From c4c931e2d2a80a6f3d6deb61682b896e9a19ad6b Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@f169173b-cf89-36c8-b27e-44dbe73f0c83>
Date: Wed, 5 Nov 2014 15:41:30 +0000
Subject: [PATCH] updated bumblebee calibration files (using chessboard on TV)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1970 f169173b-cf89-36c8-b27e-44dbe73f0c83
---
 launch/calibration/00b09d010081e00e_left.yaml  | 12 ++++++------
 launch/calibration/00b09d010081e00e_right.yaml | 12 ++++++------
 2 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/launch/calibration/00b09d010081e00e_left.yaml b/launch/calibration/00b09d010081e00e_left.yaml
index f6841201..5bb4964a 100644
--- a/launch/calibration/00b09d010081e00e_left.yaml
+++ b/launch/calibration/00b09d010081e00e_left.yaml
@@ -4,17 +4,17 @@ 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
+  data: [522.88637308116, 0, 319.294314120388, 0, 523.096343248365, 252.978871103756, 0, 0, 1]
+distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
-  cols: 8
-  data: [-0.857537597105456, 3.75278458053324, 0.00228254762207129, -0.0027323052439732, -4.34267849203545, -0.587440875150743, 3.97414004345752, -4.7062867942346]
+  cols: 5
+  data: [-0.350640196308486, 0.142679381087637, -0.000204811301408971, -0.000163801665242752, 0]
 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]
+  data: [0.999939780829172, -0.00579731466036931, -0.00931803938799249, 0.00581228873294389, 0.999981859144318, 0.00158072197398776, 0.00930870640811094, -0.00163478591956913, 0.999955336732599]
 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
+  data: [489.928204488264, 0, 320.662975311279, 0, 0, 489.928204488264, 250.518320083618, 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
index cf2a56ce..2f9b74d1 100644
--- a/launch/calibration/00b09d010081e00e_right.yaml
+++ b/launch/calibration/00b09d010081e00e_right.yaml
@@ -4,17 +4,17 @@ 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
+  data: [527.097994204051, 0, 315.352852628421, 0, 527.181638498509, 246.737503687198, 0, 0, 1]
+distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
-  cols: 8
-  data: [-0.112346185383368, 0.770246466346985, -0.00167506866932082, -0.00062182296192851, -5.10148862563329, 0.189828246011683, 1.11417405662224, -6.32929104323423]
+  cols: 5
+  data: [-0.351476662121675, 0.143529724514699, -0.000268290486874218, -0.000135312478946583, 0]
 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]
+  data: [0.999987950877573, -0.00414504481758813, -0.00262996257255059, 0.00414081105108315, 0.999990125540689, -0.00161322811668742, 0.00263662350593685, 0.00160231850062, 0.999995240384628]
 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
+  data: [489.928204488264, 0, 320.662975311279, -212.427395256047, 0, 489.928204488264, 250.518320083618, 0, 0, 0, 1, 0]
\ No newline at end of file