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