34 lines
1.6 KiB
YAML
34 lines
1.6 KiB
YAML
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# The modifications of the output file from Kalibr:
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# 1. For each matrix (e.g. cam0/T_cam_imu), remove the brackets and minus sign for each line. Use one pair of brackets for each matrix.
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# 2. Add the T_imu_body at the end of the calibration file (usually set to identity).
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cam0:
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T_cam_imu:
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[0.014865542981794, 0.999557249008346, -0.025774436697440, 0.065222909535531,
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-0.999880929698575, 0.014967213324719, 0.003756188357967, -0.020706385492719,
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0.004140296794224, 0.025715529947966, 0.999660727177902, -0.008054602460030,
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0, 0, 0, 1.000000000000000]
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camera_model: pinhole
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distortion_coeffs: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05]
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distortion_model: radtan
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intrinsics: [458.654, 457.296, 367.215, 248.375]
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resolution: [752, 480]
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timeshift_cam_imu: 0.0
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cam1:
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T_cam_imu:
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[0.012555267089103, 0.999598781151433, -0.025389800891747, -0.044901980682509,
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-0.999755099723116, 0.013011905181504, 0.017900583825251, -0.020569771258915,
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0.018223771455443, 0.025158836311552, 0.999517347077547, -0.008638135126028,
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0, 0, 0, 1.000000000000000]
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camera_model: pinhole
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distortion_coeffs: [-0.28368365, 0.07451284, -0.00010473, -3.55590700e-05]
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distortion_model: radtan
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intrinsics: [457.587, 456.134, 379.999, 255.238]
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resolution: [752, 480]
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timeshift_cam_imu: 0.0
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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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