28 lines
871 B
YAML
28 lines
871 B
YAML
# TEMPLATE — replace with output of calibrate_camera.py
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# IMX219 160 deg at 640x480: estimated placeholder values
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# Run: ros2 run saltybot_calibration calibrate_camera.py \
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# --images-dir /mnt/nvme/saltybot/calibration/raw/cam_left \
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# --output /mnt/nvme/saltybot/calibration/left/camera_info.yaml \
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# --camera-name camera_left --image-size 640x480
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image_width: 640
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image_height: 480
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camera_name: camera_left
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camera_matrix:
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rows: 3
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cols: 3
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data: [229.0, 0.0, 320.0, 0.0, 229.0, 240.0, 0.0, 0.0, 1.0]
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distortion_model: equidistant
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distortion_coefficients:
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rows: 1
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cols: 4
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data: [0.0, 0.0, 0.0, 0.0]
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rectification_matrix:
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rows: 3
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cols: 3
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data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
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projection_matrix:
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rows: 3
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cols: 4
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data: [229.0, 0.0, 320.0, 0.0, 0.0, 229.0, 240.0, 0.0, 0.0, 0.0, 1.0, 0.0]
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_calibration_rms_px: null
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