39 lines
1.7 KiB
YAML
39 lines
1.7 KiB
YAML
# 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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[0.0, 1.0, 0.0, 0.05,
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-1.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 1.0, 0.0,
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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: [-0.28340811, 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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T_cn_cnm1:
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[0.999997256477881, 0.002312067192424, 0.000376008102415, -0.110073808127187,
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-0.002317135723281, 0.999898048506644, 0.014089835846648, 0.000399121547014,
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-0.000343393120525, -0.014090668452714, 0.999900662637729, -0.000853702503357,
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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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