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Co-authored-by: Daisuke Sato <daisuke.sato@rt-net.jp>
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80 changes: 80 additions & 0 deletions
80
notebooks/camera_undistort/camera_param/jnmouse_stereo.yaml
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Camera: | ||
name: jnmouse stereo | ||
setup: stereo | ||
model: fisheye | ||
fx: 416.2610758842983 | ||
fy: 416.2610758842983 | ||
cx: 326.40505978078625 | ||
cy: 301.640459760212 | ||
k1: 0.0 | ||
k2: 0.0 | ||
k3: 0.0 | ||
k4: 0.0 | ||
fps: 30.0 | ||
cols: 640 | ||
rows: 480 | ||
focal_x_baseline: 23.23201280449501 | ||
color_order: RGB | ||
StereoRectifier: | ||
K_left: | ||
- 395.6339993415886 | ||
- 0.0 | ||
- 321.41584425252694 | ||
- 0.0 | ||
- 527.1584777717195 | ||
- 276.3421303108799 | ||
- 0.0 | ||
- 0.0 | ||
- 1.0 | ||
D_left: | ||
- -0.038462847996788514 | ||
- 0.04223470516826331 | ||
- -0.12029016918360039 | ||
- 0.10937841468362043 | ||
R_left: | ||
- 0.9999837463897118 | ||
- -0.0007008079266710662 | ||
- -0.005658252790969807 | ||
- 0.0005689302406683851 | ||
- 0.9997289339426906 | ||
- -0.02327520045440702 | ||
- 0.005673030475667811 | ||
- 0.023271602997247322 | ||
- 0.9997130834490269 | ||
K_right: | ||
- 393.2216118223581 | ||
- 0.0 | ||
- 350.7968384205811 | ||
- 0.0 | ||
- 524.2098091388987 | ||
- 269.7692671401212 | ||
- 0.0 | ||
- 0.0 | ||
- 1.0 | ||
D_right: | ||
- -0.04535501344331801 | ||
- 0.0870062177898424 | ||
- -0.2168255045139224 | ||
- 0.18467128683662148 | ||
R_right: | ||
- 0.9996690367439196 | ||
- -0.0030705104509999165 | ||
- 0.02554190558776392 | ||
- 0.0024751799909932823 | ||
- 0.9997252900085308 | ||
- 0.0233070375932043 | ||
- -0.02560645347360958 | ||
- -0.023236103006510196 | ||
- 0.9994020177373943 | ||
Feature: | ||
max_num_keypoints: 2000 | ||
scale_factor: 1.2 | ||
num_levels: 8 | ||
ini_fast_threshold: 20 | ||
min_fast_threshold: 7 | ||
Initializer: {} | ||
Mapping: | ||
baseline_dist_thr: 0.02 | ||
SocketPublisher: | ||
image_quality: 5 | ||
publish_points: 'false' |
142 changes: 102 additions & 40 deletions
142
notebooks/camera_undistort/undistort/undistort_fisheye_stereo.ipynb
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