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euroc_stereo_calib.yaml
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euroc_stereo_calib.yaml
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label: "Euroc"
id: 412eab8e4058621f7036b5e765dfe812
cameras:
- camera:
label: cam0
id: 54812562fa109c40fe90b29a59dd7798
line-delay-nanoseconds: 0
image_height: 480
image_width: 752
type: pinhole
intrinsics:
cols: 1
rows: 4
data: [458.6548807207614, 457.2966964634893, 367.2158039615726, 248.37534060980727]
distortion:
type: radial-tangential
parameters:
cols: 1
rows: 4
data: [-0.28340811217029355, 0.07395907389290132, 0.00019359502856909603,
1.7618711454538528e-05]
T_B_C:
cols: 4
rows: 4
data: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975,
0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768,
-0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949,
0.0, 0.0, 0.0, 1.0]
- camera:
label: cam1
id: 54812562fa109c40fe90b29a59dd7723
line-delay-nanoseconds: 0
image_height: 480
image_width: 752
type: pinhole
intrinsics:
cols: 1
rows: 4
data: [457.5874266035361, 456.13442556023665, 379.9994465203525, 255.2381853862733]
distortion:
type: radial-tangential
parameters:
cols: 1
rows: 4
data: [-0.283683654496, 0.0745128430929, -0.000104738949098, -3.55590700274e-05]
T_B_C:
cols: 4
rows: 4
data: [0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556,
0.999598781151, 0.0130119051815, 0.0251588363115, 0.0453689425024,
-0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038,
0.0, 0.0, 0.0, 1.0]
imu_params:
delay_imu_cam: 0.0
max_imu_delta_t: 0.01
acc_max: 176.0
omega_max: 7.8
sigma_omega_c: 12.0e-4
sigma_acc_c: 8.0e-3
sigma_omega_bias_c: 2.0e-5
sigma_acc_bias_c: 5.5e-5
sigma_integration: 0.0
g: 9.8082
imu_rate: 800
imu_initialization:
velocity: [0.0, 0, 0.0]
omega_bias: [0.0, 0, 0.0]
acc_bias: [0.0, 0.0, 0.0]
velocity_sigma: 2.0
omega_bias_sigma: 0.01
acc_bias_sigma: 0.1