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bupt.yaml
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bupt.yaml
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%YAML:1.0
# ros parameters
image0_topic: '/mynteye/left/image_raw'
image1_topic: '/mynteye/right/image_raw'
# cameras parameters
undistort: 1
# camera0 intrinsics
camera0.fx: 3.6509624680337657e+02
camera0.fy: 3.6582107844466208e+02
camera0.cx: 3.7731877674972537e+02
camera0.cy: 2.3804064937753677e+02
camera0.k1: -2.9837705601814912e-01
camera0.k2: 7.5700979548022657e-02
camera0.p1: 1.7530605999019629e-04
camera0.p2: -5.4284812981307030e-04
# camera1 intrinsics
camera1.fx: 3.6401748092027668e+02
camera1.fy: 3.6417746726496523e+02
camera1.cx: 3.7559636500280993e+02
camera1.cy: 2.4903879600712332e+02
camera1.k1: -3.0803062161957084e-01
camera1.k2: 8.3487670591387161e-02
camera1.p1: -7.3109575503709556e-05
camera1.p2: -1.3285231720891767e-03
# body_to_cam0 is inverse of [R T]
body_to_cam0: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ 1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1]
# body_to_cam1 is inverse of [R T]
body_to_cam1: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ 1, 0, 0, 0.1219,
0, 1, 0, 0.0004,
0, 0, 1, -0.0034,
0, 0, 0, 1.0000]