibration laser_calib -i ./ -c ./laser_calib.yaml
+```
\ No newline at end of file
diff --git a/multi_calibration/cfg/laser_calib.yaml b/multi_calibration/cfg/laser_calib.yaml
new file mode 100644
index 0000000..b07777e
--- /dev/null
+++ b/multi_calibration/cfg/laser_calib.yaml
@@ -0,0 +1,38 @@
+%YAML:1.0
+---
+model_type: MEI
+camera_name: camera
+image_width: 2448
+image_height: 1840
+mirror_parameters:
+   xi: 2.2233477162
+distortion_parameters:
+   k1: -0.8088886525
+   k2: -0.8067357586
+   p1: 0.0079433344
+   p2: -0.0037897510
+projection_parameters:
+   gamma1: 3811.1549321366
+   gamma2: 3805.6811535143
+   u0: 1221.7500158745
+   v0: 892.4705799546
+width: 2448
+height: 1840
+
+# checkerboard parameters
+target_rows: 7
+target_cols: 10
+square_size: 0.01 # meters
+
+# laser detection parameters for HSV thresholding
+# For red laser that 
+hue_min: 0
+hue_max: 30
+sat_min: 0
+val_min: 100 # brightness
+val_ratio: 0.05 # val_thresh = max(val_min, image_max_val * val_ratio)
+
+
+segment_length_min: 15
+vis_laser_detection: 0
+laser_horizontal: 1