feat(tools): enhance device writer with new format

tools/writer/config/S1030/deprecated/img.params.old2

@@ -0,0 +1,30 @@
+%YAML:1.0
+---
+in_left:
+    width: 752
+    height: 480
+    fx: 3.6220059643202876e+02
+    fy: 3.6350065250745848e+02
+    cx: 4.0658699068023441e+02
+    cy: 2.3435161110061483e+02
+    model: 0
+    coeffs: [ -2.5034765682756088e-01, 5.0579399202897619e-02,
+        -7.0536676161976066e-04, -8.5255451307033846e-03, 0. ]
+in_right:
+    width: 752
+    height: 480
+    fx: 3.6514014888558478e+02
+    fy: 3.6513385298966961e+02
+    cx: 3.8932395100630907e+02
+    cy: 2.3495160212312547e+02
+    model: 0
+    coeffs: [ -3.0377346762098512e-01, 7.9929693673999838e-02,
+        5.1547517530716883e-05, -6.7345903740579250e-04, 0. ]
+ex_right_to_left:
+    rotation: [ 9.9867908939669447e-01, -6.3445566137485428e-03,
+        5.0988459509619687e-02, 5.9890316389333252e-03,
+        9.9995670037792639e-01, 7.1224201868366971e-03,
+        -5.1031440326695092e-02, -6.8076406092671274e-03,
+        9.9867384471984544e-01 ]
+    translation: [ -1.2002489764113250e+02, -1.1782637409050747e+00,
+        -5.2058205159996538e+00 ]

tools/writer/config/S1030/deprecated/imu.params.old

@@ -0,0 +1,24 @@
+%YAML:1.0
+---
+in_accel:
+   scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
+   drift: [ 0., 0., 0. ]
+   noise: [ 1.6925432397973516e-02, 1.6735310195561025e-02,
+       1.7452487504590969e-02 ]
+   bias: [ 1.9031356589714596e-04, 1.6996777864587261e-04,
+       5.4490537096493644e-04 ]
+in_gyro:
+   scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
+   drift: [ 0., 0., 0. ]
+   noise: [ 1.0848026158819934e-03, 1.2466367883501759e-03,
+       1.1003229919806443e-03 ]
+   bias: [ 2.3404834136742844e-05, 2.3596771567764949e-05,
+       1.4970418056326829e-05 ]
+ex_left_to_imu:
+   rotation: [ -6.4662000000000001e-03, -9.9994994000000004e-01,
+       -7.6356499999999999e-03, 9.9997908999999996e-01,
+       -6.4656599999999998e-03, -9.5580000000000003e-05,
+       4.6199999999999998e-05, -7.6361099999999998e-03,
+       9.9997084000000003e-01 ]
+   translation: [ 5.3364600000000003e-03, -4.3029220000000000e-02,
+       2.3031240000000001e-02 ]

tools/writer/config/S1030/img.params.equidistant

@@ -0,0 +1,28 @@
+%YAML:1.0
+---
+version: "1.2"
+img_params:
+   -
+      model: 1
+      width: 752
+      height: 480
+      in_left:
+         # coeffs: k2,k3,k4,k5,mu,mv,u0,v0
+         coeffs: [ -1.3549950401924169e-02, -3.2306077263853893e-02,
+             5.3814579203036512e-02, -3.6663721418756977e-02,
+             3.6797709792391299e+02, 3.6808712539453859e+02,
+             3.7414963027144353e+02, 2.3125000326472903e+02 ]
+      in_right:
+         # coeffs: k2,k3,k4,k5,mu,mv,u0,v0
+         coeffs: [ -1.8964880945048872e-02, -2.6172447729615463e-02,
+             4.0863326732708288e-02, -2.1522718578606163e-02,
+             3.6807315003638877e+02, 3.6806204885853174e+02,
+             3.8499216569965887e+02, 2.3183027347834383e+02 ]
+      ex_right_to_left:
+         rotation: [ 9.9867908939669447e-01, -6.3445566137485428e-03,
+             5.0988459509619687e-02, 5.9890316389333252e-03,
+             9.9995670037792639e-01, 7.1224201868366971e-03,
+             -5.1031440326695092e-02, -6.8076406092671274e-03,
+             9.9867384471984544e-01 ]
+         translation: [ -1.2002489764113250e+02, -1.1782637409050747e+00,
+             -5.2058205159996538e+00 ]

tools/writer/config/S1030/img.params.pinhole

@@ -0,0 +1,38 @@
+%YAML:1.0
+---
+version: "1.2"
+img_params:
+   -
+      model: 0
+      width: 752
+      height: 480
+      in_left:
+         # [fx  0 cx]
+         # [ 0 fy cy]
+         # [ 0  0  1]
+         fx: 3.6220059643202876e+02
+         fy: 3.6350065250745848e+02
+         cx: 4.0658699068023441e+02
+         cy: 2.3435161110061483e+02
+         # coeffs: k1,k2,p1,p2,k3
+         coeffs: [ -2.5034765682756088e-01, 5.0579399202897619e-02,
+             -7.0536676161976066e-04, -8.5255451307033846e-03, 0. ]
+      in_right:
+         # [fx  0 cx]
+         # [ 0 fy cy]
+         # [ 0  0  1]
+         fx: 3.6514014888558478e+02
+         fy: 3.6513385298966961e+02
+         cx: 3.8932395100630907e+02
+         cy: 2.3495160212312547e+02
+         # coeffs: k1,k2,p1,p2,k3
+         coeffs: [ -3.0377346762098512e-01, 7.9929693673999838e-02,
+             5.1547517530716883e-05, -6.7345903740579250e-04, 0. ]
+      ex_right_to_left:
+         rotation: [ 9.9867908939669447e-01, -6.3445566137485428e-03,
+             5.0988459509619687e-02, 5.9890316389333252e-03,
+             9.9995670037792639e-01, 7.1224201868366971e-03,
+             -5.1031440326695092e-02, -6.8076406092671274e-03,
+             9.9867384471984544e-01 ]
+         translation: [ -1.2002489764113250e+02, -1.1782637409050747e+00,
+             -5.2058205159996538e+00 ]

tools/writer/config/S1030/imu.params

@@ -1,5 +1,6 @@
 %YAML:1.0
 ---
+version: "1.2"
 in_accel:
    scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
    drift: [ 0., 0., 0. ]