UsefulCommands.txt

// CALIBRATE SINGLE CAM
rosrun camera_calibration cameracalibrator.py --size 8x9 --square 0.01 image:=/camera/image_raw camera:=/camera0 --fix-principal-point --fix-aspect-ratio
// CALIBRATE STEREO CAMS

//TINY SQUARES
rosrun camera_calibration cameracalibrator.py --size 8x9 --square 0.01 right:=/stereo/right/image_raw left:=/stereo/left/image_raw left_camera:=/stereo/left right_camera:=/stereo/right --approximate=0.01 --fix-principal-point --fix-aspect-ratio

//LARGE SQUARES

rosrun camera_calibration cameracalibrator.py --size 9x6 --square 0.0254 right:=/stereo/right/image_raw left:=/stereo/left/image_raw left_camera:=/stereo/left right_camera:=/stereo/right --approximate=0.01 --fix-principal-point

//TEST CALIBRATION
rosrun camera_calibration camerachecky -s 8x6 -q .0288 --approximate .03

// FIX OUT OF MEMORY USB (two cameras)
sudo rmmod uvcvideo
sudo modprobe uvcvideo quirks=128

// FOR CONFIGURING STEREO
rosrun rqt_reconfigure rqt_reconfigure
// FOR SAVING STEREO CONFIG
rosrun dynamic_reconfigure dynparam dump /stereo/stereo_image_proc /home/biomed/daVinci/catkin_ws/src/dvrk-vtk-registration/defaults/stereo_processing.yaml 

//Stop auto white balance
v4l2-ctl --set-ctrl white_balance_temperature_auto=0
v4l2-ctl --set-ctrl backlight_compensation=1
v4l2-ctl --set-ctrl exposure_auto=1
v4l2-ctl --set-ctrl white_balance_temperature=3900
v4l2-ctl --set-ctrl exposure_absolute=200
v4l2-ctl --set-ctrl saturation=60
v4l2-ctl --set-ctrl brightness=00
v4l2-ctl --set-ctrl hue=-150


v4l2-ctl --device=1 --set-ctrl white_balance_temperature_auto=0
v4l2-ctl --device=1 --set-ctrl backlight_compensation=1
v4l2-ctl --device=1 --set-ctrl exposure_auto=1
v4l2-ctl --device=1 --set-ctrl white_balance_temperature=3900
v4l2-ctl --device=1 --set-ctrl exposure_absolute=200
v4l2-ctl --device=1 --set-ctrl saturation=60
v4l2-ctl --device=1 --set-ctrl brightness=00
v4l2-ctl --device=1 --set-ctrl hue=-150