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https://github.com/introlab/rtabmap_ros.git
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35 lines
1.1 KiB
YAML
35 lines
1.1 KiB
YAML
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#%YAML:1.0
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camera_name: stereo_tutorial_left
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image_width: 640
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image_height: 480
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camera_matrix:
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rows: 3
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cols: 3
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data: [ 5.2500741669069100e+02, 0., 3.1964931134995413e+02, 0.,
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5.2447137699104690e+02, 2.4893842459131687e+02, 0., 0., 1. ]
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distortion_coefficients:
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rows: 1
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cols: 5
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data: [ -3.4256158963391159e-01, 1.5067561187251743e-01,
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-1.1171618396794343e-03, -1.1496904882258663e-03,
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-3.4792309849001175e-02 ]
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distortion_model: plumb_bob
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rectification_matrix:
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rows: 3
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cols: 3
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data: [ 9.9847710457215999e-01, -7.5204006718293083e-03,
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-5.4652678058179430e-02, 7.6102614351676607e-03,
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9.9997001005750097e-01, 1.4362821762221084e-03,
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5.4640237610064049e-02, -1.8500160368176528e-03,
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9.9850439251641721e-01 ]
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projection_matrix:
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rows: 3
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cols: 4
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data: [ 5.0021545003868783e+02, 0., 3.5945997238159180e+02, 0., 0.,
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5.0021545003868783e+02, 2.4750019836425781e+02, 0., 0., 0., 1.,
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0. ]
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local_transform:
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rows: 3
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cols: 4
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data: [ 0., 0., 1., 0., -1., 0., 0., 0., 0., -1., 0., 0. ]
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