First commit of the code

config/camchain-imucam-euroc.yaml

@@ -0,0 +1,33 @@
+# The modifications of the output file from Kalibr:
+# 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.
+# 2. Add the T_imu_body at the end of the calibration file (usually set to identity).
+cam0:
+  T_cam_imu:
+    [0.014865542981794,   0.999557249008346,  -0.025774436697440,   0.065222909535531,
+    -0.999880929698575,   0.014967213324719,   0.003756188357967,  -0.020706385492719,
+     0.004140296794224,   0.025715529947966,   0.999660727177902,  -0.008054602460030,
+                     0,                   0,                   0,   1.000000000000000]
+  camera_model: pinhole
+  distortion_coeffs: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05]
+  distortion_model: radtan
+  intrinsics: [458.654, 457.296, 367.215, 248.375]
+  resolution: [752, 480]
+  timeshift_cam_imu: 0.0
+cam1:
+  T_cam_imu:
+    [0.012555267089103,   0.999598781151433,  -0.025389800891747,  -0.044901980682509,
+    -0.999755099723116,   0.013011905181504,   0.017900583825251,  -0.020569771258915,
+     0.018223771455443,   0.025158836311552,   0.999517347077547,  -0.008638135126028,
+                     0,                   0,                   0,   1.000000000000000]
+  camera_model: pinhole
+  distortion_coeffs: [-0.28368365,  0.07451284, -0.00010473, -3.55590700e-05]
+  distortion_model: radtan
+  intrinsics: [457.587, 456.134, 379.999, 255.238]
+  resolution: [752, 480]
+  timeshift_cam_imu: 0.0
+T_imu_body:
+  [1.0000, 0.0000, 0.0000, 0.0000,
+  0.0000, 1.0000, 0.0000, 0.0000,
+  0.0000, 0.0000, 1.0000, 0.0000,
+  0.0000, 0.0000, 0.0000, 1.0000]
+

config/camchain-imucam-fla.yaml

@@ -0,0 +1,37 @@
+# The modifications of the output file from Kalibr:
+# 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.
+# 2. Add the T_imu_body at the end of the calibration file (usually set to identity).
+cam0:
+  T_cam_imu:
+    [0.9999354187625251, -0.008299416281612066, 0.007763890364879687, 0.1058254769257812,
+    -0.008323202950480819, -0.9999607512746784, 0.003036478688450292, -0.017679034754829417,
+    0.0077383846414136375, -0.0031009030240912025, -0.9999652502980172, -0.008890355463642424,
+    0.0, 0.0, 0.0, 1.0]
+  camera_model: pinhole
+  distortion_coeffs: [-0.0147, -0.00584, 0.00715, -0.00464]
+  distortion_model: equidistant
+  intrinsics: [606.57934, 606.73233, 474.93081, 402.27722]
+  resolution: [960, 800]
+  rostopic: /sync/cam0/image_raw
+cam1:
+  T_cam_imu:
+    [0.9999415499962613, -0.003314180239269491, 0.010291394483555276, -0.09412457355264209,
+    -0.0029741561536762054, -0.9994548489877669, -0.032880985843089204, -0.016816910884051604,
+    0.010394757632964142, 0.03284845573511056, -0.9994062877376598, -0.008908185988981819,
+    0.0, 0.0, 0.0, 1.0]
+  T_cn_cnm1:
+    [0.9999843700393054, -0.004977416649937181, -0.0025428275521419763, -0.200059,
+    0.005065643350062822, 0.9993405242433947, 0.03595604029590122, 0.000634053,
+    0.002362182447858024, -0.03596835970409878, 0.9993501279159637, -0.000909473,
+    0.0, 0.0, 0.0, 1.0]
+  camera_model: pinhole
+  distortion_coeffs: [-0.01565, -0.00026, -0.00454, 0.00311]
+  distortion_model: equidistant
+  intrinsics: [605.7278, 605.75661, 481.98865, 417.83476]
+  resolution: [960, 800]
+  rostopic: /sync/cam1/image_raw
+T_imu_body:
+  [1.0000, 0.0000, 0.0000, 0.0000,
+  0.0000, 1.0000, 0.0000, 0.0000,
+  0.0000, 0.0000, 1.0000, 0.0000,
+  0.0000, 0.0000, 0.0000, 1.0000]