Datasets:

PengYu-Team
/

S3E

	%YAML:1.0

	#--------------------------------------------------------------------------------------------
	# Left Camera Parameters.
	#--------------------------------------------------------------------------------------------
	Camera.type: "PinHole"

	# Camera calibration and distortion parameters (OpenCV) (equal for both cameras after stereo rectification)
	Camera.fx: 1176.371989001733
	Camera.fy: 1176.092984580754
	Camera.cx: 621.676298301324
	Camera.cy: 508.182115727477

	Camera.k1: -0.052418753922603
	Camera.k2: 0.104682361259496
	Camera.p1: 0.000650517607061
	Camera.p2: 0.000103793518711

	Camera.width: 1224
	Camera.height: 1024

	# Camera frames per second
	Camera.fps: 10.0

	# stereo baseline times fx (unit: m x pixel)
	Camera.bf: 423.4939160406239

	#--------------------------------------------------------------------------------------------
	# IMU noise
	#--------------------------------------------------------------------------------------------
	IMU.NoiseGyro: 1.0084886221461694e-02
	IMU.NoiseAcc: 1.0557715622632996e-02
	IMU.GyroWalk: 9.8778648600726277e-05
	IMU.AccWalk: 2.3084619195565281e-04
	IMU.Frequency: 100

	# Transformation from left camera to imu
	Tic: !!opencv-matrix
	rows: 4
	cols: 4
	dt: d
	data: [0.0004156, -0.01277515, 0.99991831, 0.15076999,
	-0.99999158, -0.00408635, 0.00036342, 0.1531545,
	0.00408138, -0.99991004, -0.01277674, 0.01004714,
	0.0, 0.0, 0.0, 1.0]

	#--------------------------------------------------------------------------------------------
	# Stereo Rectification. Only if you need to pre-rectify the images.
	#--------------------------------------------------------------------------------------------
	LEFT.height: 1024
	LEFT.width: 1224
	LEFT.D: !!opencv-matrix
	rows: 1
	cols: 5
	dt: d
	data: [-0.052418753922603, 0.104682361259496, 0.000650517607061, 0.000103793518711, 0.0]
	LEFT.K: !!opencv-matrix
	rows: 3
	cols: 3
	dt: d
	data: [1176.371989001733, 0.0, 621.676298301324,
	0.0, 1176.092984580754, 508.182115727477,
	0.0, 0.0, 1.0]
	LEFT.R: !!opencv-matrix
	rows: 3
	cols: 3
	dt: d
	data: [1.0, 0.0, 0.0,
	0.0, 1.0, 0.0,
	0.0, 0.0, 1.0]
	LEFT.Rf: !!opencv-matrix
	rows: 3
	cols: 3
	dt: d
	data: [1.0, 0.0, 0.0,
	0.0, 1.0, 0.0,
	0.0, 0.0, 1.0]
	LEFT.P: !!opencv-matrix
	rows: 3
	cols: 4
	dt: d
	data: [1176.371989001733, 0.0, 621.676298301324, 0.0,
	0.0, 1176.092984580754, 508.182115727477, 0.0,
	0.0, 0.0, 1.0, 0.0]

	RIGHT.height: 1024
	RIGHT.width: 1224
	RIGHT.D: !!opencv-matrix
	rows: 1
	cols: 5
	dt: d
	data: [-0.053314338222019, 0.099513356190201, -0.000114531609168, 0.001057111311330, 0.0]
	RIGHT.K: !!opencv-matrix
	rows: 3
	cols: 3
	dt: d
	data: [1170.903035724522, 0.0, 602.239017335193,
	0.0, 1170.731039292330, 505.701781863552,
	0.0, 0.0, 1.0]
	RIGHT.R: !!opencv-matrix
	rows: 3
	cols: 3
	dt: d
	data: [0.999988904147781, 0.002977057860333, -0.003650850286635,
	-0.002963513067231, 0.999988727228776, 0.003709852513600,
	0.003661853577021, -0.003698992007094, 0.999986454051510]
	RIGHT.P: !!opencv-matrix
	rows: 3
	cols: 4
	dt: d
	data: [1170.903035724522, 0.0, 602.239017335193, -364.7958668586873,
	0.0, 1170.731039292330, 505.701781863552, 1.3954592304343,
	0.0, 0.0, 1.0, -12.6923711243586]

	#--------------------------------------------------------------------------------------------
	# Transformation from left camera to lidar
	#--------------------------------------------------------------------------------------------
	Tlc: !!opencv-matrix
	rows: 4
	cols: 4
	dt: d
	data: [0.017870010543876, -0.017600720528060, 0.999685389190047, 0.132943148638482,
	-0.999728769020931, -0.015249506692405, 0.017602299211548, 0.201060820335298,
	0.014934895883679, -0.999728796815682, -0.017868455512781, -0.083131958281528,
	0.0, 0.0, 0.0, 1.000000000000000]