Calibrating Android device with ATAN calibration model and ROS

calibrate_android_atan

# Previous step: Launch prepare-videochat.sh [an Android to v4l2loopback driver]
cd ~/Applications/ipwebcam-gst # Modify to the pertinent location of ipwebcam-gst

# Start ROS
roscore

# Run gscam (change location of device if different than /dev/video0)

roscd gscam
cd bin
export GSCAM_CONFIG="v4l2src device=/dev/video0 ! video/x-raw-rgb ! ffmpegcolorspace"
rosrun gscam gscam

# List the topics and note down gscam camera topic:

rostopic list

# Test: view the gscam feed

rosrun image_view image_view image:=/camera/image_raw

# Run img_proc to convert the gscam feed to b/w

ROS_NAMESPACE=camera rosrun image_proc image_proc
rostopic list # List topics to double check
rosrun image_view image_view image:=camera/image_mono # Just to double check that converts to mono

# Run calibration routine

./catkin_ws/devel/lib/ptam/cameracalibrator /image:=/image_mono # From catkin_ws parent folder