38 lines
1.8 KiB
YAML
38 lines
1.8 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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[0.9999354187625251, -0.008299416281612066, 0.007763890364879687, 0.1058254769257812,
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-0.008323202950480819, -0.9999607512746784, 0.003036478688450292, -0.017679034754829417,
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0.0077383846414136375, -0.0031009030240912025, -0.9999652502980172, -0.008890355463642424,
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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: [-0.0147, -0.00584, 0.00715, -0.00464]
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distortion_model: equidistant
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intrinsics: [606.57934, 606.73233, 474.93081, 402.27722]
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resolution: [960, 800]
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rostopic: /sync/cam0/image_raw
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cam1:
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T_cam_imu:
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[0.9999415499962613, -0.003314180239269491, 0.010291394483555276, -0.09412457355264209,
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-0.0029741561536762054, -0.9994548489877669, -0.032880985843089204, -0.016816910884051604,
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0.010394757632964142, 0.03284845573511056, -0.9994062877376598, -0.008908185988981819,
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0.0, 0.0, 0.0, 1.0]
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T_cn_cnm1:
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[0.9999843700393054, -0.004977416649937181, -0.0025428275521419763, -0.200059,
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0.005065643350062822, 0.9993405242433947, 0.03595604029590122, 0.000634053,
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0.002362182447858024, -0.03596835970409878, 0.9993501279159637, -0.000909473,
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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: [-0.01565, -0.00026, -0.00454, 0.00311]
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distortion_model: equidistant
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intrinsics: [605.7278, 605.75661, 481.98865, 417.83476]
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resolution: [960, 800]
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rostopic: /sync/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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