37 lines
1.8 KiB
YAML
37 lines
1.8 KiB
YAML
cam0:
|
|
T_cam_imu:
|
|
[-0.9995378259923383, 0.02917807204183088, -0.008530798463872679, 0.047094247958417004,
|
|
0.007526588843243184, -0.03435493139706542, -0.9993813532126198, -0.04788273017221637,
|
|
-0.029453096117288798, -0.9989836729399656, 0.034119442089241274, -0.0697294754693238,
|
|
0.0, 0.0, 0.0, 1.0]
|
|
camera_model: pinhole
|
|
distortion_coeffs: [0.0034823894022493434, 0.0007150348452162257, -0.0020532361418706202,
|
|
0.00020293673591811182]
|
|
distortion_model: pre-equidistant
|
|
intrinsics: [190.97847715128717, 190.9733070521226, 254.93170605935475, 256.8974428996504]
|
|
resolution: [512, 512]
|
|
rostopic: /cam0/image_raw
|
|
cam1:
|
|
T_cam_imu:
|
|
[-0.9995240747493029, 0.02986739485347808, -0.007717688852024281, -0.05374086123613335,
|
|
0.008095979457928231, 0.01256553460985914, -0.9998882749870535, -0.04648588412432889,
|
|
-0.02976708103202316, -0.9994748851595197, -0.0128013601698453, -0.07333210787623645,
|
|
0.0, 0.0, 0.0, 1.0]
|
|
T_cn_cnm1:
|
|
[0.9999994317488622, -0.0008361847221513937, -0.0006612844045898121, -0.10092123225528335,
|
|
0.0008042457277382264, 0.9988989443471681, -0.04690684567228134, -0.001964540595211977,
|
|
0.0006997790813734836, 0.04690628718225568, 0.9988990492196964, -0.0014663556043866572,
|
|
0.0, 0.0, 0.0, 1.0]
|
|
camera_model: pinhole
|
|
distortion_coeffs: [0.0034003170790442797, 0.001766278153469831, -0.00266312569781606,
|
|
0.0003299517423931039]
|
|
distortion_model: pre-equidistant
|
|
intrinsics: [190.44236969414825, 190.4344384721956, 252.59949716835982, 254.91723064636983]
|
|
resolution: [512, 512]
|
|
rostopic: /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]
|