36 lines
1.8 KiB
YAML
36 lines
1.8 KiB
YAML
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cam0:
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T_cam_imu:
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[-0.9995378259923383, 0.02917807204183088, -0.008530798463872679, 0.047094247958417004,
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0.007526588843243184, -0.03435493139706542, -0.9993813532126198, -0.04788273017221637,
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-0.029453096117288798, -0.9989836729399656, 0.034119442089241274, -0.0697294754693238,
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0.0, 0.0, 0.0, 1.0]
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camera_model: pinhole
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distortion_coeffs: [0.010171079892421483, -0.010816440029919381, 0.005942781769412756,
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-0.001662284667857643]
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distortion_model: equidistant
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intrinsics: [380.81042871360756, 380.81194179427075, 510.29465304840727, 514.3304630538506]
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resolution: [1024, 1024]
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rostopic: /cam0/image_raw
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cam1:
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T_cam_imu:
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[-0.9995240747493029, 0.02986739485347808, -0.007717688852024281, -0.05374086123613335,
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0.008095979457928231, 0.01256553460985914, -0.9998882749870535, -0.04648588412432889,
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-0.02976708103202316, -0.9994748851595197, -0.0128013601698453, -0.07333210787623645,
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0.0, 0.0, 0.0, 1.0]
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T_cn_cnm1:
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[0.9999994317488622, -0.0008361847221513937, -0.0006612844045898121, -0.10092123225528335,
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0.0008042457277382264, 0.9988989443471681, -0.04690684567228134, -0.001964540595211977,
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0.0006997790813734836, 0.04690628718225568, 0.9988990492196964, -0.0014663556043866572,
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0.0, 0.0, 0.0, 1.0]
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camera_model: pinhole
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distortion_coeffs: [0.01371679169245271, -0.015567360615942622, 0.00905043103315326,
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-0.002347858896562788]
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distortion_model: equidistant
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intrinsics: [379.2869884263036, 379.26583742214524, 505.5666703237407, 510.2840961765407]
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resolution: [1024, 1024]
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rostopic: /cam1/image_raw
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T_imu_body:
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[1.0000, 0.0000, 0.0000, 0.0000,
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0.0000, 1.0000, 0.0000, 0.0000,
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0.0000, 0.0000, 1.0000, 0.0000,
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0.0000, 0.0000, 0.0000, 1.0000]
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