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2022-08-05 08:23:25 +03:00
commit 5ecdc6abcf
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config/rpng_aruco/kalibr_imucam_chain.yaml Normal file
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%YAML:1.0
cam0:
T_imu_cam: #rotation from camera to IMU R_CtoI, position of camera in IMU p_CinI
- [-0.99997806, -0.00600501, 0.0027968, 0.03847796]
- [0.00601449, -0.99997615, 0.00339343, -0.0045601]
- [0.00277635, 0.00341018, 0.99999033, 0.00418038]
- [0.0, 0.0, 0.0, 1.0]
cam_overlaps: [1]
camera_model: pinhole
distortion_coeffs: [-0.292031518680717,0.08753155838496009,0.0009568457669165753,2.3463489813256424e-05]
distortion_model: radtan
intrinsics: [470.0502737897896,468.7574814232544,405.80799445368035,245.2879780490104] #fu, fv, cu, cv
resolution: [752, 480]
rostopic: /cam0/image_raw
cam1:
T_imu_cam: #rotation from camera to IMU R_CtoI, position of camera in IMU p_CinI
- [-0.99984421, -0.00389232, 0.01721638, -0.07075565]
- [0.00394176, -0.9999882, 0.0028389, -0.00418534]
- [0.01720512, 0.00290632, 0.99984776, 0.00388861]
- [0.0, 0.0, 0.0, 1.0]
cam_overlaps: [0]
camera_model: pinhole
distortion_coeffs: [-0.2847596229068525,0.07908861097045865,0.0011071433505703875,0.0005094909873658998]
distortion_model: radtan
intrinsics: [472.98384780424163,471.9917417027018,382.1928744696835,268.2536666120421] #fu, fv, cu, cv
resolution: [752, 480]
rostopic: /cam1/image_raw