add more example calibration

add fisheye calibration
bednarhonza · Nov 9, 2016 · 66103b9 · 66103b9
1 parent 2898f55
commit 66103b9
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diff --git a/svo_ros/calib/25000826_fisheye_mask.png b/svo_ros/calib/25000826_fisheye_mask.png
diff --git a/svo_ros/calib/bluefox_25000742_pinhole.yaml b/svo_ros/calib/bluefox_25000742_pinhole.yaml
@@ -0,0 +1,28 @@
+cameras:
+- camera:
+    distortion:
+      parameters:
+        cols: 1
+        rows: 4
+        data: [-0.277970, 0.060647, -0.002097, 0.000373]
+      type: radial-tangential
+    image_height: 480
+    image_width: 752
+    intrinsics:
+      cols: 1
+      rows: 4
+      data: [416.401549, 416.375319, 385.554786, 237.640332]
+    label: cam0
+    line-delay-nanoseconds: 0
+    type: pinhole
+  T_B_C:
+    cols: 4
+    rows: 4
+    data: [ 1.0, 0.0, 0.0, 0.038,
+            0.0, -1.0, 0.0, 0.0,
+            0.0, 0.0, -1.0, -0.02,
+            0.0, 0.0, 0.0, 1.0]
+  serial_no: 25000742
+  calib_date: 2015-03-05
+  description: 'Bluefox 0742'
+label: bluefox-0742
diff --git a/svo_ros/calib/bluefox_25000826_equi.yaml b/svo_ros/calib/bluefox_25000826_equi.yaml
@@ -0,0 +1,28 @@
+cameras:
+- camera:
+    distortion:
+      parameters:
+        cols: 1
+        rows: 4
+        data: [-0.042748291579198384, -0.012338895220958084, 0.020575944694821845,
+          -0.010432642512385784]
+      type: equidistant
+    image_height: 480
+    image_width: 752
+    intrinsics:
+      cols: 1
+      rows: 4
+      data: [212.20595878579752, 211.93463862680093, 397.43146518249233, 242.44205491777075]
+    label: cam0
+    line-delay-nanoseconds: 0
+    type: pinhole
+    mask: 25000826_fisheye_mask.png
+  T_B_C:
+    cols: 4
+    rows: 4
+    data: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0,
+      1.0]
+  serial_no: 0
+  calib_date: 0
+  description: /camera/image_raw
+label: camchain-homezichaoworkspacecalib250008262016-10-02-15-20-30.yaml
diff --git a/svo_ros/calib/bluefox_25000826_fisheye.yaml b/svo_ros/calib/bluefox_25000826_fisheye.yaml
@@ -0,0 +1,26 @@
+cameras:
+- camera:
+    distortion:
+      parameters:
+        cols: 1
+        rows: 0
+        data: []
+      type: none
+    image_height: 480
+    image_width: 752
+    intrinsics:
+      cols: 1
+      data: [-2.065170e+02, 0.000000e+00, 2.207161e-03, -4.879622e-06, 1.865656e-08, 394.552874, 241.800066, 1.000330, 0.000219, 0.000257, 294.182260, 152.289570, -12.191217, 27.959546, 8.241525, -1.970397, 10.689256, 1.871609, -6.437684, 0.430037, 3.215544, 0.921484, 0.0, 1.0]
+      rows: 24
+    label: cam0
+    line-delay-nanoseconds: 0
+    type: omni
+    mask: 25000826_fisheye_mask.png
+  T_B_C:
+    cols: 4
+    rows: 4
+    data: [ 1., 0., 0., 0.0,
+            0., 1., 0., 0.0,
+            0., 0., 1., 0.0,
+            0., 0., 0., 1.]
+label: /fisheye_ocam_model