93 lines
2.1 KiB
YAML
93 lines
2.1 KiB
YAML
%YAML:1.0 # need to specify the file type at the top!
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cam0:
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T_cam_imu:
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- - -0.04030123999740945
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- -0.9989998755524683
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- 0.01936643232049068
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- 0.02103955032447366
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- - 0.026311325355146964
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- -0.020436499663524704
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- -0.9994448777394171
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- -0.038224929976612206
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- - 0.9988410905708309
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- -0.0397693113802049
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- 0.027108627033059024
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- -0.1363488241088845
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- - 0.0
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- 0.0
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- 0.0
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- 1.0
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cam_overlaps:
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- 1
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camera_model: pinhole
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distortion_coeffs:
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- 0.006896928127777268
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- -0.009144207062654397
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- 0.000254113977103925
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- 0.0021434982252719545
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distortion_model: radtan
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intrinsics:
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- 380.9229090195708
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- 380.29264802262736
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- 324.68121181846755
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- 224.6741321466431
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resolution:
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- 640
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- 480
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rostopic: /camera/infra1/image_rect_raw
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timeshift_cam_imu: -0.029958533056650416
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cam1:
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T_cam_imu:
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- - -0.03905752472566068
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- -0.9990498568899562
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- 0.019336318430946575
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- -0.02909273113160158
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- - 0.025035478432625047
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- -0.020323396666370924
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- -0.9994799569614147
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- -0.03811090793611019
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- - 0.99892328763622
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- -0.03855311914877835
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- 0.02580547271309183
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- -0.13656684822705098
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- - 0.0
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- 0.0
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- 0.0
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- 1.0
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T_cn_cnm1:
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- - 0.9999992248836708
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- 6.384241340452582e-05
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- 0.0012434452955667624
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- -0.049960282472300055
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- - -6.225102643531651e-05
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- 0.9999991790958949
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- -0.0012798173093508036
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- -5.920119010064575e-05
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- - -0.001243525981443161
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- 0.0012797389115975439
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- 0.9999984079544582
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- -0.00014316003395349448
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- - 0.0
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- 0.0
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- 0.0
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- 1.0
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cam_overlaps:
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- 0
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camera_model: pinhole
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distortion_coeffs:
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- 0.007044055287844759
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- -0.010251485722185347
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- 0.0006674304399871926
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- 0.001678899816379666
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distortion_model: radtan
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intrinsics:
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- 380.95187095303424
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- 380.3065956074995
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- 324.0678433553536
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- 225.9586983198407
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resolution:
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- 640
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- 480
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rostopic: /camera/infra2/image_rect_raw
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timeshift_cam_imu: -0.030340187355085417 |