From 07f675b3b81ad7ff084682ef827932ed822507fd Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@f169173b-cf89-36c8-b27e-44dbe73f0c83>
Date: Mon, 6 Oct 2014 19:48:40 +0000
Subject: [PATCH] ros: added bumblebee calibration files

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1841 f169173b-cf89-36c8-b27e-44dbe73f0c83
---
 launch/calibration/00b09d010081e00e_left.yaml | 20 +++++++++++++++++++
 .../calibration/00b09d010081e00e_right.yaml   | 20 +++++++++++++++++++
 2 files changed, 40 insertions(+)
 create mode 100644 launch/calibration/00b09d010081e00e_left.yaml
 create mode 100644 launch/calibration/00b09d010081e00e_right.yaml

diff --git a/launch/calibration/00b09d010081e00e_left.yaml b/launch/calibration/00b09d010081e00e_left.yaml
new file mode 100644
index 00000000..f6841201
--- /dev/null
+++ b/launch/calibration/00b09d010081e00e_left.yaml
@@ -0,0 +1,20 @@
+image_width: 640
+image_height: 480
+camera_name: 00b09d010081e00e_left
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [531.465455524407, 0, 327.81769315025, 0, 531.571312039415, 243.856670933493, 0, 0, 1]
+distortion_model: rational_polynomial
+distortion_coefficients:
+  rows: 1
+  cols: 8
+  data: [-0.857537597105456, 3.75278458053324, 0.00228254762207129, -0.0027323052439732, -4.34267849203545, -0.587440875150743, 3.97414004345752, -4.7062867942346]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [0.999631165872758, -0.00126285551770802, -0.027128166392378, 0.00104241835291273, 0.999966339558209, -0.0081383729659699, 0.0271375308355175, 0.00810709235775154, 0.999598834269856]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [555.84550230002, 0, 307.035812854767, 0, 0, 555.84550230002, 221.642565727234, 0, 0, 0, 1, 0]
\ No newline at end of file
diff --git a/launch/calibration/00b09d010081e00e_right.yaml b/launch/calibration/00b09d010081e00e_right.yaml
new file mode 100644
index 00000000..cf2a56ce
--- /dev/null
+++ b/launch/calibration/00b09d010081e00e_right.yaml
@@ -0,0 +1,20 @@
+image_width: 640
+image_height: 480
+camera_name: 00b09d010081e00e_right
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [539.350432799193, 0, 316.871484200373, 0, 538.84889169406, 248.635943168473, 0, 0, 1]
+distortion_model: rational_polynomial
+distortion_coefficients:
+  rows: 1
+  cols: 8
+  data: [-0.112346185383368, 0.770246466346985, -0.00167506866932082, -0.00062182296192851, -5.10148862563329, 0.189828246011683, 1.11417405662224, -6.32929104323423]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [0.999437919841365, 0.000645410387928455, -0.033517574921185, -0.000373071409202834, 0.999966874275916, 0.00813087747896131, 0.0335217123800341, -0.00811380282514918, 0.999405053520756]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [555.84550230002, 0, 307.035812854767, -65.8221144778347, 0, 555.84550230002, 221.642565727234, 0, 0, 0, 1, 0]
\ No newline at end of file