upload IMHD Dataset

calibrations/20230824/calibration.json

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calibrations/20230824/extri.yml

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+   data: [ -9.5843619108200073e-01, -1.9185454845428467e+00,
+       4.8251976966857910e+00 ]
+R_11: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 9.9938410300565517e-01, 2.6275390094966555e-01,
+       1.5531785989068352e+00 ]
+Rot_11: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 7.9874604940414429e-02, -6.9930034875869751e-01,
+       7.1035140752792358e-01, 8.9404308795928955e-01,
+       -2.6487681269645691e-01, -3.6128562688827515e-01,
+       4.4080275297164917e-01, 6.6394227743148804e-01,
+       6.0404765605926514e-01 ]
+T_11: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.8008643388748169e-01, -2.3427968025207520e+00,
+       4.2944655418395996e+00 ]
+R_12: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 6.9193289404032809e-01, 4.0948825962585500e-01,
+       1.5128558460316475e+00 ]
+Rot_12: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 4.4309787452220917e-02, -7.6386040449142456e-01,
+       6.4385867118835449e-01, 9.8433119058609009e-01,
+       -7.6722830533981323e-02, -1.5876315534114838e-01,
+       1.7067153751850128e-01, 6.4080494642257690e-01,
+       7.4849200248718262e-01 ]
+T_12: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -5.7506553828716278e-02, -1.9368615150451660e+00,
+       4.4843392372131348e+00 ]
+R_13: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.0654100954288321e+00, 9.0457467031136751e-01,
+       1.3858552017647834e+00 ]
+Rot_13: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 1.9361462444067001e-02, -3.0416324734687805e-01,
+       9.5242315530776978e-01, 9.9429488182067871e-01,
+       -9.4083517789840698e-02, -5.0258912146091461e-02,
+       1.0489423573017120e-01, 9.4796252250671387e-01,
+       3.0060636997222900e-01 ]
+T_13: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.0619792938232422e+00, -1.7446664571762085e+00,
+       4.3601474761962891e+00 ]
+R_14: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.4532415107212386e+00, 1.0270787216024739e+00,
+       1.4541842465024002e+00 ]
+Rot_14: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 8.5534859681501985e-04, -2.1244238596409559e-03,
+       9.9999737739562988e-01, 9.4315403699874878e-01,
+       -3.3235237002372742e-01, -1.5127868391573429e-03,
+       3.3235472440719604e-01, 9.4315290451049805e-01,
+       1.7193817766383290e-03 ]
+T_14: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.6501126289367676e+00, -1.8926916122436523e+00,
+       4.5529808998107910e+00 ]
+R_15: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.2995070071054173e+00, 1.1900700354738256e+00,
+       1.2490205238391454e+00 ]
+Rot_15: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 7.5246607884764671e-03, 3.4874670207500458e-02,
+       9.9936336278915405e-01, 9.9651175737380981e-01,
+       -8.3326376974582672e-02, -4.5953574590384960e-03,
+       8.3113066852092743e-02, 9.9591183662414551e-01,
+       -3.5380024462938309e-02 ]
+T_15: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.6648998260498047e+00, -1.6837366819381714e+00,
+       4.7432303428649902e+00 ]
+R_16: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 9.5925316932014126e-01, 1.2734908791393160e+00,
+       1.1277422318137060e+00 ]
+Rot_16: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -4.1618969291448593e-02, -9.6087157726287842e-02,
+       9.9450248479843140e-01, 9.7557979822158813e-01,
+       2.1094441413879395e-01, 6.1208169907331467e-02,
+       -2.1566605567932129e-01, 9.7276395559310913e-01,
+       8.4961399435997009e-02 ]
+T_16: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.7435121536254883e+00, -1.2545969486236572e+00,
+       5.0375533103942871e+00 ]
+R_17: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 5.7758606866263706e-01, 9.2831520321160810e-01,
+       1.2647134788326424e+00 ]
+Rot_17: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 3.0577540397644043e-02, -5.4146242141723633e-01,
+       8.4016871452331543e-01, 9.6383541822433472e-01,
+       2.3860578238964081e-01, 1.1869562417268753e-01,
+       -2.6473832130432129e-01, 8.0615490674972534e-01,
+       5.2917659282684326e-01 ]
+T_17: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 6.8347102403640747e-01, -1.0526020526885986e+00,
+       5.0717949867248535e+00 ]
+R_18: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.1257590209353319e-01, 5.3580632906637804e-01,
+       1.4122582710761786e+00 ]
+Rot_18: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 6.3951119780540466e-02, -8.7816268205642700e-01,
+       4.7406807541847229e-01, 9.7162103652954102e-01,
+       1.6319459676742554e-01, 1.7123100161552429e-01,
+       -2.2773402929306030e-01, 4.4966408610343933e-01,
+       8.6367779970169067e-01 ]
+T_18: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -4.0636122226715088e-01, -1.0772112607955933e+00,
+       5.3732905387878418e+00 ]
+R_19: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 5.9776080212324012e-01, -6.0697257894871265e-02,
+       1.5488118905087214e+00 ]
+Rot_19: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 5.0818320363759995e-02, -9.4282686710357666e-01,
+       3.2938575744628906e-01, 9.1415786743164062e-01,
+       -8.8895469903945923e-02, -3.9549070596694946e-01,
+       4.0216016769409180e-01, 3.2120877504348755e-01,
+       8.5737508535385132e-01 ]
+T_19: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -7.3504662513732910e-01, -2.1511669158935547e+00,
+       4.6826882362365723e+00 ]
+R_20: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 3.1884037453234865e-01, -2.3378603447532736e-01,
+       1.5468371826887632e+00 ]
+Rot_20: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 1.5143261291086674e-02, -9.9852776527404785e-01,
+       5.2087094634771347e-02, 9.3853527307510376e-01,
+       -3.7715982180088758e-03, -3.4516283869743347e-01,
+       3.4485110640525818e-01, 5.4112464189529419e-02,
+       9.3709629774093628e-01 ]
+T_20: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -1.1762470006942749e+00, -2.0195488929748535e+00,
+       5.4892477989196777e+00 ]
+R_21: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -4.9626791266781919e-02, 1.8184162034198689e-01,
+       1.4647694817846661e+00 ]
+Rot_21: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 9.4833828508853912e-02, -9.9119716882705688e-01,
+       9.2383414506912231e-02, 9.8369842767715454e-01,
+       1.0754892230033875e-01, 1.4411997795104980e-01,
+       -1.5278704464435577e-01, 7.7209971845149994e-02,
+       9.8523837327957153e-01 ]
+T_21: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -1.2887003421783447e+00, -1.2100381851196289e+00,
+       5.7273693084716797e+00 ]
+R_22: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -2.5852247415283569e-01, -5.0415288627337719e-02,
+       1.4405952219508422e+00 ]
+Rot_22: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 1.3397558033466339e-01, -9.7270649671554565e-01,
+       -1.8945367634296417e-01, 9.8357087373733521e-01,
+       1.0717941820621490e-01, 1.4526173472404480e-01,
+       -1.2099149823188782e-01, -2.0580263435840607e-01,
+       9.7108513116836548e-01 ]
+T_22: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -1.8599101305007935e+00, -1.1995418071746826e+00,
+       5.4440398216247559e+00 ]
+R_23: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -5.3271512975744539e-01, -3.0722697178050734e-01,
+       1.4325212982648448e+00 ]
+Rot_23: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 1.2724255025386810e-01, -8.5229814052581787e-01,
+       -5.0734329223632812e-01, 9.8538827896118164e-01,
+       5.0234768539667130e-02, 1.6274644434452057e-01,
+       -1.1322221904993057e-01, -5.2063840627670288e-01,
+       8.4623658657073975e-01 ]
+T_23: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -2.0911793708801270e+00, -1.2342535257339478e+00,
+       4.2297673225402832e+00 ]
+R_24: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -8.7240800277859776e-01, -6.9886093675988248e-01,
+       1.3529470209580103e+00 ]
+Rot_24: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 1.0922173410654068e-01, -5.2366852760314941e-01,
+       -8.4489160776138306e-01, 9.9208611249923706e-01,
+       4.4701527804136276e-03, 1.2547940015792847e-01,
+       -6.1932820826768875e-02, -8.5191035270690918e-01,
+       5.2001261711120605e-01 ]
+T_24: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -2.2542750835418701e+00, -1.3683298826217651e+00,
+       3.2441492080688477e+00 ]
+R_25: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -3.7548882935481603e-01, -1.0445488487335886e+00,
+       1.1011283226204875e+00 ]
+Rot_25: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 6.4543575048446655e-02, -5.4497361183166504e-01,
+       -8.3596521615982056e-01, 8.6352437734603882e-01,
+       4.5036634802818298e-01, -2.2692668437957764e-01,
+       5.0015968084335327e-01, -7.0722973346710205e-01,
+       4.9966627359390259e-01 ]
+T_25: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -2.2364277839660645e+00, -1.1211792230606079e+00,
+       2.8630514144897461e+00 ]
+R_26: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -1.7443639348391529e+00, -1.9654900412354432e+00,
+       -3.6671552924050421e-01 ]
+Rot_26: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -6.9285064935684204e-02, 9.8188740015029907e-01,
+       -1.7634266614913940e-01, 8.5223662853240967e-01,
+       1.5014068782329559e-01, 5.0114923715591431e-01,
+       5.1854825019836426e-01, -1.1556351184844971e-01,
+       -8.4720289707183838e-01 ]
+T_26: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.1114678382873535e+00, -2.4533765017986298e-01,
+       8.1706613302230835e-01 ]
+R_27: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.0873899024576867e+00, 2.2364789027813097e+00,
+       -8.4445020114409519e-02 ]
+Rot_27: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -6.7827001214027405e-02, 9.9746161699295044e-01,
+       2.1676765754818916e-02, 9.9298691749572754e-01,
+       6.9599561393260956e-02, -9.5566056668758392e-02,
+       -9.6832163631916046e-02, 1.5042784623801708e-02,
+       -9.9518704414367676e-01 ]
+T_27: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.5212563276290894e+00, -1.6366331577301025e+00,
+       2.2158625125885010e+00 ]
+R_28: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -2.0461319278318828e+00, -2.1251632924876622e+00,
+       -6.1095775221056026e-01 ]
+Rot_28: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -7.2977364063262939e-02, 9.8028093576431274e-01,
+       1.8363982439041138e-01, 9.2814004421234131e-01,
+       -6.3567119650542736e-04, 3.7223052978515625e-01,
+       3.6500725150108337e-01, 1.9760788977146149e-01,
+       -9.0979164838790894e-01 ]
+T_28: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.9264783859252930e+00, -8.1673991680145264e-01,
+       2.7110815048217773e+00 ]
+R_29: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.7832009113206282e+00, 2.0748241097075844e+00,
+       3.1807215008165796e-01 ]
+Rot_29: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -1.1861975491046906e-01, 8.9569681882858276e-01,
+       4.2855161428451538e-01, 9.8294132947921753e-01,
+       1.6702002286911011e-01, -7.7010676264762878e-02,
+       -1.4055491983890533e-01, 4.1210609674453735e-01,
+       -9.0022933483123779e-01 ]
+T_29: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.0889372825622559e+00, -1.4331923723220825e+00,
+       3.3060572147369385e+00 ]
+R_30: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.0537653452582769e+00, 1.9474075216226441e+00,
+       1.0493467341094882e+00 ]
+Rot_30: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -7.0083029568195343e-02, 8.3191192150115967e-01,
+       5.5046427249908447e-01, 9.1726344823837280e-01,
+       -1.6314075887203217e-01, 3.6333572864532471e-01,
+       3.9206647872924805e-01, 5.3038442134857178e-01,
+       -7.5164902210235596e-01 ]
+T_30: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.0318229198455811e+00, -1.1409567594528198e+00,
+       3.1168415546417236e+00 ]
+R_31: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.6701150789302448e+00, 1.4527267127764045e+00,
+       1.3130609579574155e+00 ]
+Rot_31: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -6.6930174827575684e-02, 4.0065914392471313e-01,
+       9.1377925872802734e-01, 9.4949257373809814e-01,
+       -2.5582000613212585e-01, 1.8171381950378418e-01,
+       3.0656829476356506e-01, 8.7978881597518921e-01,
+       -3.6330083012580872e-01 ]
+T_31: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.1214170455932617e+00, -1.5084396600723267e+00,
+       4.4842691421508789e+00 ]

calibrations/20230824/intri.yml

@@ -0,0 +1,387 @@
+%YAML:1.0
+---
+names:
+   - "0"
+   - "1"
+   - "2"
+   - "3"
+   - "4"
+   - "5"
+   - "6"
+   - "7"
+   - "8"
+   - "9"
+   - "10"
+   - "11"
+   - "12"
+   - "13"
+   - "14"
+   - "15"
+   - "16"
+   - "17"
+   - "18"
+   - "19"
+   - "20"
+   - "21"
+   - "22"
+   - "23"
+   - "24"
+   - "25"
+   - "26"
+   - "27"
+   - "28"
+   - "29"
+   - "30"
+   - "31"
+K_0: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 3.0745122070312500e+03, 0., 1.7994411621093750e+03, 0.,
+       3.0535615234375000e+03, 1.1707420654296875e+03, 0., 0., 1. ]
+dist_0: !!opencv-matrix
+   rows: 5
+   cols: 1
+   dt: d
+   data: [ 0., 0., 0., 0., 0. ]
+K_1: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 3.0175676269531250e+03, 0., 1.7368071289062500e+03, 0.,
+       2.9959228515625000e+03, 1.1230173339843750e+03, 0., 0., 1. ]
+dist_1: !!opencv-matrix
+   rows: 5
+   cols: 1
+   dt: d
+   data: [ 0., 0., 0., 0., 0. ]
+K_2: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 2.9818378906250000e+03, 0., 1.6474407958984375e+03, 0.,
+       2.9541564941406250e+03, 1.1718802490234375e+03, 0., 0., 1. ]
+dist_2: !!opencv-matrix
+   rows: 5
+   cols: 1
+   dt: d
+   data: [ 0., 0., 0., 0., 0. ]
+K_3: !!opencv-matrix
+   rows: 3
+   cols: 3
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calibrations/20230825/20230825_hugb_bat/i2w_lcy.txt

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calibrations/20230825/20230825_hugb_bat/i2w_stride10.txt

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calibrations/20230825/20230825_hugb_bat/i2w_stride12.txt

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calibrations/20230825/20230825_hugb_bat/i2w_stride5.txt

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calibrations/20230825/20230825_xujr_bat/i2w_12.txt

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calibrations/20230825/20230825_xujr_bat/i2w_5.txt

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calibrations/20230825/extri.yml

@@ -0,0 +1,707 @@
+%YAML:1.0
+---
+names:
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+   - "1"
+   - "2"
+   - "3"
+   - "4"
+   - "5"
+   - "6"
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+   - "12"
+   - "13"
+   - "14"
+   - "15"
+   - "16"
+   - "17"
+   - "18"
+   - "19"
+   - "20"
+   - "21"
+   - "22"
+   - "23"
+   - "24"
+   - "25"
+   - "26"
+   - "27"
+   - "28"
+   - "29"
+   - "30"
+   - "31"
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+       8.6200806215388126e-01 ]
+Rot_3: !!opencv-matrix
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+T_3: !!opencv-matrix
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+       2.1850316524505615e+00 ]
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+       1.4398138151850415e+00 ]
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+       5.9147057533264160e+00 ]
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+       6.5887732505798340e+00 ]
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+       6.7067098617553711e+00 ]
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+       4.9744811058044434e+00 ]
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+   data: [ -8.0136350279329444e-02, -3.7977506642916969e-01,
+       -1.5680825401554144e+00 ]
+Rot_18: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -4.2023371905088425e-02, 9.8192238807678223e-01,
+       -1.8456023931503296e-01, -9.5755714178085327e-01,
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+       2.8516373038291931e-01, 1.8882733583450317e-01,
+       9.3969452381134033e-01 ]
+T_18: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 3.4209072589874268e+00, -5.1492983102798462e-01,
+       4.3950257301330566e+00 ]
+R_19: !!opencv-matrix
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+   cols: 1
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+   data: [ 5.0980314757760803e-01, 1.1997805700725540e-02,
+       -1.6216526562251861e+00 ]
+Rot_19: !!opencv-matrix
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+       -3.2992592453956604e-01, 2.8979733586311340e-01,
+       8.9842444658279419e-01 ]
+T_19: !!opencv-matrix
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+       4.7980628013610840e+00 ]
+R_20: !!opencv-matrix
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+   data: [ 6.5313526799691934e-01, -3.0180698371666864e-01,
+       -1.5925739314128806e+00 ]
+Rot_20: !!opencv-matrix
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+       -5.7049798965454102e-01, -9.7300887107849121e-01,
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+       8.0068433284759521e-01 ]
+T_20: !!opencv-matrix
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+       6.6373982429504395e+00 ]
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+   data: [ 2.1843777444761822e-01, -6.3337889642494793e-01,
+       -1.5302395329845124e+00 ]
+Rot_21: !!opencv-matrix
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+       -5.0898283720016479e-01, -9.6601206064224243e-01,
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+       8.2313024997711182e-01 ]
+T_21: !!opencv-matrix
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+       6.1799240112304688e+00 ]
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+       -1.5079725884724615e+00 ]
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+       2.1024052798748016e-01, 7.3200088739395142e-01,
+       6.4805370569229126e-01 ]
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+       6.9319438934326172e+00 ]
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+       -1.3792792057055172e+00 ]
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+       -9.1351681947708130e-01, -9.6834439039230347e-01,
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+       1.9185440242290497e-01, 9.1951018571853638e-01,
+       3.4306412935256958e-01 ]
+T_23: !!opencv-matrix
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+       6.9242935180664062e+00 ]
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+       -1.1834058029050383e+00 ]
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+       -8.7880119681358337e-02 ]
+T_24: !!opencv-matrix
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+       6.9408988952636719e+00 ]
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+       -1.6388956409394324e+00 ]
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+       3.2940579112619162e-03 ]
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+       6.5286893844604492e+00 ]
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+       1.4442983313466520e-01 ]
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+       4.5503884553909302e-01, -8.0161929130554199e-01,
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+       -5.9504163265228271e-01, -3.9661085605621338e-01,
+       -6.9901734590530396e-01 ]
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+       9.9201548099517822e-01 ]
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+   data: [ -1.9179940397530006e+00, 1.7348579207137120e+00,
+       -7.2344465239798095e-01 ]
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+       6.4967823028564453e-01, -9.9426716566085815e-01,
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+       -7.6004737615585327e-01 ]
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+       9.4686317443847656e-01 ]
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+       -3.8073677842328035e-01 ]
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+       1.1961621046066284e+00 ]
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+       -1.0138506656579676e+00 ]
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+       4.6515518426895142e-01 ]
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+       -6.4259519506780660e-01 ]
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+       -2.0779797434806824e-01 ]
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+       4.3132382631301880e-01 ]
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+   data: [ -7.7730903611195634e-01, 1.0517799117123943e+00,
+       -1.0255786914185867e+00 ]
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+       9.4509494304656982e-01, -9.3744027614593506e-01,
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+       3.2437881827354431e-01 ]
+T_31: !!opencv-matrix
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+   data: [ 1.4289400577545166e+00, 6.2315219640731812e-01,
+       7.4448984861373901e-01 ]

calibrations/20230825/extrin.json

@@ -0,0 +1,18 @@
+{
+    "rotation": [
+      0.10338708758354187,
+      -0.7010396122932434,
+      0.7055881023406982,
+      -0.9731768369674683,
+      0.0752817839384079,
+      0.21739229559898376,
+      -0.20551852881908417,
+      -0.7091376185417175,
+      -0.6744523048400879
+    ],
+    "translation": [
+      -2.0186731815338135,
+      -0.2401915341615677,
+      1.0397377014160156
+    ]
+  }

calibrations/20230825/intri.yml

@@ -0,0 +1,387 @@
+%YAML:1.0
+---
+names:
+   - "0"
+   - "1"
+   - "2"
+   - "3"
+   - "4"
+   - "5"
+   - "6"
+   - "7"
+   - "8"
+   - "9"
+   - "10"
+   - "11"
+   - "12"
+   - "13"
+   - "14"
+   - "15"
+   - "16"
+   - "17"
+   - "18"
+   - "19"
+   - "20"
+   - "21"
+   - "22"
+   - "23"
+   - "24"
+   - "25"
+   - "26"
+   - "27"
+   - "28"
+   - "29"
+   - "30"
+   - "31"
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+       2.9387348632812500e+03, 1.0164572753906250e+03, 0., 0., 1. ]
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+       3.2567813992500305e-01, 9.9737101793289185e-01,
+       -4.8463981598615646e-02, 5.3872287273406982e-02,
+       6.6695995628833771e-02, 3.2329571247100830e-01,
+       -9.4394469261169434e-01 ]
+T_1: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 8.9758801460266113e-01, -1.2243341207504272e+00,
+       1.1881833076477051e+00 ]
+R_2: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.2061642713167839e+00, 2.1360909617729464e+00,
+       5.5824657536823946e-02 ]
+Rot_2: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 3.3119443804025650e-02, 9.9664121866226196e-01,
+       7.4895791709423065e-02, 9.9919271469116211e-01,
+       -3.1313028186559677e-02, -2.5166356936097145e-02,
+       -2.2736612707376480e-02, 7.5668826699256897e-02,
+       -9.9687373638153076e-01 ]
+T_2: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 9.5213152468204498e-02, -1.4021290540695190e+00,
+       -2.4672757834196091e-02 ]
+R_3: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -1.4731126794813860e+00, -1.8606027071740512e+00,
+       2.7402062663838957e-02 ]
+Rot_3: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -5.6800026446580887e-02, 8.2850575447082520e-01,
+       -5.5709242820739746e-01, 8.4455204010009766e-01,
+       3.3745786547660828e-01, 4.1575720906257629e-01,
+       5.3245240449905396e-01, -4.4687852263450623e-01,
+       -7.1888381242752075e-01 ]
+T_3: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -1.5385954380035400e+00, -2.7367392554879189e-02,
+       -6.4106725156307220e-02 ]
+R_4: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -1.1640345634231086e+00, -1.6491735618917260e+00,
+       4.6132292555081339e-01 ]
+Rot_4: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -1.1799804866313934e-02, 4.6679657697677612e-01,
+       -8.8428604602813721e-01, 8.5786563158035278e-01,
+       4.5908096432685852e-01, 2.3089222609996796e-01,
+       5.1373857259750366e-01, -7.5587409734725952e-01,
+       -4.0586578845977783e-01 ]
+T_4: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -2.6246178150177002e+00, -6.3958579301834106e-01,
+       1.0984944105148315e+00 ]
+R_5: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -9.9619334547087357e-01, -1.4503112818140160e+00,
+       7.8280792655407994e-01 ]
+Rot_5: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 1.3035934418439865e-02, 1.4383551478385925e-01,
+       -9.8951578140258789e-01, 9.0613204240798950e-01,
+       4.1673311591148376e-01, 7.2513550519943237e-02,
+       4.2279401421546936e-01, -8.9757722616195679e-01,
+       -1.2490146607160568e-01 ]
+T_5: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -2.9417648315429688e+00, -1.1466469764709473e+00,
+       2.8445975780487061e+00 ]
+R_6: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -7.5291884498885386e-01, -1.0901777512514583e+00,
+       1.3013626106594416e+00 ]
+Rot_6: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -7.1644589304924011e-02, -3.6700144410133362e-01,
+       -9.2745727300643921e-01, 9.7741961479187012e-01,
+       1.5948922932147980e-01, -1.3861511647701263e-01,
+       1.9879138469696045e-01, -9.1644591093063354e-01,
+       3.4728786349296570e-01 ]
+T_6: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -2.4667601585388184e+00, -1.8457047939300537e+00,
+       4.1145024299621582e+00 ]
+R_7: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -1.6678530616128645e-01, -9.4291729888894926e-01,
+       1.2945515413675837e+00 ]
+Rot_7: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -2.8251243755221367e-02, -7.4029541015625000e-01,
+       -6.7168784141540527e-01, 8.6638540029525757e-01,
+       3.1702077388763428e-01, -3.8584217429161072e-01,
+       4.9857619404792786e-01, -5.9284108877182007e-01,
+       6.3242489099502563e-01 ]
+T_7: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -1.7444211244583130e+00, -2.4255836009979248e+00,
+       4.6273903846740723e+00 ]
+R_8: !!opencv-matrix
+   rows: 3
+   cols: 1
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+   data: [ -3.6528838052879736e-01, -7.5560873987630883e-01,
+       1.4381147352523087e+00 ]
+Rot_8: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -4.1503682732582092e-02, -7.5091701745986938e-01,
+       -6.5909111499786377e-01, 9.6877056360244751e-01,
+       1.3115517795085907e-01, -2.1043251454830170e-01,
+       2.4446055293083191e-01, -6.4724183082580566e-01,
+       7.2202289104461670e-01 ]
+T_8: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -1.6693946123123169e+00, -2.0939979553222656e+00,
+       4.9865326881408691e+00 ]
+R_9: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -1.2701607302421428e-01, -4.3094685364607666e-01,
+       1.5206734018538774e+00 ]
+Rot_9: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -8.3444006741046906e-03, -9.3682056665420532e-01,
+       -3.4971076250076294e-01, 9.8100817203521729e-01,
+       6.0104772448539734e-02, -1.8441900610923767e-01,
+       1.9378681480884552e-01, -3.4460794925689697e-01,
+       9.1852712631225586e-01 ]
+T_9: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -8.4169501066207886e-01, -1.8943347930908203e+00,
+       6.1061477661132812e+00 ]
+R_10: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.4329461839962518e-01, -1.4722222962970791e-01,
+       1.5866609633936604e+00 ]
+Rot_10: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -1.7417179420590401e-02, -9.9783486127853394e-01,
+       6.3421651721000671e-02, 9.6913075447082520e-01,
+       -3.2450195401906967e-02, -2.4440251290798187e-01,
+       2.4593137204647064e-01, 5.7207070291042328e-02,
+       9.6759760379791260e-01 ]
+T_10: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 3.3388859033584595e-01, -2.0692100524902344e+00,
+       5.5650987625122070e+00 ]
+R_11: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 8.9908020916473885e-01, 2.1785611777631570e-02,
+       1.5813786904185507e+00 ]
+Rot_11: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 5.8418273925781250e-02, -8.3520001173019409e-01,
+       5.4683476686477661e-01, 8.4994697570800781e-01,
+       -2.4570219218730927e-01, -4.6606934070587158e-01,
+       5.2361959218978882e-01, 4.9200749397277832e-01,
+       6.9552218914031982e-01 ]
+T_11: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.5677629709243774e+00, -2.4010677337646484e+00,
+       4.3476605415344238e+00 ]
+R_12: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 5.8198413412914574e-01, 2.1129122579053791e-01,
+       1.5696141471256897e+00 ]
+Rot_12: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 1.6541497781872749e-02, -8.7572193145751953e-01,
+       4.8253235220909119e-01, 9.7214776277542114e-01,
+       -9.8753146827220917e-02, -2.1254757046699524e-01,
+       2.3378416895866394e-01, 4.7260859608650208e-01,
+       8.4969758987426758e-01 ]
+T_12: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.3924571275711060e+00, -1.8526003360748291e+00,
+       4.7628622055053711e+00 ]
+R_13: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.0029665829363359e+00, 6.2836414578268529e-01,
+       1.4585882640966850e+00 ]
+Rot_13: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 6.8680651485919952e-02, -5.0737875699996948e-01,
+       8.5898184776306152e-01, 9.7277843952178955e-01,
+       -1.5695661306381226e-01, -1.7048966884613037e-01,
+       2.2132571041584015e-01, 8.4730833768844604e-01,
+       4.8278725147247314e-01 ]
+T_13: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.2823433876037598e+00, -1.8092339038848877e+00,
+       3.8739449977874756e+00 ]
+R_14: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.3896678162022340e+00, 7.2289006981004522e-01,
+       1.5044312048534898e+00 ]
+Rot_14: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 7.5398519635200500e-02, -2.3786762356758118e-01,
+       9.6836668252944946e-01, 9.0468192100524902e-01,
+       -3.9210122823715210e-01, -1.6675487160682678e-01,
+       4.1936334967613220e-01, 8.8863694667816162e-01,
+       1.8563070893287659e-01 ]
+T_14: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.5362882614135742e+00, -1.6684958934783936e+00,
+       3.5926601886749268e+00 ]
+R_15: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.2198379798802250e+00, 8.9573230823414107e-01,
+       1.3275298691563493e+00 ]
+Rot_15: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 9.6283711493015289e-02, -2.1095305681228638e-01,
+       9.7274267673492432e-01, 9.8098844289779663e-01,
+       -1.4532600343227386e-01, -1.2861590087413788e-01,
+       1.6849671304225922e-01, 9.6663290262222290e-01,
+       1.9294998049736023e-01 ]
+T_15: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.4837357997894287e+00, -1.7016037702560425e+00,
+       3.7987968921661377e+00 ]
+R_16: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 8.4752372528086051e-01, 9.7915300906570202e-01,
+       1.2452496478970192e+00 ]
+Rot_16: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 4.8496149480342865e-02, -3.6086976528167725e-01,
+       9.3135446310043335e-01, 9.9019515514373779e-01,
+       1.3966721296310425e-01, 2.5565163232386112e-03,
+       -1.3100226223468781e-01, 9.2209869623184204e-01,
+       3.6410483717918396e-01 ]
+T_16: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.5272471904754639e+00, -1.4201364517211914e+00,
+       4.4937834739685059e+00 ]
+R_17: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 4.5974344590710609e-01, 6.8009275215561316e-01,
+       1.3747446797561262e+00 ]
+Rot_17: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 5.4556537419557571e-02, -7.3251909017562866e-01,
+       6.7855679988861084e-01, 9.8384028673171997e-01,
+       1.5549796819686890e-01, 8.8762387633323669e-02,
+       -1.7053434252738953e-01, 6.6274893283843994e-01,
+       7.2916519641876221e-01 ]
+T_17: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.8444077968597412e+00, -1.0806237459182739e+00,
+       5.1067781448364258e+00 ]
+R_18: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.1923236526224243e-01, 3.3892045697860351e-01,
+       1.5248748395752907e+00 ]
+Rot_18: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 9.9354498088359833e-03, -9.5694291591644287e-01,
+       2.9010596871376038e-01, 9.8973560333251953e-01,
+       5.0774060189723969e-02, 1.3358709216117859e-01,
+       -1.4256507158279419e-01, 2.8580093383789062e-01,
+       9.4762498140335083e-01 ]
+T_18: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 9.3358439207077026e-01, -9.5339149236679077e-01,
+       5.8494877815246582e+00 ]
+R_19: !!opencv-matrix
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+   data: [ 5.0318597385723796e-01, -3.0136474192499074e-01,
+       1.5945143564563928e+00 ]
+Rot_19: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -2.8891475871205330e-02, -9.9007111787796021e-01,
+       1.3756616413593292e-01, 8.7157046794891357e-01,
+       -9.2335395514965057e-02, -4.8149669170379639e-01,
+       4.8941820859909058e-01, 1.0598745942115784e-01,
+       8.6558443307876587e-01 ]
+T_19: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 5.1073652505874634e-01, -2.5242230892181396e+00,
+       5.2562575340270996e+00 ]
+R_20: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.3818807738585560e-01, -4.5797990386756843e-01,
+       1.5979355021185029e+00 ]
+Rot_20: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -8.5943281650543213e-02, -9.8885840177536011e-01,
+       -1.2154341489076614e-01, 9.0311515331268311e-01,
+       -2.5808006525039673e-02, -4.2862224578857422e-01,
+       4.2070993781089783e-01, -1.4660489559173584e-01,
+       8.9527100324630737e-01 ]
+T_20: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -3.3663697540760040e-02, -2.4729413986206055e+00,
+       6.1327462196350098e+00 ]
+R_21: !!opencv-matrix
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+   cols: 1
+   dt: d
+   data: [ -1.3296528655676965e-01, -1.3247340710135147e-03,
+       1.5827549847896289e+00 ]
+Rot_21: !!opencv-matrix
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+   cols: 3
+   dt: d
+   data: [ -1.0402733460068703e-02, -9.9626529216766357e-01,
+       -8.5716538131237030e-02, 9.9640738964080811e-01,
+       -1.7532909289002419e-02, 8.2855291664600372e-02,
+       -8.4048710763454437e-02, -8.4546662867069244e-02,
+       9.9286836385726929e-01 ]
+T_21: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -7.8417412936687469e-02, -1.1319777965545654e+00,
+       6.6396126747131348e+00 ]
+R_22: !!opencv-matrix
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+   dt: d
+   data: [ -3.3271344330964919e-01, -1.9891937309513461e-01,
+       1.5654377103049688e+00 ]
+Rot_22: !!opencv-matrix
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+   cols: 3
+   dt: d
+   data: [ 2.4355875793844461e-03, -9.4331634044647217e-01,
+       -3.3188608288764954e-01, 9.9634248018264771e-01,
+       -2.6058951392769814e-02, 8.1378862261772156e-02,
+       -8.5414618253707886e-02, -3.3087041974067688e-01,
+       9.3980270624160767e-01 ]
+T_22: !!opencv-matrix
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+   data: [ -7.6572132110595703e-01, -1.1365777254104614e+00,
+       6.5446548461914062e+00 ]
+R_23: !!opencv-matrix
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+   data: [ -6.1776840723098592e-01, -4.7285434496921297e-01,
+       1.5554018772766154e+00 ]
+Rot_23: !!opencv-matrix
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+   data: [ -2.0200246945023537e-02, -7.6896578073501587e-01,
+       -6.3897073268890381e-01, 9.9449008703231812e-01,
+       -8.1209443509578705e-02, 6.6291518509387970e-02,
+       -1.0286636650562286e-01, -6.3411092758178711e-01,
+       7.6636922359466553e-01 ]
+T_23: !!opencv-matrix
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+   data: [ -1.6099963188171387e+00, -1.2283362150192261e+00,
+       5.7088189125061035e+00 ]
+R_24: !!opencv-matrix
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+   data: [ -1.0090348713616426e+00, -8.5629279598347752e-01,
+       1.4624695754114301e+00 ]
+Rot_24: !!opencv-matrix
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+   dt: d
+   data: [ -2.6840684935450554e-02, -3.7358266115188599e-01,
+       -9.2720848321914673e-01, 9.9141240119934082e-01,
+       -1.2870550155639648e-01, 2.3157631978392601e-02,
+       -1.2798811495304108e-01, -9.1862446069717407e-01,
+       3.7382903695106506e-01 ]
+T_24: !!opencv-matrix
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+       1.1369680049944706e+00 ]
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+       3.9886796474456787e+00 ]
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+       -5.1973702294713042e-01 ]
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+       1.5528115034103394e+00 ]
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calibrations/20230827/extrin.json

@@ -0,0 +1,18 @@
+{
+    "rotation": [
+      0.028330640867352486,
+      0.945056140422821,
+      0.32567813992500305,
+      0.9973710179328918,
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+      0.05387228727340698,
+      0.06669599562883377,
+      0.3232957124710083,
+      -0.9439446926116943
+    ],
+    "translation": [
+      0.8975880146026611,
+      -1.2243341207504272,
+      1.188183307647705
+    ]
+  }

calibrations/20230827/intri.yml

@@ -0,0 +1,387 @@
+%YAML:1.0
+---
+names:
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+   - "1"
+   - "2"
+   - "3"
+   - "4"
+   - "5"
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+   - "9"
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+   - "12"
+   - "13"
+   - "14"
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+   - "16"
+   - "17"
+   - "18"
+   - "19"
+   - "20"
+   - "21"
+   - "22"
+   - "23"
+   - "24"
+   - "25"
+   - "26"
+   - "27"
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+   - "31"
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calibrations/20230827/intrin.json

@@ -0,0 +1,25 @@
+{
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calibrations/20230901/20230901_songzn_suitcase/i2w_12.txt

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calibrations/20230901/20230901_songzn_suitcase/i2w_5.txt

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calibrations/20230901/extri.yml

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+       1.9378681480884552e-01, -3.4460794925689697e-01,
+       9.1852712631225586e-01 ]
+T_9: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
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+       6.1061477661132812e+00 ]
+R_10: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.4329461839962518e-01, -1.4722222962970791e-01,
+       1.5866609633936604e+00 ]
+Rot_10: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -1.7417179420590401e-02, -9.9783486127853394e-01,
+       6.3421651721000671e-02, 9.6913075447082520e-01,
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+       2.4593137204647064e-01, 5.7207070291042328e-02,
+       9.6759760379791260e-01 ]
+T_10: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 3.3388859033584595e-01, -2.0692100524902344e+00,
+       5.5650987625122070e+00 ]
+R_11: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 8.9908020916473885e-01, 2.1785611777631570e-02,
+       1.5813786904185507e+00 ]
+Rot_11: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 5.8418273925781250e-02, -8.3520001173019409e-01,
+       5.4683476686477661e-01, 8.4994697570800781e-01,
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+       5.2361959218978882e-01, 4.9200749397277832e-01,
+       6.9552218914031982e-01 ]
+T_11: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.5677629709243774e+00, -2.4010677337646484e+00,
+       4.3476605415344238e+00 ]
+R_12: !!opencv-matrix
+   rows: 3
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+   dt: d
+   data: [ 5.8198413412914574e-01, 2.1129122579053791e-01,
+       1.5696141471256897e+00 ]
+Rot_12: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 1.6541497781872749e-02, -8.7572193145751953e-01,
+       4.8253235220909119e-01, 9.7214776277542114e-01,
+       -9.8753146827220917e-02, -2.1254757046699524e-01,
+       2.3378416895866394e-01, 4.7260859608650208e-01,
+       8.4969758987426758e-01 ]
+T_12: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.3924571275711060e+00, -1.8526003360748291e+00,
+       4.7628622055053711e+00 ]
+R_13: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.0029665829363359e+00, 6.2836414578268529e-01,
+       1.4585882640966850e+00 ]
+Rot_13: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 6.8680651485919952e-02, -5.0737875699996948e-01,
+       8.5898184776306152e-01, 9.7277843952178955e-01,
+       -1.5695661306381226e-01, -1.7048966884613037e-01,
+       2.2132571041584015e-01, 8.4730833768844604e-01,
+       4.8278725147247314e-01 ]
+T_13: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.2823433876037598e+00, -1.8092339038848877e+00,
+       3.8739449977874756e+00 ]
+R_14: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.3896678162022340e+00, 7.2289006981004522e-01,
+       1.5044312048534898e+00 ]
+Rot_14: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 7.5398519635200500e-02, -2.3786762356758118e-01,
+       9.6836668252944946e-01, 9.0468192100524902e-01,
+       -3.9210122823715210e-01, -1.6675487160682678e-01,
+       4.1936334967613220e-01, 8.8863694667816162e-01,
+       1.8563070893287659e-01 ]
+T_14: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.5362882614135742e+00, -1.6684958934783936e+00,
+       3.5926601886749268e+00 ]
+R_15: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.2198379798802250e+00, 8.9573230823414107e-01,
+       1.3275298691563493e+00 ]
+Rot_15: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 9.6283711493015289e-02, -2.1095305681228638e-01,
+       9.7274267673492432e-01, 9.8098844289779663e-01,
+       -1.4532600343227386e-01, -1.2861590087413788e-01,
+       1.6849671304225922e-01, 9.6663290262222290e-01,
+       1.9294998049736023e-01 ]
+T_15: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.4837357997894287e+00, -1.7016037702560425e+00,
+       3.7987968921661377e+00 ]
+R_16: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 8.4752372528086051e-01, 9.7915300906570202e-01,
+       1.2452496478970192e+00 ]
+Rot_16: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 4.8496149480342865e-02, -3.6086976528167725e-01,
+       9.3135446310043335e-01, 9.9019515514373779e-01,
+       1.3966721296310425e-01, 2.5565163232386112e-03,
+       -1.3100226223468781e-01, 9.2209869623184204e-01,
+       3.6410483717918396e-01 ]
+T_16: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.5272471904754639e+00, -1.4201364517211914e+00,
+       4.4937834739685059e+00 ]
+R_17: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 4.5974344590710609e-01, 6.8009275215561316e-01,
+       1.3747446797561262e+00 ]
+Rot_17: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 5.4556537419557571e-02, -7.3251909017562866e-01,
+       6.7855679988861084e-01, 9.8384028673171997e-01,
+       1.5549796819686890e-01, 8.8762387633323669e-02,
+       -1.7053434252738953e-01, 6.6274893283843994e-01,
+       7.2916519641876221e-01 ]
+T_17: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.8444077968597412e+00, -1.0806237459182739e+00,
+       5.1067781448364258e+00 ]
+R_18: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.1923236526224243e-01, 3.3892045697860351e-01,
+       1.5248748395752907e+00 ]
+Rot_18: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 9.9354498088359833e-03, -9.5694291591644287e-01,
+       2.9010596871376038e-01, 9.8973560333251953e-01,
+       5.0774060189723969e-02, 1.3358709216117859e-01,
+       -1.4256507158279419e-01, 2.8580093383789062e-01,
+       9.4762498140335083e-01 ]
+T_18: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 9.3358439207077026e-01, -9.5339149236679077e-01,
+       5.8494877815246582e+00 ]
+R_19: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 5.0318597385723796e-01, -3.0136474192499074e-01,
+       1.5945143564563928e+00 ]
+Rot_19: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -2.8891475871205330e-02, -9.9007111787796021e-01,
+       1.3756616413593292e-01, 8.7157046794891357e-01,
+       -9.2335395514965057e-02, -4.8149669170379639e-01,
+       4.8941820859909058e-01, 1.0598745942115784e-01,
+       8.6558443307876587e-01 ]
+T_19: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 5.1073652505874634e-01, -2.5242230892181396e+00,
+       5.2562575340270996e+00 ]
+R_20: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.3818807738585560e-01, -4.5797990386756843e-01,
+       1.5979355021185029e+00 ]
+Rot_20: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -8.5943281650543213e-02, -9.8885840177536011e-01,
+       -1.2154341489076614e-01, 9.0311515331268311e-01,
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+       4.2070993781089783e-01, -1.4660489559173584e-01,
+       8.9527100324630737e-01 ]
+T_20: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -3.3663697540760040e-02, -2.4729413986206055e+00,
+       6.1327462196350098e+00 ]
+R_21: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -1.3296528655676965e-01, -1.3247340710135147e-03,
+       1.5827549847896289e+00 ]
+Rot_21: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -1.0402733460068703e-02, -9.9626529216766357e-01,
+       -8.5716538131237030e-02, 9.9640738964080811e-01,
+       -1.7532909289002419e-02, 8.2855291664600372e-02,
+       -8.4048710763454437e-02, -8.4546662867069244e-02,
+       9.9286836385726929e-01 ]
+T_21: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -7.8417412936687469e-02, -1.1319777965545654e+00,
+       6.6396126747131348e+00 ]
+R_22: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -3.3271344330964919e-01, -1.9891937309513461e-01,
+       1.5654377103049688e+00 ]
+Rot_22: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 2.4355875793844461e-03, -9.4331634044647217e-01,
+       -3.3188608288764954e-01, 9.9634248018264771e-01,
+       -2.6058951392769814e-02, 8.1378862261772156e-02,
+       -8.5414618253707886e-02, -3.3087041974067688e-01,
+       9.3980270624160767e-01 ]
+T_22: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -7.6572132110595703e-01, -1.1365777254104614e+00,
+       6.5446548461914062e+00 ]
+R_23: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -6.1776840723098592e-01, -4.7285434496921297e-01,
+       1.5554018772766154e+00 ]
+Rot_23: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -2.0200246945023537e-02, -7.6896578073501587e-01,
+       -6.3897073268890381e-01, 9.9449008703231812e-01,
+       -8.1209443509578705e-02, 6.6291518509387970e-02,
+       -1.0286636650562286e-01, -6.3411092758178711e-01,
+       7.6636922359466553e-01 ]
+T_23: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -1.6099963188171387e+00, -1.2283362150192261e+00,
+       5.7088189125061035e+00 ]
+R_24: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -1.0090348713616426e+00, -8.5629279598347752e-01,
+       1.4624695754114301e+00 ]
+Rot_24: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -2.6840684935450554e-02, -3.7358266115188599e-01,
+       -9.2720848321914673e-01, 9.9141240119934082e-01,
+       -1.2870550155639648e-01, 2.3157631978392601e-02,
+       -1.2798811495304108e-01, -9.1862446069717407e-01,
+       3.7382903695106506e-01 ]
+T_24: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -2.5243356227874756e+00, -1.3495140075683594e+00,
+       4.8477649688720703e+00 ]
+R_25: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -5.2886994449974134e-01, -1.2005306325422682e+00,
+       1.1369680049944706e+00 ]
+Rot_25: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -5.6372832506895065e-02, -4.0069442987442017e-01,
+       -9.1447585821151733e-01, 8.9134871959686279e-01,
+       3.9244386553764343e-01, -2.2690366208553314e-01,
+       4.4979944825172424e-01, -8.2790803909301758e-01,
+       3.3503529429435730e-01 ]
+T_25: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -2.4507861137390137e+00, -1.9103902578353882e+00,
+       3.9886796474456787e+00 ]
+R_26: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -2.0081285619643734e+00, -1.9722163693236143e+00,
+       -5.1973702294713042e-01 ]
+Rot_26: !!opencv-matrix
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+   cols: 3
+   dt: d
+   data: [ 4.1609476320445538e-03, 9.9819833040237427e-01,
+       5.9856843203306198e-02, 8.9805579185485840e-01,
+       -3.0059296637773514e-02, 4.3885332345962524e-01,
+       4.3986189365386963e-01, 5.1928739994764328e-02,
+       -8.9656287431716919e-01 ]
+T_26: !!opencv-matrix
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+   cols: 1
+   dt: d
+   data: [ -4.4859122484922409e-02, -1.0379101149737835e-02,
+       2.7618201449513435e-02 ]
+R_27: !!opencv-matrix
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+   dt: d
+   data: [ 1.9854397144638893e+00, 1.9379145346121760e+00,
+       3.8125536438974289e-02 ]
+Rot_27: !!opencv-matrix
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+   cols: 3
+   dt: d
+   data: [ 5.6507714092731476e-02, 9.6132737398147583e-01,
+       2.6954865455627441e-01, 9.7118532657623291e-01,
+       9.6822259947657585e-03, -2.3812861740589142e-01,
+       -2.3152939975261688e-01, 2.7523782849311829e-01,
+       -9.3307995796203613e-01 ]
+T_27: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 5.0068449974060059e-01, -1.9205334186553955e+00,
+       1.2374576330184937e+00 ]
+R_28: !!opencv-matrix
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+   dt: d
+   data: [ 2.2022692877756063e+00, 1.9885630667137122e+00,
+       7.1837010550317826e-01 ]
+Rot_28: !!opencv-matrix
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+   cols: 3
+   dt: d
+   data: [ 4.2606197297573090e-02, 9.1705286502838135e-01,
+       3.9648300409317017e-01, 9.5872008800506592e-01,
+       -1.4919792115688324e-01, 2.4206580221652985e-01,
+       2.8114157915115356e-01, 3.6980268359184265e-01,
+       -8.8555371761322021e-01 ]
+T_28: !!opencv-matrix
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+   cols: 1
+   dt: d
+   data: [ 1.0838531255722046e+00, -5.5760300159454346e-01,
+       1.3647762537002563e+00 ]
+R_29: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.7136630100109878e+00, 1.8056828504917570e+00,
+       4.0318907989260305e-01 ]
+Rot_29: !!opencv-matrix
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+   cols: 3
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+   data: [ 2.3616628721356392e-02, 7.8975743055343628e-01,
+       6.1296445131301880e-01, 9.7548258304595947e-01,
+       1.1599074304103851e-01, -1.8702906370162964e-01,
+       -2.1880578994750977e-01, 6.0235309600830078e-01,
+       -7.6765531301498413e-01 ]
+T_29: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.6410866975784302e+00, -1.7653639316558838e+00,
+       1.9075866937637329e+00 ]
+R_30: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.0421281667439337e+00, 1.6423406168366590e+00,
+       1.0508153309858792e+00 ]
+Rot_30: !!opencv-matrix
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+   cols: 3
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+   data: [ 7.0194669067859650e-02, 7.0389759540557861e-01,
+       7.0682448148727417e-01, 9.3674415349960327e-01,
+       -2.9008659720420837e-01, 1.9585742056369781e-01,
+       3.4290388226509094e-01, 6.4836555719375610e-01,
+       -6.7973452806472778e-01 ]
+T_30: !!opencv-matrix
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+   cols: 1
+   dt: d
+   data: [ 1.7834346294403076e+00, -7.0482420921325684e-01,
+       1.5528115034103394e+00 ]
+R_31: !!opencv-matrix
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+   cols: 1
+   dt: d
+   data: [ 1.6121058997434121e+00, 1.1168594782531114e+00,
+       1.3966047931120751e+00 ]
+Rot_31: !!opencv-matrix
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+   cols: 3
+   dt: d
+   data: [ 3.8700785487890244e-02, 1.5270461142063141e-01,
+       9.8751378059387207e-01, 9.2977201938629150e-01,
+       -3.6757019162178040e-01, 2.0401500165462494e-02,
+       3.6609604954719543e-01, 9.1737312078475952e-01,
+       -1.5620572865009308e-01 ]
+T_31: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.4459285736083984e+00, -1.2459354400634766e+00,
+       3.0094277858734131e+00 ]

calibrations/20230901/extrin.json

@@ -0,0 +1,18 @@
+{
+    "rotation": [
+      0.028330640867352486,
+      0.945056140422821,
+      0.32567813992500305,
+      0.9973710179328918,
+      -0.048463981598615646,
+      0.05387228727340698,
+      0.06669599562883377,
+      0.3232957124710083,
+      -0.9439446926116943
+    ],
+    "translation": [
+      0.8975880146026611,
+      -1.2243341207504272,
+      1.188183307647705
+    ]
+  }

calibrations/20230901/intri.yml

@@ -0,0 +1,387 @@
+%YAML:1.0
+---
+names:
+   - "0"
+   - "1"
+   - "2"
+   - "3"
+   - "4"
+   - "5"
+   - "6"
+   - "7"
+   - "8"
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calibrations/20230903/extri.yml

@@ -0,0 +1,707 @@
+%YAML:1.0
+---
+names:
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+   - "1"
+   - "2"
+   - "3"
+   - "4"
+   - "5"
+   - "6"
+   - "7"
+   - "8"
+   - "9"
+   - "10"
+   - "11"
+   - "12"
+   - "13"
+   - "14"
+   - "15"
+   - "16"
+   - "17"
+   - "18"
+   - "19"
+   - "20"
+   - "21"
+   - "22"
+   - "23"
+   - "24"
+   - "25"
+   - "26"
+   - "27"
+   - "28"
+   - "29"
+   - "30"
+   - "31"
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+       5.3685455322265625e+00 ]
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+T_1: !!opencv-matrix
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+       5.7810330390930176e+00 ]
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+       -1.0336263907750807e+00 ]
+Rot_3: !!opencv-matrix
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+T_3: !!opencv-matrix
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+       4.3231921195983887e+00 ]
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+       -3.9158511895543746e-01 ]
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+       3.8065638542175293e+00 ]
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+       6.0266600142517723e-02 ]
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+       4.1255307197570801e+00 ]
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+       2.4410636425018311e+00 ]
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+       1.1149159669876099e+00 ]
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+       9.4222253561019897e-01 ]
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+       8.0900579690933228e-01 ]
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+       1.7199624944392577e+00 ]
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+       -2.4948848783969879e-01 ]
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+       1.7503456016735255e+00 ]
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+       -4.1951757669448853e-01 ]
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+       1.9396893222117886e+00 ]
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+       1.9427650903591802e+00 ]
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+       8.1614524126052856e-01 ]
+T_18: !!opencv-matrix
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+       -2.4583024904131889e-02 ]
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+       1.6296001895906314e+00 ]
+Rot_19: !!opencv-matrix
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+       6.3076895475387573e-01 ]
+T_19: !!opencv-matrix
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+       -5.7836461812257767e-02 ]
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+       1.5670350611384269e+00 ]
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+       9.9853265285491943e-01 ]
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+       1.8252553679792980e+00 ]
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+       8.4480500221252441e-01 ]
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+       1.3529686927795410e+00 ]
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+       1.4535085777924435e+00 ]
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+       1.8033047914505005e+00 ]
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+       1.1285622250391933e+00 ]
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+       2.9298801422119141e+00 ]
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+       6.2409480615698421e-01 ]
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+       2.3974173069000244e+00 ]
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+       1.5195896975530829e+00 ]
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+       5.2407574653625488e+00 ]
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+       1.1551758450718905e+00 ]
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+       6.6979098320007324e+00 ]
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+       1.6142860541395279e+00 ]
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+       6.4806671142578125e+00 ]
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+       6.3621864318847656e+00 ]
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+       1.8011522457695397e+00 ]
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+       5.4302344322204590e+00 ]
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+       1.9454681393238207e+00 ]
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+T_31: !!opencv-matrix
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+   data: [ -2.9704713821411133e+00, -1.5421968698501587e+00,
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calibrations/20230903/extrin.json

@@ -0,0 +1,18 @@
+{
+    "rotation": [
+      0.11436368525028229,
+      0.2660759687423706,
+      0.9571439027786255,
+      0.8570639491081238,
+      -0.51362544298172,
+      0.040376778692007065,
+      0.502356767654419,
+      0.8157159686088562,
+      -0.28678423166275024
+    ],
+    "translation": [
+      -1.1211670637130737,
+      -2.0076119899749756,
+      6.700732707977295
+    ]
+  }

calibrations/20230903/intri.yml

@@ -0,0 +1,387 @@
+%YAML:1.0
+---
+names:
+   - "0"
+   - "1"
+   - "2"
+   - "3"
+   - "4"
+   - "5"
+   - "6"
+   - "7"
+   - "8"
+   - "9"
+   - "10"
+   - "11"
+   - "12"
+   - "13"
+   - "14"
+   - "15"
+   - "16"
+   - "17"
+   - "18"
+   - "19"
+   - "20"
+   - "21"
+   - "22"
+   - "23"
+   - "24"
+   - "25"
+   - "26"
+   - "27"
+   - "28"
+   - "29"
+   - "30"
+   - "31"
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+       -6.0294204950332642e-01, 8.8622260093688965e-01,
+       4.4534584879875183e-01, -1.2757946550846100e-01,
+       3.6347359418869019e-01, -4.9769729375839233e-01,
+       7.8751784563064575e-01 ]
+T_3: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -1.5133366584777832e+00, 8.1885182857513428e-01,
+       6.5570712089538574e-01 ]
+R_4: !!opencv-matrix
+   rows: 3
+   cols: 1
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+   data: [ 5.1299528333062769e-02, -2.4924147331823457e-01,
+       1.3241109082729690e+00 ]
+Rot_4: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 2.2175356745719910e-01, -9.6331256628036499e-01,
+       -1.5117599070072174e-01, 9.5235008001327515e-01,
+       2.4725639820098877e-01, -1.7858779430389404e-01,
+       2.0941509306430817e-01, -1.0436999052762985e-01,
+       9.7224086523056030e-01 ]
+T_4: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -2.4388699531555176e+00, 2.5537842512130737e-01,
+       1.8085486888885498e+00 ]
+R_5: !!opencv-matrix
+   rows: 3
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+   data: [ 1.9466425793239137e-01, 8.1118577781343626e-02,
+       1.4410453219872983e+00 ]
+Rot_5: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 1.2997815012931824e-01, -9.7639787197113037e-01,
+       1.7249017953872681e-01, 9.8958766460418701e-01,
+       1.1690024286508560e-01, -8.3967901766300201e-02,
+       6.1821937561035156e-02, 1.8160814046859741e-01,
+       9.8142576217651367e-01 ]
+T_5: !!opencv-matrix
+   rows: 3
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+   dt: d
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+       3.4756705760955811e+00 ]
+R_6: !!opencv-matrix
+   rows: 3
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+   data: [ 3.4783820292909590e-01, 6.9920243889482303e-01,
+       1.5832479219161872e+00 ]
+Rot_6: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -1.4702469110488892e-01, -7.8678280115127563e-01,
+       5.9946358203887939e-01, 9.7303664684295654e-01,
+       -6.1554596759378910e-03, 2.3056846857070923e-01,
+       -1.7771732807159424e-01, 6.1719930171966553e-01,
+       7.6647353172302246e-01 ]
+T_6: !!opencv-matrix
+   rows: 3
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+   data: [ -2.2828242778778076e+00, -7.8624290227890015e-01,
+       4.3359994888305664e+00 ]
+R_7: !!opencv-matrix
+   rows: 3
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+   dt: d
+   data: [ 9.0361879999551808e-01, 8.4168237740307938e-01,
+       1.7636933328290310e+00 ]
+Rot_7: !!opencv-matrix
+   rows: 3
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+   dt: d
+   data: [ -2.7689242362976074e-01, -4.2990097403526306e-01,
+       8.5936939716339111e-01, 9.3848556280136108e-01,
+       -3.1303477287292480e-01, 1.4578782021999359e-01,
+       2.0633815228939056e-01, 8.4687334299087524e-01,
+       4.9013280868530273e-01 ]
+T_7: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -1.5612870454788208e+00, -1.4507664442062378e+00,
+       5.2271661758422852e+00 ]
+R_8: !!opencv-matrix
+   rows: 3
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+   dt: d
+   data: [ 7.0590503090426981e-01, 1.0801251991547114e+00,
+       1.5968470615346404e+00 ]
+Rot_8: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -2.9070016741752625e-01, -4.2431780695915222e-01,
+       8.5758250951766968e-01, 9.5389705896377563e-01,
+       -5.8588717132806778e-02, 2.9435980319976807e-01,
+       -7.4657455086708069e-02, 9.0361589193344116e-01,
+       4.2178729176521301e-01 ]
+T_8: !!opencv-matrix
+   rows: 3
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+   dt: d
+   data: [ -1.5403612852096558e+00, -9.5677638053894043e-01,
+       5.1539530754089355e+00 ]
+R_9: !!opencv-matrix
+   rows: 3
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+   data: [ 9.7582187502727269e-01, 1.4002949646177736e+00,
+       1.5192119758663363e+00 ]
+Rot_9: !!opencv-matrix
+   rows: 3
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+   dt: d
+   data: [ -3.5314807295799255e-01, -6.9266133010387421e-02,
+       9.3299984931945801e-01, 9.3554246425628662e-01,
+       -3.3439464867115021e-02, 3.5162791609764099e-01,
+       6.8431100808084011e-03, 9.9703764915466309e-01,
+       7.6610490679740906e-02 ]
+T_9: !!opencv-matrix
+   rows: 3
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+   dt: d
+   data: [ -7.5578093528747559e-01, -8.7276256084442139e-01,
+       6.1937303543090820e+00 ]
+R_10: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.3680635882566661e+00, 1.7597710322769082e+00,
+       1.4958055761110278e+00 ]
+Rot_10: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -4.0449246764183044e-01, 3.8789039850234985e-01,
+       8.2820707559585571e-01, 8.7987893819808960e-01,
+       -8.1900589168071747e-02, 4.6808686852455139e-01,
+       2.4939705431461334e-01, 9.1805958747863770e-01,
+       -3.0816844105720520e-01 ]
+T_10: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 6.0341686010360718e-01, -1.1355340480804443e+00,
+       5.6127462387084961e+00 ]
+R_11: !!opencv-matrix
+   rows: 3
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+   data: [ -1.8259515498318826e+00, -1.8743240561357244e+00,
+       -1.5179823163763253e+00 ]
+Rot_11: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -2.6704591512680054e-01, 8.0372238159179688e-01,
+       5.3171122074127197e-01, 6.8711495399475098e-01,
+       -2.2806078195571899e-01, 6.8982702493667603e-01,
+       6.7569190263748169e-01, 5.4956221580505371e-01,
+       -4.9134698510169983e-01 ]
+T_11: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.8026082515716553e+00, -1.4202297925949097e+00,
+       4.4555406570434570e+00 ]
+R_12: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.6577745834449458e+00, 2.0864233058557646e+00,
+       1.3107298123155169e+00 ]
+Rot_12: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -3.6663910746574402e-01, 7.0311671495437622e-01,
+       6.0926401615142822e-01, 8.5406392812728882e-01,
+       -5.3611896000802517e-03, 5.2014034986495972e-01,
+       3.6898574233055115e-01, 7.1105426549911499e-01,
+       -5.9854102134704590e-01 ]
+T_12: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.2258090972900391e+00, -8.1903064250946045e-01,
+       4.5295133590698242e+00 ]
+R_13: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -1.8150572813948667e+00, -2.0464558233393215e+00,
+       -7.2369037769274724e-01 ]
+Rot_13: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -1.4859673380851746e-01, 9.8401588201522827e-01,
+       9.8141066730022430e-02, 8.2695639133453369e-01,
+       6.9228015840053558e-02, 5.5798804759979248e-01,
+       5.4227501153945923e-01, 1.6407358646392822e-01,
+       -8.2402527332305908e-01 ]
+T_13: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.4472372531890869e+00, -6.9803798198699951e-01,
+       3.7023656368255615e+00 ]
+R_14: !!opencv-matrix
+   rows: 3
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+   data: [ -1.6007476648119474e+00, -1.7746112741345474e+00,
+       -6.3411399072661656e-01 ]
+Rot_14: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -3.6547757685184479e-02, 9.8818361759185791e-01,
+       -1.4885386824607849e-01, 6.7007583379745483e-01,
+       1.3473948836326599e-01, 7.2996139526367188e-01,
+       7.4139237403869629e-01, -7.3064930737018585e-02,
+       -6.6708236932754517e-01 ]
+T_14: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.6300849914550781e+00, -6.0171455144882202e-01,
+       3.9754502773284912e+00 ]
+R_15: !!opencv-matrix
+   rows: 3
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+   data: [ -1.7605270317247643e+00, -1.9028729333512835e+00,
+       -3.9192797946360830e-01 ]
+Rot_15: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -2.5691084563732147e-02, 9.8459082841873169e-01,
+       -1.7297653853893280e-01, 8.3609849214553833e-01,
+       1.1601309478282928e-01, 5.3617185354232788e-01,
+       5.4797744750976562e-01, -1.3085058331489563e-01,
+       -8.2619535923004150e-01 ]
+T_15: !!opencv-matrix
+   rows: 3
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+   dt: d
+   data: [ 2.5631265640258789e+00, -5.8187460899353027e-01,
+       3.8292222023010254e+00 ]
+R_16: !!opencv-matrix
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+   cols: 1
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+   data: [ -1.8937964434162544e+00, -2.2024255223802274e+00,
+       -2.2975698503555700e-01 ]
+Rot_16: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -1.4019837975502014e-01, 9.8767703771591187e-01,
+       -6.9558598101139069e-02, 9.5205497741699219e-01,
+       1.5376791357994080e-01, 2.6447463035583496e-01,
+       2.7191141247749329e-01, -2.9144696891307831e-02,
+       -9.6188086271286011e-01 ]
+T_16: !!opencv-matrix
+   rows: 3
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+   dt: d
+   data: [ 2.6515052318572998e+00, -4.2307525873184204e-01,
+       3.8328187465667725e+00 ]
+R_17: !!opencv-matrix
+   rows: 3
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+   data: [ 1.8085718348684101e+00, 2.3380921619083548e+00,
+       5.7911941843497849e-01 ]
+Rot_17: !!opencv-matrix
+   rows: 3
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+   dt: d
+   data: [ -2.7362263202667236e-01, 9.0341228246688843e-01,
+       3.3011648058891296e-01, 9.5305103063583374e-01,
+       2.0837007462978363e-01, 2.1971718966960907e-01,
+       1.2970881164073944e-01, 3.7473747134208679e-01,
+       -9.1801273822784424e-01 ]
+T_17: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.1905937194824219e+00, -1.7395551502704620e-01,
+       4.3986730575561523e+00 ]
+R_18: !!opencv-matrix
+   rows: 3
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+   data: [ 1.3769170561993849e+00, 2.0919972275291037e+00,
+       9.3939969168608362e-01 ]
+Rot_18: !!opencv-matrix
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+   data: [ -3.9141750335693359e-01, 6.0409921407699585e-01,
+       6.9415879249572754e-01, 9.2016214132308960e-01,
+       2.6489225029945374e-01, 2.8832930326461792e-01,
+       -9.6977949142456055e-03, 7.5159579515457153e-01,
+       -6.5955263376235962e-01 ]
+T_18: !!opencv-matrix
+   rows: 3
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+   dt: d
+   data: [ 1.2868015766143799e+00, -1.0410114377737045e-01,
+       5.2579236030578613e+00 ]
+R_19: !!opencv-matrix
+   rows: 3
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+   data: [ 1.5484322914287456e+00, 1.6890451406504019e+00,
+       1.7432368871911799e+00 ]
+Rot_19: !!opencv-matrix
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+   dt: d
+   data: [ -3.9717477560043335e-01, 4.6311601996421814e-01,
+       7.9232305288314819e-01, 7.7730756998062134e-01,
+       -2.8922086954116821e-01, 5.5869865417480469e-01,
+       4.8789864778518677e-01, 8.3777970075607300e-01,
+       -2.4511234462261200e-01 ]
+T_19: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 8.3160734176635742e-01, -1.5302087068557739e+00,
+       5.5191383361816406e+00 ]
+R_20: !!opencv-matrix
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+   data: [ 1.2428602649115363e+00, 1.5229107212843782e+00,
+       1.7425813058437722e+00 ]
+Rot_20: !!opencv-matrix
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+   dt: d
+   data: [ -4.5173734426498413e-01, 1.8648840487003326e-01,
+       8.7244218587875366e-01, 8.3960443735122681e-01,
+       -2.4178904294967651e-01, 4.8641794919967651e-01,
+       3.0165827274322510e-01, 9.5223957300186157e-01,
+       -4.7351345419883728e-02 ]
+T_20: !!opencv-matrix
+   rows: 3
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+   dt: d
+   data: [ 1.7883612215518951e-01, -1.3961188793182373e+00,
+       6.6850590705871582e+00 ]
+R_21: !!opencv-matrix
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+   data: [ 1.0412631209298584e+00, 1.7986574424072856e+00,
+       1.1762213629512988e+00 ]
+Rot_21: !!opencv-matrix
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+   data: [ -4.0051528811454773e-01, 2.3091053962707520e-01,
+       8.8671743869781494e-01, 9.0491151809692383e-01,
+       2.5171294808387756e-01, 3.4318459033966064e-01,
+       -1.4395332336425781e-01, 9.3985158205032349e-01,
+       -3.0976849794387817e-01 ]
+T_21: !!opencv-matrix
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+   dt: d
+   data: [ 1.4693947136402130e-01, -1.4586605131626129e-01,
+       6.3838930130004883e+00 ]
+R_22: !!opencv-matrix
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+   data: [ 8.1963264253682400e-01, 1.5691193317306451e+00,
+       1.2590376603730113e+00 ]
+Rot_22: !!opencv-matrix
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+   data: [ -3.4300473332405090e-01, -5.1071107387542725e-02,
+       9.3794429302215576e-01, 9.0459591150283813e-01,
+       2.5107660889625549e-01, 3.4448042511940002e-01,
+       -2.5308886170387268e-01, 9.6661895513534546e-01,
+       -3.9921749383211136e-02 ]
+T_22: !!opencv-matrix
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+   data: [ -7.0136851072311401e-01, -1.5234337747097015e-01,
+       6.3706040382385254e+00 ]
+R_23: !!opencv-matrix
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+   data: [ 4.8672050737818434e-01, 1.2980263122210858e+00,
+       1.3344949705336346e+00 ]
+Rot_23: !!opencv-matrix
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+   data: [ -2.5999242067337036e-01, -4.2097142338752747e-01,
+       8.6901497840881348e-01, 8.8034278154373169e-01,
+       2.6642712950706482e-01, 3.9244508743286133e-01,
+       -3.9673730731010437e-01, 8.6706382036209106e-01,
+       3.0133008956909180e-01 ]
+T_23: !!opencv-matrix
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+   data: [ -1.6042412519454956e+00, -1.3608442246913910e-01,
+       5.2929339408874512e+00 ]
+R_24: !!opencv-matrix
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+   data: [ 1.2446874254805038e-01, 9.4500907018551117e-01,
+       1.3893685353971703e+00 ]
+Rot_24: !!opencv-matrix
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+   data: [ -1.0777516663074493e-01, -7.7308869361877441e-01,
+       6.2507474422454834e-01, 8.6538988351821899e-01,
+       2.3653744161128998e-01, 4.4175827503204346e-01,
+       -4.8937189579010010e-01, 5.8854395151138306e-01,
+       6.4353024959564209e-01 ]
+T_24: !!opencv-matrix
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+       4.5150656700134277e+00 ]
+R_25: !!opencv-matrix
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+   data: [ 5.4863252937712104e-01, 5.0211704959741332e-01,
+       1.6847701981955274e+00 ]
+Rot_25: !!opencv-matrix
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+   data: [ -1.5503519773483276e-01, -7.7853071689605713e-01,
+       6.0815620422363281e-01, 9.8443859815597534e-01,
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+       8.2733236253261566e-02, 6.0320514440536499e-01,
+       7.9328358173370361e-01 ]
+T_25: !!opencv-matrix
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+       4.4357080459594727e+00 ]
+R_26: !!opencv-matrix
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+   data: [ -7.0382412273616590e-01, -9.3735562645624326e-01,
+       7.2717654684235344e-01 ]
+Rot_26: !!opencv-matrix
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+       -8.8493710756301880e-01, 7.9830622673034668e-01,
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+       4.4931125640869141e-01, -7.9100179672241211e-01,
+       4.1525357961654663e-01 ]
+T_26: !!opencv-matrix
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calibrations/20230910/extrin.json

@@ -0,0 +1,18 @@
+{
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calibrations/20230910/intri.yml

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calibrations/20230910/intrin.json

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calibrations/20231014/calibration.json

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+       9.2141664028167725e-01, 8.9541172981262207e-01,
+       -4.3110895156860352e-01, 1.1127890646457672e-01,
+       4.3977293372154236e-01, 8.1730741262435913e-01,
+       -3.7230145931243896e-01 ]
+T_0: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -8.7504483759403229e-02, -1.7717927694320679e-01,
+       4.3090111017227173e-01 ]
+R_1: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.3001630976201000e+00, 1.6207145668054108e+00,
+       8.8181196703621090e-01 ]
+Rot_1: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 2.2421403229236603e-01, 7.9221338033676147e-01,
+       5.6756144762039185e-01, 9.0684473514556885e-01,
+       -3.8287577033042908e-01, 1.7617826163768768e-01,
+       3.5687628388404846e-01, 4.7518852353096008e-01,
+       -8.0426061153411865e-01 ]
+T_1: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -1.7456535100936890e+00, -2.7521347999572754e-01,
+       1.7585570812225342e+00 ]
+R_2: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.4105794812045529e+00, 1.6702581133013783e+00,
+       6.4866806145509370e-01 ]
+Rot_2: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 2.9162725806236267e-01, 8.5864782333374023e-01,
+       4.2151802778244019e-01, 9.1807556152343750e-01,
+       -3.7495595216751099e-01, 1.2862855195999146e-01,
+       2.6849731802940369e-01, 3.4947377443313599e-01,
+       -8.9765095710754395e-01 ]
+T_2: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -2.5424137115478516e+00, -3.9296397566795349e-01,
+       6.0244745016098022e-01 ]
+R_3: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -1.8769541613597507e+00, -1.5667119421379847e+00,
+       -2.0336602902940229e-01 ]
+Rot_3: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 2.6502996683120728e-01, 9.1857224702835083e-01,
+       -2.9323041439056396e-01, 8.1326705217361450e-01,
+       -4.9568578600883484e-02, 5.7977551221847534e-01,
+       5.1803070306777954e-01, -3.9213252067565918e-01,
+       -7.6018172502517700e-01 ]
+T_3: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -3.1809899806976318e+00, -5.1510721445083618e-01,
+       2.0865848064422607e+00 ]
+R_4: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -1.6218370790654493e+00, -1.4330058063261577e+00,
+       3.4349839298512008e-01 ]
+Rot_4: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 2.8483313322067261e-01, 6.3789415359497070e-01,
+       -7.1551460027694702e-01, 8.9295840263366699e-01,
+       9.4851784408092499e-02, 4.4003233313560486e-01,
+       3.4856188297271729e-01, -7.6426059007644653e-01,
+       -5.4259598255157471e-01 ]
+T_4: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -2.9778692722320557e+00, -1.2090579271316528e+00,
+       3.8168804645538330e+00 ]
+R_5: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -1.4845292484994881e+00, -1.3002975781489765e+00,
+       7.2705006089536217e-01 ]
+Rot_5: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 2.4357277154922485e-01, 3.6005267500877380e-01,
+       -9.0057450532913208e-01, 9.5577144622802734e-01,
+       6.8709403276443481e-02, 2.8597182035446167e-01,
+       1.6484285891056061e-01, -9.3039834499359131e-01,
+       -3.2739233970642090e-01 ]
+T_5: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -2.4189496040344238e+00, -1.3632287979125977e+00,
+       5.5693745613098145e+00 ]
+R_6: !!opencv-matrix
+   rows: 3
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+   dt: d
+   data: [ -1.2535161023777197e+00, -1.0854883622409079e+00,
+       1.3045138648254677e+00 ]
+Rot_6: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 2.0888080820441246e-02, -6.8053886294364929e-02,
+       -9.9746292829513550e-01, 9.9321782588958740e-01,
+       -1.1272397637367249e-01, 2.8489997610449791e-02,
+       -1.1437684297561646e-01, -9.9129307270050049e-01,
+       6.5237745642662048e-02 ]
+T_6: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -1.0132074356079102e+00, -1.3615130186080933e+00,
+       6.2192583084106445e+00 ]
+R_7: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -6.4997445889243377e-01, -9.9614127864201130e-01,
+       1.4033207197970698e+00 ]
+Rot_7: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -1.0757123678922653e-01, -4.9331778287887573e-01,
+       -8.6317205429077148e-01, 9.7759222984313965e-01,
+       1.0553204268217087e-01, -1.8214401602745056e-01,
+       1.8094719946384430e-01, -8.6342370510101318e-01,
+       4.7091141343116760e-01 ]
+T_7: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 4.7827243804931641e-01, -2.0917150974273682e+00,
+       6.0613136291503906e+00 ]
+R_8: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -8.4266434552179770e-01, -8.1447053458729923e-01,
+       1.5558512065300825e+00 ]
+Rot_8: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -1.1212206631898880e-01, -4.9515053629875183e-01,
+       -8.6154198646545410e-01, 9.9013680219650269e-01,
+       -1.2896992266178131e-01, -5.4735172539949417e-02,
+       -8.4010854363441467e-02, -8.5918140411376953e-01,
+       5.0472712516784668e-01 ]
+T_8: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 4.9084183573722839e-01, -1.4439241886138916e+00,
+       6.2874841690063477e+00 ]
+R_9: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -5.4815339676720842e-01, -5.3183826514893362e-01,
+       1.7165704090379830e+00 ]
+Rot_9: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -1.9224201142787933e-01, -7.6302152872085571e-01,
+       -6.1712324619293213e-01, 9.7827261686325073e-01,
+       -1.9874697923660278e-01, -5.9010706841945648e-02,
+       -7.7624946832656860e-02, -6.1505919694900513e-01,
+       7.8465062379837036e-01 ]
+T_9: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.5540359020233154e+00, -1.1517411470413208e+00,
+       6.4346623420715332e+00 ]
+R_10: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -6.8527360310678798e-02, -2.8125651266541607e-01,
+       1.8590055950459170e+00 ]
+Rot_10: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -3.0391070246696472e-01, -9.3369859457015991e-01,
+       -1.8932829797267914e-01, 9.4791710376739502e-01,
+       -2.7646437287330627e-01, -1.5817901492118835e-01,
+       9.5348976552486420e-02, -2.2753982245922089e-01,
+       9.6908932924270630e-01 ]
+T_10: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.8228108882904053e+00, -1.0515189170837402e+00,
+       4.6235413551330566e+00 ]
+R_11: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 6.7577941587768242e-01, -2.2200408274114827e-01,
+       1.8735743231166595e+00 ]
+Rot_11: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -2.5838655233383179e-01, -9.0154582262039185e-01,
+       3.4706115722656250e-01, 7.9547089338302612e-01,
+       -4.0240874886512756e-01, -4.5309296250343323e-01,
+       5.4814451932907104e-01, 1.5900391340255737e-01,
+       8.2113051414489746e-01 ]
+T_11: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 3.2801723480224609e+00, -7.1878838539123535e-01,
+       2.7107684612274170e+00 ]
+R_12: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 3.3231330915954421e-01, 5.0827561517991414e-02,
+       1.9060910148269934e+00 ]
+Rot_12: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -3.1668883562088013e-01, -9.1390925645828247e-01,
+       2.5392544269561768e-01, 9.2614305019378662e-01,
+       -3.5574612021446228e-01, -1.2531426548957825e-01,
+       2.0485885441303253e-01, 1.9548566639423370e-01,
+       9.5907151699066162e-01 ]
+T_12: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 3.1666312217712402e+00, -5.6617373228073120e-01,
+       2.7520320415496826e+00 ]
+R_13: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 9.0321337152110104e-01, 4.1387873342592341e-01,
+       1.8453921932319624e+00 ]
+Rot_13: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -2.2243873775005341e-01, -6.3413584232330322e-01,
+       7.4053549766540527e-01, 8.8965874910354614e-01,
+       -4.4271028041839600e-01, -1.1187028139829636e-01,
+       3.9878362417221069e-01, 6.3393950462341309e-01,
+       6.6264039278030396e-01 ]
+T_13: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.8292760848999023e+00, -4.1759350895881653e-01,
+       1.3739683628082275e+00 ]
+R_14: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.3137284036136749e+00, 4.3926691387846190e-01,
+       1.8664238357635319e+00 ]
+Rot_14: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -1.4615249633789062e-01, -4.0572255849838257e-01,
+       9.0223532915115356e-01, 7.6553213596343994e-01,
+       -6.2404483556747437e-01, -1.5661615133285522e-01,
+       6.2657803297042847e-01, 6.6780030727386475e-01,
+       4.0179935097694397e-01 ]
+T_14: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.3401772975921631e+00, 2.7185001969337463e-01,
+       1.5212337970733643e+00 ]
+R_15: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.1763281281501543e+00, 6.7082566532173271e-01,
+       1.7323354465549019e+00 ]
+Rot_15: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -1.3316707313060760e-01, -3.7841817736625671e-01,
+       9.1600561141967773e-01, 8.9664274454116821e-01,
+       -4.3976992368698120e-01, -5.1324624568223953e-02,
+       4.2225384712219238e-01, 8.1449496746063232e-01,
+       3.9786878228187561e-01 ]
+T_15: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.2194499969482422e+00, -3.6244809627532959e-01,
+       1.2842801809310913e+00 ]
+R_16: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 8.1479346627498905e-01, 8.5934885630528934e-01,
+       1.6748766411555851e+00 ]
+Rot_16: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -2.3146449029445648e-01, -4.8075893521308899e-01,
+       8.4575116634368896e-01, 9.6740466356277466e-01,
+       -2.0554308593273163e-01, 1.4791958034038544e-01,
+       1.0272464156150818e-01, 8.5242176055908203e-01,
+       5.1266437768936157e-01 ]
+T_16: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.6696145534515381e+00, -9.3644398450851440e-01,
+       1.5397615432739258e+00 ]
+R_17: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 3.1960617518193107e-01, 5.6644545030276139e-01,
+       1.7880769262676737e+00 ]
+Rot_17: !!opencv-matrix
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+   cols: 3
+   dt: d
+   data: [ -2.8842389583587646e-01, -8.2217532396316528e-01,
+       4.9075388908386230e-01, 9.5477920770645142e-01,
+       -2.0832504332065582e-01, 2.1212559938430786e-01,
+       -7.2168096899986267e-02, 5.2974373102188110e-01,
+       8.4508186578750610e-01 ]
+T_17: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 3.1227908134460449e+00, -7.8218764066696167e-01,
+       2.4141118526458740e+00 ]
+R_18: !!opencv-matrix
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+   dt: d
+   data: [ -9.4296308694738082e-02, 2.4823282210543093e-01,
+       1.8820118538465931e+00 ]
+Rot_18: !!opencv-matrix
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+   dt: d
+   data: [ -3.2064828276634216e-01, -9.4538855552673340e-01,
+       5.8524716645479202e-02, 9.2823177576065063e-01,
+       -3.0132454633712769e-01, 2.1814969182014465e-01,
+       -1.8860128521919250e-01, 1.2427382916212082e-01,
+       9.7415894269943237e-01 ]
+T_18: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 3.1861643791198730e+00, -5.1961177587509155e-01,
+       3.8975074291229248e+00 ]
+R_19: !!opencv-matrix
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+   dt: d
+   data: [ 1.4075901615592853e-01, -4.2811528827945816e-01,
+       1.8461754453175523e+00 ]
+Rot_19: !!opencv-matrix
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+   cols: 3
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+   data: [ -3.1639117002487183e-01, -9.4127267599105835e-01,
+       -1.1790823936462402e-01, 8.9709949493408203e-01,
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+       3.0839753150939941e-01, -2.1960236132144928e-01,
+       9.2556244134902954e-01 ]
+T_19: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.8791737556457520e+00, -9.4047605991363525e-01,
+       4.5855731964111328e+00 ]
+R_20: !!opencv-matrix
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+   data: [ -1.7696873500221491e-01, -6.1499475659192648e-01,
+       1.8172518780192448e+00 ]
+Rot_20: !!opencv-matrix
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+   cols: 3
+   dt: d
+   data: [ -3.3700472116470337e-01, -8.4459853172302246e-01,
+       -4.1603019833564758e-01, 9.2366814613342285e-01,
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+       1.8238694965839386e-01, -4.9207314848899841e-01,
+       8.5123378038406372e-01 ]
+T_20: !!opencv-matrix
+   rows: 3
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+   data: [ 2.2500529289245605e+00, -1.2564551830291748e+00,
+       6.3290548324584961e+00 ]
+R_21: !!opencv-matrix
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+   data: [ -4.5411447188467413e-01, -6.6501967907920095e-02,
+       1.8680173686358112e+00 ]
+Rot_21: !!opencv-matrix
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+   cols: 3
+   dt: d
+   data: [ -2.7051520347595215e-01, -9.0033280849456787e-01,
+       -3.4091398119926453e-01, 9.2229616641998291e-01,
+       -3.4389621019363403e-01, 1.7636682093143463e-01,
+       -2.7602785825729370e-01, -2.6671373844146729e-01,
+       9.2340260744094849e-01 ]
+T_21: !!opencv-matrix
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+   dt: d
+   data: [ 2.5261352062225342e+00, -4.1060411930084229e-01,
+       5.9184722900390625e+00 ]
+R_22: !!opencv-matrix
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+   data: [ -7.2332253557252402e-01, -2.6053187915317799e-01,
+       1.7902162183647792e+00 ]
+Rot_22: !!opencv-matrix
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+   data: [ -1.7998184263706207e-01, -7.8620219230651855e-01,
+       -5.9117895364761353e-01, 9.2209148406982422e-01,
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+       -3.4256935119628906e-01, -5.1327353715896606e-01,
+       7.8689038753509521e-01 ]
+T_22: !!opencv-matrix
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+   data: [ 1.7229069471359253e+00, -4.3471145629882812e-01,
+       6.5998320579528809e+00 ]
+R_23: !!opencv-matrix
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+   data: [ -1.1024486086088554e+00, -5.1246567041490498e-01,
+       1.6879909869950318e+00 ]
+Rot_23: !!opencv-matrix
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+   data: [ -6.9841101765632629e-02, -5.1418501138687134e-01,
+       -8.5483098030090332e-01, 9.0264105796813965e-01,
+       -3.9739117026329041e-01, 1.6528548300266266e-01,
+       -4.2468962073326111e-01, -7.6006186008453369e-01,
+       4.9187874794006348e-01 ]
+T_23: !!opencv-matrix
+   rows: 3
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+       1.4746211364671089e+00 ]
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+       -8.0407178401947021e-01 ]
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+       1.1663650274276733e+00 ]
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+       5.4237419888654803e-01 ]
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+       1.3948755264282227e+00 ]
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+       1.8686993122100830e+00 ]
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+       1.0317097902297974e+00 ]
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calibrations/20231014/extrin.json

@@ -0,0 +1,18 @@
+{
+    "rotation": [
+      0.22421403229236603,
+      0.7922133803367615,
+      0.5675614476203918,
+      0.9068447351455688,
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+      0.35687628388404846,
+      0.4751885235309601,
+      -0.8042606115341187
+    ],
+    "translation": [
+      -1.745653510093689,
+      -0.27521347999572754,
+      1.7585570812225342
+    ]
+  }

calibrations/20231014/intri.yml

@@ -0,0 +1,387 @@
+%YAML:1.0
+---
+names:
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+   - "1"
+   - "2"
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+   - "12"
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+   - "23"
+   - "24"
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+   - "31"
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calibrations/20231015/extri.yml

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+       -2.3956339439040484e+00 ]
+Rot_9: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -2.5965225696563721e-01, 8.6250878870487213e-02,
+       9.6184271574020386e-01, -1.1802612245082855e-01,
+       -9.9137109518051147e-01, 5.7037264108657837e-02,
+       9.5846259593963623e-01, -9.8712712526321411e-02,
+       2.6759159564971924e-01 ]
+T_9: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.7979220151901245e+00, -1.0897111892700195e+00,
+       6.7189798355102539e+00 ]
+R_10: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -2.2293316148171169e+00, 4.0876264405145128e-02,
+       -1.8527070236750340e+00 ]
+Rot_10: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 1.9470183551311493e-01, 1.3216254115104675e-01,
+       9.7191786766052246e-01, -1.7489989101886749e-01,
+       -9.7032296657562256e-01, 1.6698291897773743e-01,
+       9.6514314413070679e-01, -2.0250022411346436e-01,
+       -1.6580845415592194e-01 ]
+T_10: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 3.0743334293365479e+00, -9.8407572507858276e-01,
+       4.8929619789123535e+00 ]
+R_11: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -2.3388047968919885e+00, 2.3984413965381088e-01,
+       -1.0808995331507463e+00 ]
+Rot_11: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 6.6122269630432129e-01, 6.4719244837760925e-02,
+       7.4739283323287964e-01, -3.7476322054862976e-01,
+       -8.3455401659011841e-01, 4.0382197499275208e-01,
+       6.4987462759017944e-01, -5.4711157083511353e-01,
+       -5.2757167816162109e-01 ]
+T_11: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 3.5706264972686768e+00, -6.4152216911315918e-01,
+       2.8578653335571289e+00 ]
+R_12: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -2.4966248939813553e+00, 3.2963472216982870e-02,
+       -1.3255683122746047e+00 ]
+Rot_12: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 5.7077461481094360e-01, 1.2504971027374268e-01,
+       8.1152868270874023e-01, -1.6523146629333496e-01,
+       -9.5062571763992310e-01, 2.6269608736038208e-01,
+       8.0431014299392700e-01, -2.8403034806251526e-01,
+       -5.2193093299865723e-01 ]
+T_12: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 3.3746619224548340e+00, -6.7749303579330444e-01,
+       3.0458667278289795e+00 ]
+R_13: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -2.7694994076447967e+00, 2.0205122859308117e-02,
+       -5.1958287836746275e-01 ]
+Rot_13: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 9.3366831541061401e-01, 4.4921461492776871e-02,
+       3.5531055927276611e-01, -7.2378143668174744e-02,
+       -9.4796389341354370e-01, 3.1004172563552856e-01,
+       3.5074910521507263e-01, -3.1519284844398499e-01,
+       -8.8183248043060303e-01 ]
+T_13: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 3.1715064048767090e+00, -3.3312016725540161e-01,
+       1.3934755325317383e+00 ]
+R_14: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -2.6025717080625106e+00, 2.1754857745434349e-02,
+       -1.0251048251569957e-01 ]
+Rot_14: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 9.9699044227600098e-01, 4.6134958975017071e-03,
+       7.7387571334838867e-02, -3.5646773874759674e-02,
+       -8.5916256904602051e-01, 5.1045966148376465e-01,
+       6.8843506276607513e-02, -5.1168203353881836e-01,
+       -8.5641235113143921e-01 ]
+T_14: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.6535029411315918e+00, 4.0466058254241943e-01,
+       1.4372156858444214e+00 ]
+R_15: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -2.8541205440291439e+00, 1.8454213352756019e-02,
+       -5.9855216586633606e-02 ]
+Rot_15: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 9.9905693531036377e-01, -6.7306747660040855e-03,
+       4.2895272374153137e-02, -1.8592236563563347e-02,
+       -9.5907640457153320e-01, 2.8253626823425293e-01,
+       3.9238184690475464e-02, -2.8306734561920166e-01,
+       -9.5829701423645020e-01 ]
+T_15: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.5305259227752686e+00, -2.5449255108833313e-01,
+       1.1061650514602661e+00 ]
+R_16: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 3.1146518554720632e+00, 1.1671618520421202e-01,
+       2.9490425444371587e-01 ]
+Rot_16: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 9.7947520017623901e-01, 7.3154672980308533e-02,
+       1.8782077729701996e-01, 7.5195737183094025e-02,
+       -9.9716168642044067e-01, -3.7553084548562765e-03,
+       1.8701298534870148e-01, 1.7801553010940552e-02,
+       -9.8219609260559082e-01 ]
+T_16: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.9629092216491699e+00, -8.6228913068771362e-01,
+       1.3924335241317749e+00 ]
+R_17: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.8956253345225345e+00, 1.8305031825382778e-01,
+       1.0095854222710123e+00 ]
+Rot_17: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 7.7716416120529175e-01, 8.9352764189243317e-02,
+       6.2292212247848511e-01, 1.3503251969814301e-01,
+       -9.9048966169357300e-01, -2.6390843093395233e-02,
+       6.1463981866836548e-01, 1.0462476313114166e-01,
+       -7.8183853626251221e-01 ]
+T_17: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 3.4399716854095459e+00, -6.9686287641525269e-01,
+       2.4790749549865723e+00 ]
+R_18: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.6087535932476840e+00, 2.7522763357543928e-01,
+       1.6530789154354126e+00 ]
+Rot_18: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 4.1601026058197021e-01, 1.2747955322265625e-01,
+       9.0038019418716431e-01, 1.7112624645233154e-01,
+       -9.8341017961502075e-01, 6.0168378055095673e-02,
+       8.9311325550079346e-01, 1.2904801964759827e-01,
+       -4.3092381954193115e-01 ]
+T_18: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 3.4157073497772217e+00, -4.4015955924987793e-01,
+       4.0900669097900391e+00 ]
+R_19: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -2.1034021469736590e+00, 2.2590058362903434e-01,
+       -1.6772471982407109e+00 ]
+Rot_19: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 2.5179556012153625e-01, 1.4154939353466034e-01,
+       9.5737284421920776e-01, -3.8979882001876831e-01,
+       -8.9062190055847168e-01, 2.3419986665248871e-01,
+       8.8580805063247681e-01, -4.3215328454971313e-01,
+       -1.6907884180545807e-01 ]
+T_19: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 3.1040079593658447e+00, -1.0813581943511963e+00,
+       4.8328151702880859e+00 ]
+R_20: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -1.8884254072712432e+00, 1.5624507154358069e-01,
+       -2.0161852816852344e+00 ]
+Rot_20: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -3.1283926218748093e-02, 1.9230225682258606e-01,
+       9.8083692789077759e-01, -3.4111946821212769e-01,
+       -9.2445254325866699e-01, 1.7036749422550201e-01,
+       9.3949919939041138e-01, -3.2925280928611755e-01,
+       9.4518549740314484e-02 ]
+T_20: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.5295312404632568e+00, -1.2076461315155029e+00,
+       6.5566978454589844e+00 ]
+R_21: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.2518456296995408e+00, 2.9436673962238985e-01,
+       2.1359934108971146e+00 ]
+Rot_21: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 4.3520718812942505e-02, 1.1999262869358063e-01,
+       9.9182039499282837e-01, 1.5275576710700989e-01,
+       -9.8188698291778564e-01, 1.1208799481391907e-01,
+       9.8730522394180298e-01, 1.4662812650203705e-01,
+       -6.1061989516019821e-02 ]
+T_21: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 2.7632408142089844e+00, -3.0859148502349854e-01,
+       6.1504845619201660e+00 ]
+R_22: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.9132296607633159e+00, 2.8341303414375285e-01,
+       2.4108819263222681e+00 ]
+Rot_22: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -2.3286952078342438e-01, 7.3854386806488037e-02,
+       9.6969956159591675e-01, 1.5303885936737061e-01,
+       -9.8190575838088989e-01, 1.1153571307659149e-01,
+       9.6039104461669922e-01, 1.7437499761581421e-01,
+       2.1735332906246185e-01 ]
+T_22: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.9468541145324707e+00, -3.1196999549865723e-01,
+       6.8954348564147949e+00 ]
+R_23: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.3984848880138261e+00, 3.4731860398379205e-01,
+       2.7138753173780219e+00 ]
+Rot_23: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -5.8382976055145264e-01, 4.1972432285547256e-02,
+       8.1079041957855225e-01, 1.6356408596038818e-01,
+       -9.7210526466369629e-01, 1.6810165345668793e-01,
+       7.9522931575775146e-01, 2.3075896501541138e-01,
+       5.6067878007888794e-01 ]
+T_23: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 6.3668400049209595e-01, -1.2548066675662994e-01,
+       6.9009003639221191e+00 ]
+R_24: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 7.0972145987375612e-01, 3.6118673169492910e-01,
+       2.9653429747173683e+00 ]
+Rot_24: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ -8.9074343442916870e-01, -1.4375149272382259e-02,
+       4.5427909493446350e-01, 1.2300186604261398e-01,
+       -9.6982681751251221e-01, 2.1049107611179352e-01,
+       4.3754619359970093e-01, 2.4337072670459747e-01,
+       8.6563503742218018e-01 ]
+T_24: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -1.1134006977081299e+00, -1.3096527755260468e-01,
+       6.8306789398193359e+00 ]
+R_25: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -7.1094738896737619e-01, 5.0742858696273374e-01,
+       -2.8864232398065925e+00 ]
+Rot_25: !!opencv-matrix
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+   cols: 3
+   dt: d
+   data: [ -8.8136845827102661e-01, 4.1168645024299622e-02,
+       4.7063234448432922e-01, -1.9921247661113739e-01,
+       -9.3568360805511475e-01, -2.9122257232666016e-01,
+       4.2837372422218323e-01, -3.5043022036552429e-01,
+       8.3288329839706421e-01 ]
+T_25: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -1.0089526176452637e+00, -2.1065652370452881e+00,
+       6.4655251502990723e+00 ]
+R_26: !!opencv-matrix
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+   cols: 1
+   dt: d
+   data: [ -1.8001963394874709e+00, -4.2455992782567403e-01,
+       1.9573288808635152e+00 ]
+Rot_26: !!opencv-matrix
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+   cols: 3
+   dt: d
+   data: [ -5.1535096019506454e-02, -1.1489347368478775e-01,
+       -9.9204009771347046e-01, 5.1559227705001831e-01,
+       -8.5379534959793091e-01, 7.2098307311534882e-02,
+       -8.5528284311294556e-01, -5.0777262449264526e-01,
+       1.0323861241340637e-01 ]
+T_26: !!opencv-matrix
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+   cols: 1
+   dt: d
+   data: [ -2.7720389366149902e+00, 6.5844619274139404e-01,
+       9.6470510959625244e-01 ]
+R_27: !!opencv-matrix
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+   dt: d
+   data: [ -2.3798042681882885e+00, 2.5690725470883152e-01,
+       1.9877246688601606e+00 ]
+Rot_27: !!opencv-matrix
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+   cols: 3
+   dt: d
+   data: [ 1.7026506364345551e-01, -1.4560024440288544e-01,
+       -9.7458219528198242e-01, -1.0696853697299957e-01,
+       -9.8590999841690063e-01, 1.2860459089279175e-01,
+       -9.7957521677017212e-01, 8.2352757453918457e-02,
+       -1.8344068527221680e-01 ]
+T_27: !!opencv-matrix
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+   cols: 1
+   dt: d
+   data: [ -2.2553493976593018e+00, -8.1635391712188721e-01,
+       1.1301695108413696e+00 ]
+R_28: !!opencv-matrix
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+   data: [ -2.1909692348331422e+00, -2.4567471910321220e-01,
+       1.5976551966813897e+00 ]
+Rot_28: !!opencv-matrix
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+   cols: 3
+   dt: d
+   data: [ 3.2555079460144043e-01, -9.9723197519779205e-02,
+       -9.4025099277496338e-01, 3.7760502099990845e-01,
+       -8.9796853065490723e-01, 2.2597999870777130e-01,
+       -8.6685127019882202e-01, -4.2861148715019226e-01,
+       -2.5467839837074280e-01 ]
+T_28: !!opencv-matrix
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+   cols: 1
+   dt: d
+   data: [ -1.6732895374298096e+00, 6.0814368724822998e-01,
+       1.7485996484756470e+00 ]
+R_29: !!opencv-matrix
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+   dt: d
+   data: [ 2.7606068986031920e+00, -1.2180986247133657e-01,
+       -1.4827008997605431e+00 ]
+Rot_29: !!opencv-matrix
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+   cols: 3
+   dt: d
+   data: [ 5.4989236593246460e-01, -6.5719924867153168e-02,
+       -8.3264595270156860e-01, -7.1054518222808838e-02,
+       -9.9696654081344604e-01, 3.1764075160026550e-02,
+       -8.3220767974853516e-01, 4.1696436703205109e-02,
+       -5.5289399623870850e-01 ]
+T_29: !!opencv-matrix
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+   cols: 1
+   dt: d
+   data: [ -9.3462336063385010e-01, -9.8006242513656616e-01,
+       7.5702047348022461e-01 ]
+R_30: !!opencv-matrix
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+   data: [ -2.3877384017452461e+00, -2.0434873616212773e-01,
+       1.1138167101401115e+00 ]
+Rot_30: !!opencv-matrix
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+   cols: 3
+   dt: d
+   data: [ 6.5514189004898071e-01, -7.0454090833663940e-02,
+       -7.5221359729766846e-01, 3.3289033174514771e-01,
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+       -6.7821311950683594e-01, -4.9354344606399536e-01,
+       -5.4446470737457275e-01 ]
+T_30: !!opencv-matrix
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+   dt: d
+   data: [ -6.0033226013183594e-01, 8.6760640144348145e-01,
+       8.4907805919647217e-01 ]
+R_31: !!opencv-matrix
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+   dt: d
+   data: [ -2.6226044282576413e+00, -1.0049348304726016e-01,
+       4.4308160404421121e-01 ]
+Rot_31: !!opencv-matrix
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+   cols: 3
+   dt: d
+   data: [ 9.4501763582229614e-01, -6.6594919189810753e-03,
+       -3.2695153355598450e-01, 1.4706099033355713e-01,
+       -8.8433951139450073e-01, 4.4307631254196167e-01,
+       -2.9208683967590332e-01, -4.6679675579071045e-01,
+       -8.3473712205886841e-01 ]
+T_31: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.4592651128768921e+00, 6.8613564968109131e-01,
+       1.0590144395828247e+00 ]

calibrations/20231015/extrin.json

@@ -0,0 +1,18 @@
+{
+    "rotation": [
+      0.2369941622018814,
+      -0.10691768676042557,
+      -0.9656098484992981,
+      0.1764725148677826,
+      -0.972652792930603,
+      0.15100999176502228,
+      -0.9553487300872803,
+      -0.20619207620620728,
+      -0.2116450071334839
+    ],
+    "translation": [
+      -1.8619427680969238,
+      -0.14676819741725922,
+      1.485682487487793
+    ]
+  }