refactor(*): doc and samples update tools contents.
This commit is contained in:
TinyO
41
samples/config/S1030/deprecated/img.params.old
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41
samples/config/S1030/deprecated/img.params.old
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@@ -0,0 +1,41 @@
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%YAML:1.0
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---
|
||||
M1: !!opencv-matrix
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rows: 3
|
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cols: 3
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dt: d
|
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data: [ 7.3638305001095546e+02, 0., 3.5691961817119693e+02, 0.,
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7.2350066150722432e+02, 2.1727271340923883e+02, 0., 0., 1. ]
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D1: !!opencv-matrix
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rows: 1
|
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cols: 14
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dt: d
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data: [ -5.4898645145016478e-01, 5.2837141203888638e-01, 0., 0., 0.,
|
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0., 0., 4.3563985766435476e-01, 0., 0., 0., 0., 0., 0. ]
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M2: !!opencv-matrix
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rows: 3
|
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cols: 3
|
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dt: d
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data: [ 7.3638305001095546e+02, 0., 4.5668367112303980e+02, 0.,
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7.2350066150722432e+02, 2.5070083335536796e+02, 0., 0., 1. ]
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D2: !!opencv-matrix
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rows: 1
|
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cols: 14
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dt: d
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data: [ -5.1012886039889305e-01, 3.8764476500996770e-01, 0., 0., 0.,
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0., 0., 2.5629798245273044e-01, 0., 0., 0., 0., 0., 0. ]
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R: !!opencv-matrix
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rows: 3
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cols: 3
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||||
dt: d
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||||
data: [ 9.9701893306553813e-01, -9.5378124886236681e-04,
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-7.7151392794850615e-02, 1.4493996762830500e-03,
|
||||
9.9997867219985104e-01, 6.3682325649414354e-03,
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||||
7.7143673424555026e-02, -6.4610716411527686e-03,
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||||
9.9699905125522237e-01 ]
|
||||
T: !!opencv-matrix
|
||||
rows: 3
|
||||
cols: 1
|
||||
dt: d
|
||||
data: [ -1.1888991734400047e+02, -4.5605803870530912e-02,
|
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-3.9531373691193386e+00 ]
|
||||
30
samples/config/S1030/deprecated/img.params.old2
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30
samples/config/S1030/deprecated/img.params.old2
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@@ -0,0 +1,30 @@
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%YAML:1.0
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---
|
||||
in_left:
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width: 752
|
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height: 480
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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,
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-7.0536676161976066e-04, -8.5255451307033846e-03, 0. ]
|
||||
in_right:
|
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width: 752
|
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height: 480
|
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fx: 3.6514014888558478e+02
|
||||
fy: 3.6513385298966961e+02
|
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cx: 3.8932395100630907e+02
|
||||
cy: 2.3495160212312547e+02
|
||||
model: 0
|
||||
coeffs: [ -3.0377346762098512e-01, 7.9929693673999838e-02,
|
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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,
|
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-5.2058205159996538e+00 ]
|
||||
33
samples/config/S1030/deprecated/img.params.old3
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33
samples/config/S1030/deprecated/img.params.old3
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@@ -0,0 +1,33 @@
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%YAML:1.0
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---
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version: "1.0"
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img_params_map:
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-
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in_left:
|
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width: 752
|
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height: 480
|
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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 ]
|
||||
24
samples/config/S1030/deprecated/imu.params.old
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24
samples/config/S1030/deprecated/imu.params.old
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@@ -0,0 +1,24 @@
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%YAML:1.0
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---
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in_accel:
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scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
|
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drift: [ 0., 0., 0. ]
|
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noise: [ 1.6925432397973516e-02, 1.6735310195561025e-02,
|
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1.7452487504590969e-02 ]
|
||||
bias: [ 1.9031356589714596e-04, 1.6996777864587261e-04,
|
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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,
|
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1.1003229919806443e-03 ]
|
||||
bias: [ 2.3404834136742844e-05, 2.3596771567764949e-05,
|
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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 ]
|
||||
10
samples/config/S1030/device.info
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10
samples/config/S1030/device.info
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@@ -0,0 +1,10 @@
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%YAML:1.0
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||||
---
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||||
device_name: MYNT-EYE-S1030
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serial_number: "02811F3B00090807"
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firmware_version: "2.2"
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hardware_version: "2.0"
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spec_version: "1.0"
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lens_type: "0000"
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imu_type: "0000"
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nominal_baseline: 120
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28
samples/config/S1030/img.params.equidistant
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28
samples/config/S1030/img.params.equidistant
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@@ -0,0 +1,28 @@
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%YAML:1.0
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---
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version: "1.2"
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img_params:
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-
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model: 1
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width: 752
|
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height: 480
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in_left:
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# coeffs: k2,k3,k4,k5,mu,mv,u0,v0
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coeffs: [ -1.3549950401924169e-02, -3.2306077263853893e-02,
|
||||
5.3814579203036512e-02, -3.6663721418756977e-02,
|
||||
3.6797709792391299e+02, 3.6808712539453859e+02,
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||||
3.7414963027144353e+02, 2.3125000326472903e+02 ]
|
||||
in_right:
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||||
# coeffs: k2,k3,k4,k5,mu,mv,u0,v0
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||||
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 ]
|
||||
38
samples/config/S1030/img.params.pinhole
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38
samples/config/S1030/img.params.pinhole
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@@ -0,0 +1,38 @@
|
||||
%YAML:1.0
|
||||
---
|
||||
version: "1.2"
|
||||
img_params:
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||||
-
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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 ]
|
||||
33
samples/config/S1030/imu.params
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33
samples/config/S1030/imu.params
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@@ -0,0 +1,33 @@
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||||
%YAML:1.0
|
||||
---
|
||||
version: "1.2"
|
||||
in_accel:
|
||||
scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
|
||||
assembly: [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ]
|
||||
drift: [ 0., 0., 0. ]
|
||||
noise: [ 1.6925432397973516e-02, 1.6735310195561025e-02,
|
||||
1.7452487504590969e-02 ]
|
||||
bias: [ 1.9031356589714596e-04, 1.6996777864587261e-04,
|
||||
5.4490537096493644e-04 ]
|
||||
x: [ 0.0, 0.0 ]
|
||||
y: [ 0.0, 0.0 ]
|
||||
z: [ 0.0, 0.0 ]
|
||||
in_gyro:
|
||||
scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
|
||||
assembly: [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ]
|
||||
drift: [ 0., 0., 0. ]
|
||||
noise: [ 1.0848026158819934e-03, 1.2466367883501759e-03,
|
||||
1.1003229919806443e-03 ]
|
||||
bias: [ 2.3404834136742844e-05, 2.3596771567764949e-05,
|
||||
1.4970418056326829e-05 ]
|
||||
x: [ 0.0, 0.0 ]
|
||||
y: [ 0.0, 0.0 ]
|
||||
z: [ 0.0, 0.0 ]
|
||||
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 ]
|
||||
62
samples/config/S210A/deprecated/img.params.old
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62
samples/config/S210A/deprecated/img.params.old
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@@ -0,0 +1,62 @@
|
||||
%YAML:1.0
|
||||
---
|
||||
version: "1.1"
|
||||
img_params_map:
|
||||
-
|
||||
in_left:
|
||||
width: 640
|
||||
height: 400
|
||||
fx: 1.9739641213416058e+02
|
||||
fy: 1.9772337597617189e+02
|
||||
cx: 3.2611983633916327e+02
|
||||
cy: 1.9986969132833946e+02
|
||||
model: 0
|
||||
coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
|
||||
2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
|
||||
in_right:
|
||||
width: 640
|
||||
height: 400
|
||||
fx: 2.0335498653655989e+02
|
||||
fy: 2.0453858622699008e+02
|
||||
cx: 3.1589962248180814e+02
|
||||
cy: 2.1871688038954812e+02
|
||||
model: 0
|
||||
coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
|
||||
3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
|
||||
ex_right_to_left:
|
||||
rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
|
||||
-4.3917309443490191e-03, 1.8166060642710027e-03,
|
||||
9.9968925981619028e-01, -2.4861290203142431e-02,
|
||||
4.4382582477776426e-03, 2.4853026274046636e-02,
|
||||
9.9968126367795229e-01 ]
|
||||
translation: [ -8.2270200890555529e+01, -1.9535144360069059e+00,
|
||||
2.2588034344482368e+00 ]
|
||||
-
|
||||
in_left:
|
||||
width: 1280
|
||||
height: 800
|
||||
fx: 1.9739641213416058e+02
|
||||
fy: 1.9772337597617189e+02
|
||||
cx: 3.2611983633916327e+02
|
||||
cy: 1.9986969132833946e+02
|
||||
model: 0
|
||||
coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
|
||||
2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
|
||||
in_right:
|
||||
width: 1280
|
||||
height: 800
|
||||
fx: 2.0335498653655989e+02
|
||||
fy: 2.0453858622699008e+02
|
||||
cx: 3.1589962248180814e+02
|
||||
cy: 2.1871688038954812e+02
|
||||
model: 0
|
||||
coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
|
||||
3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
|
||||
ex_right_to_left:
|
||||
rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
|
||||
-4.3917309443490191e-03, 1.8166060642710027e-03,
|
||||
9.9968925981619028e-01, -2.4861290203142431e-02,
|
||||
4.4382582477776426e-03, 2.4853026274046636e-02,
|
||||
9.9968126367795229e-01 ]
|
||||
translation: [ -8.2270200890555529e+01, -1.9535144360069059e+00,
|
||||
2.2588034344482368e+00 ]
|
||||
15
samples/config/S210A/deprecated/imu.params.old
Normal file
15
samples/config/S210A/deprecated/imu.params.old
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@@ -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. ]
|
||||
12
samples/config/S210A/device.info
Normal file
12
samples/config/S210A/device.info
Normal file
@@ -0,0 +1,12 @@
|
||||
%YAML:1.0
|
||||
---
|
||||
device_name: MYNT-EYE-S210A
|
||||
serial_number: "07C40D1C0009071F"
|
||||
firmware_version: "1.1"
|
||||
hardware_version: "1.0"
|
||||
spec_version: "1.2"
|
||||
lens_type: "0001"
|
||||
imu_type: "0001"
|
||||
nominal_baseline: 80
|
||||
auxiliary_chip_version: "1.0"
|
||||
isp_version: "1.0"
|
||||
51
samples/config/S210A/img.params.equidistant
Normal file
51
samples/config/S210A/img.params.equidistant
Normal file
@@ -0,0 +1,51 @@
|
||||
%YAML:1.0
|
||||
---
|
||||
version: "1.2"
|
||||
img_params:
|
||||
# There are two params of resolution [640x400], [1280x800].
|
||||
# If you only set one of them, write will keep another params if it exists.
|
||||
-
|
||||
model: 1
|
||||
width: 640
|
||||
height: 400
|
||||
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: [ -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: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
|
||||
-4.3917309443490191e-03, 1.8166060642710027e-03,
|
||||
9.9968925981619028e-01, -2.4861290203142431e-02,
|
||||
4.4382582477776426e-03, 2.4853026274046636e-02,
|
||||
9.9968126367795229e-01 ]
|
||||
translation: [ -8.2270200890555529e+01, -1.9535144360069059e+00,
|
||||
2.2588034344482368e+00 ]
|
||||
-
|
||||
model: 1
|
||||
width: 1280
|
||||
height: 800
|
||||
in_left:
|
||||
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: [ -1.3549950401924169e-02, -3.2306077263853893e-02,
|
||||
5.3814579203036512e-02, -3.6663721418756977e-02,
|
||||
3.6797709792391299e+02, 3.6808712539453859e+02,
|
||||
3.7414963027144353e+02, 2.3125000326472903e+02 ]
|
||||
ex_right_to_left:
|
||||
rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
|
||||
-4.3917309443490191e-03, 1.8166060642710027e-03,
|
||||
9.9968925981619028e-01, -2.4861290203142431e-02,
|
||||
4.4382582477776426e-03, 2.4853026274046636e-02,
|
||||
9.9968126367795229e-01 ]
|
||||
translation: [ -8.2270200890555529e+01, -1.9535144360069059e+00,
|
||||
2.2588034344482368e+00 ]
|
||||
62
samples/config/S210A/img.params.pinhole
Normal file
62
samples/config/S210A/img.params.pinhole
Normal file
@@ -0,0 +1,62 @@
|
||||
%YAML:1.0
|
||||
---
|
||||
version: "1.2"
|
||||
img_params:
|
||||
# There are two params of resolution [640x400], [1280x800].
|
||||
# If you only set one of them, write will keep another params if it exists.
|
||||
-
|
||||
model: 0
|
||||
width: 640
|
||||
height: 400
|
||||
in_left:
|
||||
# [fx 0 cx]
|
||||
# [ 0 fy cy]
|
||||
# [ 0 0 1]
|
||||
fx: 1.9739641213416058e+02
|
||||
fy: 1.9772337597617189e+02
|
||||
cx: 3.2611983633916327e+02
|
||||
cy: 1.9986969132833946e+02
|
||||
# coeffs: k1,k2,p1,p2,k3
|
||||
coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
|
||||
2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
|
||||
in_right:
|
||||
fx: 2.0335498653655989e+02
|
||||
fy: 2.0453858622699008e+02
|
||||
cx: 3.1589962248180814e+02
|
||||
cy: 2.1871688038954812e+02
|
||||
coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
|
||||
3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
|
||||
ex_right_to_left:
|
||||
rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
|
||||
-4.3917309443490191e-03, 1.8166060642710027e-03,
|
||||
9.9968925981619028e-01, -2.4861290203142431e-02,
|
||||
4.4382582477776426e-03, 2.4853026274046636e-02,
|
||||
9.9968126367795229e-01 ]
|
||||
translation: [ -8.2270200890555529e+01, -1.9535144360069059e+00,
|
||||
2.2588034344482368e+00 ]
|
||||
-
|
||||
model: 0
|
||||
width: 1280
|
||||
height: 800
|
||||
in_left:
|
||||
fx: 1.9739641213416058e+02
|
||||
fy: 1.9772337597617189e+02
|
||||
cx: 3.2611983633916327e+02
|
||||
cy: 1.9986969132833946e+02
|
||||
coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
|
||||
2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
|
||||
in_right:
|
||||
fx: 2.0335498653655989e+02
|
||||
fy: 2.0453858622699008e+02
|
||||
cx: 3.1589962248180814e+02
|
||||
cy: 2.1871688038954812e+02
|
||||
coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
|
||||
3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
|
||||
ex_right_to_left:
|
||||
rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
|
||||
-4.3917309443490191e-03, 1.8166060642710027e-03,
|
||||
9.9968925981619028e-01, -2.4861290203142431e-02,
|
||||
4.4382582477776426e-03, 2.4853026274046636e-02,
|
||||
9.9968126367795229e-01 ]
|
||||
translation: [ -8.2270200890555529e+01, -1.9535144360069059e+00,
|
||||
2.2588034344482368e+00 ]
|
||||
33
samples/config/S210A/imu.params
Normal file
33
samples/config/S210A/imu.params
Normal file
@@ -0,0 +1,33 @@
|
||||
%YAML:1.0
|
||||
---
|
||||
version: "1.2"
|
||||
in_accel:
|
||||
scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
|
||||
assembly: [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ]
|
||||
drift: [ 0., 0., 0. ]
|
||||
noise: [ 1.6925432397973516e-02, 1.6735310195561025e-02,
|
||||
1.7452487504590969e-02 ]
|
||||
bias: [ 1.9031356589714596e-04, 1.6996777864587261e-04,
|
||||
5.4490537096493644e-04 ]
|
||||
x: [ 0.0, 0.0 ]
|
||||
y: [ 0.0, 0.0 ]
|
||||
z: [ 0.0, 0.0 ]
|
||||
in_gyro:
|
||||
scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
|
||||
assembly: [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ]
|
||||
drift: [ 0., 0., 0. ]
|
||||
noise: [ 1.0848026158819934e-03, 1.2466367883501759e-03,
|
||||
1.1003229919806443e-03 ]
|
||||
bias: [ 2.3404834136742844e-05, 2.3596771567764949e-05,
|
||||
1.4970418056326829e-05 ]
|
||||
x: [ 0.0, 0.0 ]
|
||||
y: [ 0.0, 0.0 ]
|
||||
z: [ 0.0, 0.0 ]
|
||||
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 ]
|
||||
Reference in New Issue
Block a user