/
calibration.txt
98 lines (87 loc) · 1.94 KB
/
calibration.txt
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#A2B: Convert from coordinate system B to coordinate system A
rsimu2wheel:
rows: 4
cols: 4
dt: d
data: [0.352551，-0.935764，-0.00734672，0.0497956，
0.0145238，0.0133214，-0.999806 ，1.06332，
0.93568，0.352375， 0.0182873，-0.037465，
0，0，0，1]
imu2wheel:
rows: 4
cols: 4
dt: d
data: [0.9357，0.3524，0.0183，0.1225，
0.3526，-0.9358，-0.0073，0.0498，
0.0145，0.0133，-0.9998，1.0633，
0，0，0，1]
lidar2wheel:
rows: 4
cols: 4
dt: d
data: [0.9357，0.3524，0.0183，-0.0075，
-0.3526，0.9358，0.0073，-0.0498，
-0.0145，-0.0133，0.9998，-2.0933，
0，0，0，1]
rsimu2camera:
rows: 4
cols: 4
dt: d
data: [1 ，0，0，0.0，
0，1，0 ，0.0，
0 ，0，1，0.0，
0 ，0 ，0，1.0，]
lidar2imu:
rows: 4
cols: 4
dt: d
data: [1, 0, 0, -0.13,
0, -1, 0, 0,
0, 0, -1, -1.03,
0, 0, 0, 1]
camera2imu:
rows: 4
cols: 4
dt: d
data: [0, 1, 0, 0,
0, 0, 1, 0,
1, 0, 0, -0.16,
0, 0, 0, 1]
lidar2camera:
rows: 4
cols: 4
dt: d
data: [0, 0, 1, 0.03,
-1, 0, 0, 0.0,
0, -1, 0, -1.03,
0, 0, 0, 1]
#imu parameters
acc_n: 1.2374091609523514e-02
gyr_n: 3.0032654435730201e-03
acc_w: 1.9218003442176448e-04
gyr_w: 5.4692100664858005e-05
g_norm: 9.805
# rsimu Settings
rsimuAccNoise: 0.04
rsimuGyrNoise: 0.004
rsimuAccBiasN: 0.002
rsimuGyrBiasN: 4.0e-5
rsimuGravity: 9.80511
#lidar Settings
N_SCAN: 16
Horizon_SCAN: 1800
# camera config
model_type: PINHOLE
camera_name: camera
image_width: 640
image_height: 480
distortion_parameters:
k1: 0.0
k2: 0.0
p1: 0.0
p2: 0.0
projection_parameters:
fx: 603.95556640625
fy: 603.1257934570312
cx: 324.0858154296875
cy: 232.72303771972656