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%YAML:1.0
#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
Camera.type: "PinHole"
# Camera calibration and distortion parameters (OpenCV) (equal for both cameras after stereo rectification)
Camera.fx: 1176.269294800212
Camera.fy: 1176.433529657170
Camera.cx: 604.755275885255
Camera.cy: 518.745152044285
Camera.k1: -0.050611950529281
Camera.k2: 0.097947651917225
Camera.p1: -0.000419283069591
Camera.p2: -0.000256740077382
Camera.width: 1224
Camera.height: 1024
# Camera frames per second
Camera.fps: 10.0
# stereo baseline times fx (unit: m x pixel)
Camera.bf: 423.4569461280763
#--------------------------------------------------------------------------------------------
# IMU noise
#--------------------------------------------------------------------------------------------
IMU.NoiseGyro: 1.0216647894856925e-02
IMU.NoiseAcc: 1.1692699862662088e-02
IMU.GyroWalk: 8.4514305618965801e-05
IMU.AccWalk: 2.0413058951725431e-04
IMU.Frequency: 100
# Transformation from left camera to imu
Tic: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [0.00464162, -0.00460674, 0.99997862, 0.12607916,
-0.99998633, 0.00238464, 0.00465265, 0.15840427,
-0.00240602, -0.99998655, -0.00459561, 0.03420431,
0.0, 0.0, 0.0, 1.0]
#--------------------------------------------------------------------------------------------
# Stereo Rectification. Only if you need to pre-rectify the images.
#--------------------------------------------------------------------------------------------
LEFT.height: 1024
LEFT.width: 1224
LEFT.D: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [-0.050611950529281,0.097947651917225, -0.000419283069591, -0.000256740077382, 0.0]
LEFT.K: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [1176.269294800212, 0.0, 604.755275885255,
0.0, 1176.433529657170, 518.745152044285,
0.0, 0.0, 1.0]
LEFT.R: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [1.0, 0.0, 0.0,
0.0, 1.0, 0.0,
0.0, 0.0, 1.0]
LEFT.Rf: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [1.0, 0.0, 0.0,
0.0, 1.0, 0.0,
0.0, 0.0, 1.0]
LEFT.P: !!opencv-matrix
rows: 3
cols: 4
dt: d
data: [1176.269294800212, 0.0, 604.755275885255, 0.0,
0.0, 1176.433529657170, 518.745152044285, 0.0,
0.0, 0.0, 1.0, 0.0]
RIGHT.height: 1024
RIGHT.width: 1224
RIGHT.D: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [-0.050529645625590,0.100118794704043, 0.000151706619184, 0.000159873014222, 0.0]
RIGHT.K: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [1175.693639535029, 0.0, 623.245979164071,
0.0, 1175.840447155871, 509.547575123268,
0.0, 0.0, 1.0]
RIGHT.R: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [0.999989460071177, -0.003980443093461, -0.002288191280272,
0.003974940022537, 0.999989208997031, -0.002404525173381,
0.002297737664012, 0.002395404406757, 0.999994491204504]
RIGHT.P: !!opencv-matrix
rows: 3
cols: 4
dt: d
data: [1175.693639535029, 0.0, 623.245979164071, -361.0218672707261,
0.0, 1175.840447155871, 509.547575123268, -1.0402438315106,
0.0, 0.0, 1.0, 4.6677007688895]
#--------------------------------------------------------------------------------------------
# Transformation from left camera to lidar
#--------------------------------------------------------------------------------------------
Tlc: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [0.024713433215212, 0.012207384934017, 0.999620040801399, 0.157411762651960,
-0.999501495500661, -0.019349870412999, 0.024946803541596, 0.162961503982182,
0.019647053485450, -0.999738246876688, 0.011723097767528, -0.169579219781922,
0.0, 0.0, 0.0, 1.000000000000000] |