calibration (#1)

- calibration added (2e072ea2ba11ad85cf8983e0cc83e159a73e962b)

calibration/cross_camera_extrinsics.yaml

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+thermal_left_to_thermal_right:
+  Source: CAD
+  #translation in m and roation in radians
+  tx: 0.1200220
+  ty: 0.
+  tz: 0.
+  rx: 0.
+  ry: 0.
+  rz: 0.
+
+zed_left_to_thermal_left:
+  Source: CAD
+  #translation in m and roation in radians
+  tx: 0.0
+  ty: 0.03166579
+  tz: 0.
+  rx: 0.
+  ry: 0.
+  rz: 0.
+
+zed_left_to_zed_right: 
+  # Translation from left to right sensor (in mm for TX, mm/m units as stored)
+  # same as stero_extrinsics as given in calibration/zed.yaml
+  Source: Factory Calibration
+  translation:
+    tx: 0.1200220   # baseline ~120mm
+    ty: 0.0000387
+    tz: 0.0002290
+  # Rotation (Rodrigues / axis-angle vector, radians)
+  rotation:
+    rx: -0.0040
+    ry: 0.0000
+    rz: 0.0008

calibration/thermal_left.yaml

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+# Flir 640 Left Camera
+image_width: 640
+image_height: 512
+camera_name: thermal_left
+
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [421.23237248, 0, 317.55165969,
+         0, 420.80872096, 255.54588954,
+         0, 0, 1]
+
+distortion_model: equidistant # radtan
+distortion_coefficients:
+  rows: 1
+  cols: 4
+  data: [-0.11053445, 0.20481263, -0.57743943, 0.45121438]
+
+rectification_matrix: # identity
+  rows: 3
+  cols: 3
+  data: [1, 0, 0, 
+         0, 1, 0,
+         0, 0, 1]
+
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [421.23237248, 0, 317.55165969, 0,
+         0, 420.80872096, 255.54588954, 0,
+         0, 0, 1, 0]

calibration/thermal_right.yaml

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+# Flir 640 Right Camera
+image_width: 640
+image_height: 512
+camera_name: thermal_right
+
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [417.36729084, 0, 314.3000161,
+         0, 417.03044824, 255.89962207,
+         0, 0, 1]
+
+distortion_model: equidistant # radtan
+distortion_coefficients:
+  rows: 1
+  cols: 4
+  data: [0.09309942,-0.93580573,1.87548284,-1.32763579]
+
+rectification_matrix: # identity
+  rows: 3
+  cols: 3
+  data: [1, 0, 0, 
+         0, 1, 0,
+         0, 0, 1]
+
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [417.36729084, 0, 314.3000161, 0,
+         0, 417.03044824, 255.89962207, 0,
+         0, 0, 1, 0]

calibration/zed.yaml

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+# Camera Calibration Parameters
+# Compatible with theairlabcmu/TartanRGBT dataset
+# Format: intrinsics per sensor + stereo extrinsics
+# Suorce - these are extracted directly from the factory calibrated intrinsics and extrinsics
+
+left_sensor:
+  intrinsics:
+    fx: 738.8620
+    fy: 738.8110
+    cx: 968.5050
+    cy: 591.8550
+  distortion_coefficients:
+    k1: 3.0443
+    k2: 3.2123
+    p1: -0.0001
+    p2: 0.0001
+    k3: 0.4881
+    k4: 3.0510
+    k5: 3.2189
+    k6: 0.7517
+  focal: 2.2166
+
+right_sensor:
+  intrinsics:
+    fx: 734.6760
+    fy: 734.6210
+    cx: 980.2060
+    cy: 585.1210
+  distortion_coefficients:
+    k1: 0.0862
+    k2: 0.3706
+    p1: 0.0000
+    p2: -0.0001
+    k3: -0.0369
+    k4: 0.0870
+    k5: 0.4188
+    k6: -0.0345
+  focal: 2.2040
+
+stereo_extrinsics:
+  # Translation from left to right sensor (in mm for TX, mm/m units as stored)
+  translation:
+    tx: 120.0220   # baseline ~120mm
+    ty: 0.0387
+    tz: 0.2290
+  # Rotation (Rodrigues / axis-angle vector, radians)
+  rotation:
+    rx: -0.0040
+    ry: 0.0000
+    rz: 0.0008