获得的相机参数为:
left: {
pinhole,
width: 752,
height: 480,
fx: 358.17549797746926288
fy: 359.24666800723582583
cx: 388.61747233659593803
cy: 240.16748092953034188
model: 0,
coeffs: [-0.25326343297436710, 0.04841619345004276, 0.00059805649233287, -0.00153479593317240, 0.00000000000000000]}
right: {
pinhole,
width: 752,
height: 480,
fx: 365.57553526747392425,
fy: 365.54425241123698243,
cx: 369.96980098269671089,
cy: 230.17462048185933554,
model: 0,
coeffs: [-0.30954460737697198, 0.08688922042475018, 0.00020528773279130, 0.00016894963631214, 0.00000000000000000]}
Extrinsics
right to left:
{rotation: [
0.99946790791265716, -0.00301528183741204, -0.03247782517560629,
0.00305611847196011, 0.99999460066266410, 0.00120780188953115,
0.03247400795377153, -0.00130641530915091, 0.99947172650678739],
translation: [121.15860396636720964, -0.18695081041847689, -2.23380732606506438]}
获得IMU参数为:
camera calib model: pinhole
Motion intrinsics:
{accel:
{scale:
[
1, 0, 0,
0, 1, 0,
0, 0, 1
],
drift: [0., 0, 0],
noise: [0.01692543239797352, 0.01673531019556103, 0.01745248750459097],
bias: [0.00019031356589715, 0.00016996777864587, 0.00054490537096494]},
gyro: {
scale:
[
1, 0, 0,
0, 1, 0,
0, 0, 1
],
drift: [0, 0, 0],
noise: [0.00108480261588199, 0.00124663678835018, 0.00110032299198064],
bias: [0.00002340483413674, 0.00002359677156776, 0.00001497041805633]}}
Motion extrinsics left to imu: {
rotation: [
-0.00646620000000000, -0.99994994000000004, -0.00763565000000000,
0.99997908999999996, -0.00646566000000000, -0.00009558000000000,
0.00004620000000000, -0.00763611000000000, 0.99997084000000003
],
translation: [0.00533646000000000, -0.04302922000000000, 0.02303124000000000]}