Datasets:

PengYu-Team
/

S3E

	%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]