I just tried my new Embedded_s with the astra_driver (it’s great to see the development here!) and was suprised that the camera_info topic (with Distortion, Intrinsic Matrix, …) was filled with values that definitely did not look like a default-calibration (as I always get for the Mini S).
Mini S:
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [570.3400268554688, 0.0, 319.5, 0.0, 570.3400268554688, 239.5, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [570.3400268554688, 0.0, 319.5, 0.0, 0.0, 570.3400268554688, 239.5, 0.0, 0.0, 0.0, 1.0, 0.0]
Embedded:
D: [0.038348376750946045, -0.059544675052165985, -0.0007290133507922292, -0.0005021999240852892, 0.0]
K: [-455.1952209472656, 0.0, 327.48583984375, 0.0, 455.1952209472656, 240.41822814941406, 0.0, 0.0, 1.0]
R: [0.9999920129776001, -0.0036066046450287104, -0.0017094686627388, 0.003609547158703208, 0.9999920129776001, 0.0017212817911058664, 0.0017032469622790813, -0.0017274385318160057, 0.999997079372406]
P: [455.1952209472656, 0.0, 312.51416015625, -14.494669914245605, 0.0, 455.1952209472656, 240.41822814941406, 0.03783918172121048, 0.0, 0.0, 1.0, -0.5576953887939453]
(each time the launch printed:
[/camera/camera_nodelet_manager INFO 1561623566.620181313]: using default calibration URL
[/camera/camera_nodelet_manager INFO 1561623566.620250147]: camera calibration URL: file:///home/asd/.ros/camera_info/rgb_Astra_Orbbec.yaml
[/camera/camera_nodelet_manager INFO 1561623566.620320024]: Unable to open camera calibration file [/home/asd/.ros/camera_info/rgb_Astra_Orbbec.yaml]
[/camera/camera_nodelet_manager WARN 1561623566.620339004]: Camera calibration file /home/asd/.ros/camera_info/rgb_Astra_Orbbec.yaml not found.
[/camera/camera_nodelet_manager INFO 1561623566.740474971]: using default calibration URL
[/camera/camera_nodelet_manager INFO 1561623566.740520795]: camera calibration URL: file:///home/asd/.ros/camera_info/depth_Astra_Orbbec.yaml
[/camera/camera_nodelet_manager INFO 1561623566.740559912]: Unable to open camera calibration file [/home/asd/.ros/camera_info/depth_Astra_Orbbec.yaml]
[/camera/camera_nodelet_manager WARN 1561623566.740592367]: Camera calibration file /home/asd/.ros/camera_info/depth_Astra_Orbbec.yaml not found.
Does that mean that the embedded camera was already calibrated in the factory? (I only have a single embedded, so I can’t check if the values differ between cameras)