add cam params

2026-04-04 15:46:06 +08:00
parent 84c6318121
commit f54d29f40a
2 changed files with 31 additions and 1 deletions
@@ -1,4 +1,4 @@
 recorddata/
-/config/calib.yaml
+# /config/calib.yaml
 /log
 /map
@@ -0,0 +1,30 @@
+# O1-P010100201
+cam_num: 1
+img_topic_0: /camera/rgb
+Tcl_0: [
+  -0.00803, -0.99996, -0.00272, 0.03622,
+  0.00745, 0.00266, -0.99997, -0.01437,
+  0.99994, -0.00805, 0.00742, -0.00277,
+  0.00000, 0.00000, 0.00000, 1.00000
+]
+
+cam_0:
+  cam_model: FishPoly
+  image_width: 1600
+  image_height: 1296
+  k2: 1.1985223920310147e-02
+  k3: -7.9759347500126865e-02
+  k4: 1.5940761045146376e-01
+  k5: -2.1315877183885790e-01
+  k6: 1.4105180645699739e-01
+  k7: -3.8513567681874958e-02
+  p1: 0.
+  p2: 0.
+  A11: 7.3623104378707887e+02
+  A12: 4.6596686502905643e-01
+  A22: 7.3596967252246736e+02
+  u0: 7.7917412503356900e+02
+  v0: 6.4223440525259616e+02
+  isFast: 0
+  numDiff: 3000
+  maxIncidentAngle: 120