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2022-08-05 08:23:25 +03:00
commit 5ecdc6abcf
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config/rpng_sim/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
- [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975]
- [0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768]
- [-0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949]
- [0.0, 0.0, 0.0, 1.0]
cam_overlaps: [1]
camera_model: pinhole
distortion_coeffs: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05]
distortion_model: radtan
intrinsics: [458.654, 457.296, 367.215, 248.375] #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
- [0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556]
- [0.999598781151, 0.0130119051815, 0.0251588363115, 0.0453689425024]
- [-0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038]
- [0.0, 0.0, 0.0, 1.0]
cam_overlaps: [0]
camera_model: pinhole
distortion_coeffs: [-0.28368365,0.07451284,-0.00010473,-3.55590700e-05]
distortion_model: radtan
intrinsics: [457.587, 456.134, 379.999, 255.238] #fu, fv, cu, cv
resolution: [752, 480]
rostopic: /cam1/image_raw