Add device writer tools

tools/writer/config/device.info

@@ -0,0 +1,5 @@
+%YAML:1.0
+---
+lens_type: "0000"
+imu_type: "0000"
+nominal_baseline: 120

tools/writer/config/img.params

@@ -0,0 +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_left_to_right:
+   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 ]

tools/writer/config/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/imu.params

@@ -0,0 +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. ]
+in_gyro:
+   scale: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
+   drift: [ 0., 0., 0. ]
+   noise: [ 0., 0., 0. ]
+   bias: [ 0., 0., 0. ]
+ex_left_to_imu:
+   rotation: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
+   translation: [ 0., 0., 0. ]