File size: 1,227 Bytes
ece9f6d 1f1a059 | 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 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 | %YAML:1.0
camera:
model: 0 # 0: pinhole; 1: equidistant
scale: 0.5
width: 1280
height: 1024
fx: 1299.4613338436232
fy: 1295.8863918432958
cx: 625.8584662418021
cy: 526.5097843650361
d0: -0.08627823835637148
d1: 0.14498567174218893
d2: 0.0007064224773052699
d3: 0.0034718345415729822
d4: 0.0
extrinsic:
# lidar to camera
T_C_L: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ -0.0163232, -0.999801, -0.0114645, 0.0192731,
0.00201814, 0.011433, -0.999933, -0.0596309,
0.999865, -0.0163452, 0.00183112, -0.166228,
0.0, 0.0, 0.0, 1.0 ]
# lidar to base(imu)
T_B_L: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ 1.0, 0.0, 0.0, 0.04165,
0.0, 1.0, 0.0, 0.02326,
0.0, 0.0, 1.0, -0.0284,
0.0, 0.0, 0.0, 1.0 ]
# imu to camera (T_CI)
T_cam_imu: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ -0.0163232, -0.999801, -0.0114645, 0.04288274,
0.00201814, 0.011433, -0.999933, -0.08837898,
0.999865, -0.0163452, 0.00183112, -0.20744018,
0.0, 0.0, 0.0, 1.0 ] |