feat(tools): enhance device writer with new format

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

@@ -0,0 +1,41 @@
+%YAML:1.0
+---
+M1: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 7.3638305001095546e+02, 0., 3.5691961817119693e+02, 0.,
+       7.2350066150722432e+02, 2.1727271340923883e+02, 0., 0., 1. ]
+D1: !!opencv-matrix
+   rows: 1
+   cols: 14
+   dt: d
+   data: [ -5.4898645145016478e-01, 5.2837141203888638e-01, 0., 0., 0.,
+       0., 0., 4.3563985766435476e-01, 0., 0., 0., 0., 0., 0. ]
+M2: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 7.3638305001095546e+02, 0., 4.5668367112303980e+02, 0.,
+       7.2350066150722432e+02, 2.5070083335536796e+02, 0., 0., 1. ]
+D2: !!opencv-matrix
+   rows: 1
+   cols: 14
+   dt: d
+   data: [ -5.1012886039889305e-01, 3.8764476500996770e-01, 0., 0., 0.,
+       0., 0., 2.5629798245273044e-01, 0., 0., 0., 0., 0., 0. ]
+R: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 9.9701893306553813e-01, -9.5378124886236681e-04,
+       -7.7151392794850615e-02, 1.4493996762830500e-03,
+       9.9997867219985104e-01, 6.3682325649414354e-03,
+       7.7143673424555026e-02, -6.4610716411527686e-03,
+       9.9699905125522237e-01 ]
+T: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ -1.1888991734400047e+02, -4.5605803870530912e-02,
+       -3.9531373691193386e+00 ]

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/img.params.old3

@@ -0,0 +1,33 @@
+%YAML:1.0
+---
+version: "1.0"
+img_params_map:
+   -
+      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 ]