initial commit

2022-08-05 08:23:25 +03:00
commit 5ecdc6abcf
387 changed files with 3010095 additions and 0 deletions
--- a/config/kaist_vio/kalibr_imucam_chain.yaml
+++ b/config/kaist_vio/kalibr_imucam_chain.yaml
@@ -0,0 +1,93 @@
+%YAML:1.0 # need to specify the file type at the top!
+
+cam0:
+  T_cam_imu:
+    - - -0.04030123999740945
+      - -0.9989998755524683
+      - 0.01936643232049068
+      - 0.02103955032447366
+    - - 0.026311325355146964
+      - -0.020436499663524704
+      - -0.9994448777394171
+      - -0.038224929976612206
+    - - 0.9988410905708309
+      - -0.0397693113802049
+      - 0.027108627033059024
+      - -0.1363488241088845
+    - - 0.0
+      - 0.0
+      - 0.0
+      - 1.0
+  cam_overlaps:
+    - 1
+  camera_model: pinhole
+  distortion_coeffs:
+    - 0.006896928127777268
+    - -0.009144207062654397
+    - 0.000254113977103925
+    - 0.0021434982252719545
+  distortion_model: radtan
+  intrinsics:
+    - 380.9229090195708
+    - 380.29264802262736
+    - 324.68121181846755
+    - 224.6741321466431
+  resolution:
+    - 640
+    - 480
+  rostopic: /camera/infra1/image_rect_raw
+  timeshift_cam_imu: -0.029958533056650416
+cam1:
+  T_cam_imu:
+    - - -0.03905752472566068
+      - -0.9990498568899562
+      - 0.019336318430946575
+      - -0.02909273113160158
+    - - 0.025035478432625047
+      - -0.020323396666370924
+      - -0.9994799569614147
+      - -0.03811090793611019
+    - - 0.99892328763622
+      - -0.03855311914877835
+      - 0.02580547271309183
+      - -0.13656684822705098
+    - - 0.0
+      - 0.0
+      - 0.0
+      - 1.0
+  T_cn_cnm1:
+    - - 0.9999992248836708
+      - 6.384241340452582e-05
+      - 0.0012434452955667624
+      - -0.049960282472300055
+    - - -6.225102643531651e-05
+      - 0.9999991790958949
+      - -0.0012798173093508036
+      - -5.920119010064575e-05
+    - - -0.001243525981443161
+      - 0.0012797389115975439
+      - 0.9999984079544582
+      - -0.00014316003395349448
+    - - 0.0
+      - 0.0
+      - 0.0
+      - 1.0
+  cam_overlaps:
+    - 0
+  camera_model: pinhole
+  distortion_coeffs:
+    - 0.007044055287844759
+    - -0.010251485722185347
+    - 0.0006674304399871926
+    - 0.001678899816379666
+  distortion_model: radtan
+  intrinsics:
+    - 380.95187095303424
+    - 380.3065956074995
+    - 324.0678433553536
+    - 225.9586983198407
+  resolution:
+    - 640
+    - 480
+  rostopic: /camera/infra2/image_rect_raw
+  timeshift_cam_imu: -0.030340187355085417