From 204fff217539f9875a11e078d4716b08e124f589 Mon Sep 17 00:00:00 2001
From: kalman <kalmanxiong@slightech.com>
Date: Wed, 17 Oct 2018 10:59:50 +0800
Subject: [PATCH] Update device.info,img.params and imu params

---
 tools/writer/config/device.info |  2 +-
 tools/writer/config/img.params  | 60 ++++++++++++++++-----------------
 tools/writer/config/imu.params  | 18 +++++-----
 3 files changed, 40 insertions(+), 40 deletions(-)

diff --git a/tools/writer/config/device.info b/tools/writer/config/device.info
index 5016ecc..815923b 100644
--- a/tools/writer/config/device.info
+++ b/tools/writer/config/device.info
@@ -2,7 +2,7 @@
 ---
 device_name: MYNT-EYE-S1000
 serial_number: "0386322C0009070E"
-firmware_version: "2.0"
+firmware_version: "2.2"
 hardware_version: "2.0"
 spec_version: "1.0"
 lens_type: "0000"
diff --git a/tools/writer/config/img.params b/tools/writer/config/img.params
index a97b2e0..bb5fbce 100644
--- a/tools/writer/config/img.params
+++ b/tools/writer/config/img.params
@@ -1,32 +1,32 @@
 %YAML:1.0
 ---
-in_left:
-   -
-      width: 752
-      height: 480
-      fx: 7.3638305001095546e+02
-      fy: 7.2350066150722432e+02
-      cx: 3.5691961817119693e+02
-      cy: 2.1727271340923883e+02
-      model: 0
-      coeffs: [ -5.4898645145016478e-01, 5.2837141203888638e-01, 0., 0.,
-          0. ]
-in_right:
-   -
-      width: 752
-      height: 480
-      fx: 7.3638305001095546e+02
-      fy: 7.2350066150722432e+02
-      cx: 4.5668367112303980e+02
-      cy: 2.5070083335536796e+02
-      model: 0
-      coeffs: [ -5.1012886039889305e-01, 3.8764476500996770e-01, 0., 0.,
-          0. ]
-ex_right_to_left:
-   rotation: [ 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 ]
-   translation: [ -1.1888991734400047e+02, -4.5605803870530912e-02,
-       -3.9531373691193386e+00 ]
+M1: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [7.0580528313369666e+02, 0.0000000000000000e+00, 3.9948998919893694e+02, 0.0000000000000000e+00, 7.0575619835820726e+02, 2.4787289482695121e+02, 0.0000000000000000e+00, 0.0000000000000000e+00, 1.0000000000000000e+00]
+D1: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data: [-4.6552404514131829e-01, 2.3785911744625499e-01, 7.1382174731459054e-04, -9.0521175159124524e-04, 0.0000000000000000e+00]
+M2: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [7.0873956955525932e+02, 0.0000000000000000e+00, 3.8004681343447817e+02, 0.0000000000000000e+00, 7.0823391571075069e+02, 2.3111368468836466e+02, 0.0000000000000000e+00, 0.0000000000000000e+00, 1.0000000000000000e+00]
+D2: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data: [-4.5938049437344691e-01, 2.0968051724034908e-01, 1.1071355339345569e-03, -6.2121270120321431e-04, 0.0000000000000000e+00]
+R: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [9.9999877906799961e-01, 1.5267382378091109e-03, 3.3306585441506117e-04, -1.5281619167571623e-03, 9.9998951436316075e-01, 4.3169300302323549e-03, -3.2647153986033672e-04, -4.3174337381088283e-03, 9.9999062654719451e-01]
+T: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [-1.2079697095106799e+02, 3.5210975863837529e-01, 1.0200361378962297e-01]
diff --git a/tools/writer/config/imu.params b/tools/writer/config/imu.params
index 070f13a..b80f2c4 100644
--- a/tools/writer/config/imu.params
+++ b/tools/writer/config/imu.params
@@ -1,15 +1,15 @@
 %YAML:1.0
 ---
 in_accel:
-   scale: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
-   drift: [ 0., 0., 0. ]
-   noise: [ 0., 0., 0. ]
-   bias: [ 0., 0., 0. ]
+   scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
+   drift: [ 0.0, 0.0, 0.0 ]
+   noise: [ 0.016925432397973516, 0.016735310195561025, 0.017452487504590969 ]
+   bias: [ 0.00019031356589714596, 0.00016996777864587261, 0.00054490537096493644 ]
 in_gyro:
-   scale: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
+   scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
    drift: [ 0., 0., 0. ]
-   noise: [ 0., 0., 0. ]
-   bias: [ 0., 0., 0. ]
+   noise: [ 0.0010848026158819934, 0.0012466367883501759, 0.0011003229919806443 ]
+   bias: [ 0.000023404834136742844, 0.000023596771567764949, 0.000014970418056326829 ]
 ex_left_to_imu:
-   rotation: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
-   translation: [ 0., 0., 0. ]
+   rotation: [ -0.0064662, -0.99994994, -0.00763565, 0.99997909, -0.00646566, -0.00009558, 0.0000462, -0.00763611, 0.99997084 ]
+   translation: [ 0.00533646, -0.04302922, 0.02303124 ]