feat(tools): enhance device writer with new format

2019-01-06 13:30:48 +08:00
parent 656c101e80
commit 19e5f60566
16 changed files with 432 additions and 46 deletions
--- a/tools/writer/config/S1030/img.params.pinhole
+++ b/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 ]