Created
October 2, 2016 06:32
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Sample camera calibration file for tonav (https://github.com/tomas789/tonav)
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| #-------------------------------------------------------------------------------------------- | |
| # Camera Parameters. Adjust them! | |
| #-------------------------------------------------------------------------------------------- | |
| # Camera calibration and distortion parameters (OpenCV) | |
| Camera.fx: 528.52949934564765 | |
| Camera.fy: 528.52949934564765 | |
| Camera.cx: 319.5 | |
| Camera.cy: 239.5 | |
| Camera.k1: 1.2960762005931481e-01 | |
| Camera.k2: -4.1561328079467191e-01 | |
| Camera.p1: 0 | |
| Camera.p2: 0 | |
| Camera.k3: 3.5055751673541535e-01 | |
| Camera.posToImuX: 0.15 | |
| Camera.posToImuY: 1.05 | |
| Camera.posToImuZ: -0.05 | |
| Camera.td: 0 | |
| Camera.tr: 0 | |
| #-------------------------------------------------------------------------------------------- | |
| # ORB Parameters | |
| #-------------------------------------------------------------------------------------------- | |
| # ORB Extractor: Number of features per image | |
| ORBextractor.nFeatures: 1000 | |
| #-------------------------------------------------------------------------------------------- | |
| # IMU Parameters | |
| #-------------------------------------------------------------------------------------------- | |
| Imu.Ts: [1 0 0; 0 1 0; 0 0 1] | |
| Imu.Tg: [1 0 0; 0 1 0; 0 0 1] | |
| Imu.Ta: [1 0 0; 0 1 0; 0 0 1] | |
| #-------------------------------------------------------------------------------------------- | |
| # Filter Parameters | |
| #-------------------------------------------------------------------------------------------- | |
| Filter.maxCameraPoses: 30 | |
| Filter.bufferSize: 100 | |
| Filter.maxTriangulationIterations: 30 | |
| Filter.imuToCameraFrameRotation: [1 0 0; 0 1 0; 0 0 1] |
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