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unity_calibration.yml
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unity_calibration.yml
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%YAML:1.0
---
# Intrinsic parameters
cameraMatrixLeft: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 6.5859325092639835e+002, 0., 1.0012477868795938e+002, 0.,
6.3107095743892990e+002, 1.1004100287915442e+002, 0., 0., 1. ]
distCoefficientsMatrixLeft: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [ 2.4852353046352091e-001, -5.6486543910092344e+000,
-1.6357388928233144e-002, -2.2555714114705465e-002,
4.1500918637250436e+001 ]
cameraMatrixRight: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 6.5784475475451313e+002, 0., 8.0888396103809782e+001, 0.,
6.3117207972309984e+002, 1.1002877375266718e+002, 0., 0., 1. ]
distCoefficientsMatrixRight: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [ 2.0815246790082134e-001, -7.5845497397710062e+000,
-1.2805603658160801e-002, -2.8204627876376551e-002,
7.3646353595002765e+001 ]
# Extrinsic parameters
rotationMatrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 9.9952485799994983e-001, 2.4715208484742644e-003,
3.0723766450025475e-002, -2.4444520807532615e-003,
9.9999659043958566e-001, -9.1856585415518168e-004,
-3.0725931950146848e-002, 8.4302663011072085e-004,
9.9952749157384158e-001 ]
translationMatrix: !!opencv-matrix
rows: 3
cols: 1
dt: d
data: [ -7.0662616532495337e-002, 9.3188873704780904e-004,
2.6514571974150382e-003 ]
essentialMatrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ -2.2151789856389866e-005, -2.6506625500899062e-003,
9.3388394981261131e-004, 4.7902263174243740e-004,
6.6123599232444064e-005, 7.0710690602454954e-002,
-7.5871457755513584e-004, -7.0664678786477308e-002,
3.6277134797545554e-005 ]
fundamentalMatrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 4.9041724630045436e-006, 6.1242150970809966e-004,
-2.0404801063447858e-001, -1.1053214064194302e-004,
-1.5923118072118007e-005, -1.0732885537023463e+001,
1.2226412920927970e-001, 1.0692647422611468e+001, 1. ]
rotationMatrixLeft: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 9.9991945442085683e-001, -1.0739436607568882e-002,
-6.7638134249619480e-003, 1.0736986492620518e-002,
9.9994227751436804e-001, -3.9844753234012209e-004,
6.7677021028537190e-003, 3.2579246577044981e-004,
9.9997704577030977e-001 ]
rotationMatrixRight: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 9.9920999812593780e-001, -1.3177442173699601e-002,
-3.7493128209341024e-002, 1.3191021276605258e-002,
9.9991298810208695e-001, 1.1481478967255559e-004,
3.7488352895845234e-002, -6.0929673770945055e-004,
9.9929687888767160e-001 ]
projectionMatrixLeft: !!opencv-matrix
rows: 3
cols: 4
dt: d
data: [ 6.3107095743892990e+002, 0., 1.0574229049682617e+002, 0., 0.,
6.3107095743892990e+002, 1.0893090534210205e+002, 0., 0., 0., 1.,
0. ]
projectionMatrixRight: !!opencv-matrix
rows: 3
cols: 4
dt: d
data: [ 6.3107095743892990e+002, 0., 1.0574229049682617e+002,
-4.4628381575382697e+001, 0., 6.3107095743892990e+002,
1.0893090534210205e+002, 0., 0., 0., 1., 0. ]
dispToDepthMatrix: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ 1., 0., 0., -1.0574229049682617e+002, 0., 1., 0.,
-1.0893090534210205e+002, 0., 0., 0., 6.3107095743892990e+002, 0.,
0., 1.4140574566276289e+001, 0. ]
# Disparity parameter
# 0: sbm
# 2: sgbm
# 1: sbm + post filtering
# 3: sgbm + post filtering
# DisparityParameter: !!opencv-matrix
# rows: 11
# cols: 1
# dt: f
# data: [ 0., 0., 16., 5., -1., 2., 5., 0., 1., 5., 0. ]
...
---
# Disparity parameter
# 0: sbm
# 2: sgbm
# 1: sbm + post filtering
# 3: sgbm + post filtering
# DisparityParameter: !!opencv-matrix
# rows: 11
# cols: 1
# dt: f
# data: [ 0., 0., 16., 9., -1., 62., 5., 0., 1., 197., 255. ]
# ...
# ---
# Disparity parameter
# 0: sbm
# 2: sgbm
# 1: sbm + post filtering
# 3: sgbm + post filtering
DisparityParameter: !!opencv-matrix
rows: 11
cols: 1
dt: f
data: [ 0., 0., 16., 9., -1., 7., 5., 0., 1., 500., 255. ]