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docs(*): update img params sample doc

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harjeb 2019-11-12 14:11:15 +08:00
parent c06f7cafc5
commit ee53fbde12
1 changed files with 31 additions and 8 deletions
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docs/src/sdk/data/get_img_params.rst
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@ -31,13 +31,36 @@ Reference result on Linux:
.. code-block:: bash .. code-block:: bash
$ ./samples/_output/bin/get_img_params $ ./samples/_output/bin/tutorials/get_img_params
I0510 15:00:22.643263 6980 utils.cc:26] Detecting MYNT EYE devices I/utils.cc:48 MYNT EYE devices:
I0510 15:00:23.138811 6980 utils.cc:33] MYNT EYE devices: I/utils.cc:51 index: 0, name: MYNT-EYE-S1030, sn: 4B4C192400090712, firmware: 2.4
I0510 15:00:23.138849 6980 utils.cc:37] index: 0, name: MYNT-EYE-S1000 I/utils.cc:60 Only one MYNT EYE device, select index: 0
I0510 15:00:23.138855 6980 utils.cc:43] Only one MYNT EYE device, select index: 0 I/synthetic.cc:59 camera calib model: kannala_brandt
I0510 15:00:23.210491 6980 get_img_params.cc:23] Intrinsics left: {width: 752, height: 480, fx: 736.38305001095545776, fy: 723.50066150722432212, cx: 356.91961817119693023, cy: 217.27271340923883258, model: 0, coeffs: [-0.54898645145016478, 0.52837141203888638, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000]} I/utils.cc:93 MYNT EYE requests:
I0510 15:00:23.210551 6980 get_img_params.cc:24] Intrinsics right: {width: 752, height: 480, fx: 736.38305001095545776, fy: 723.50066150722432212, cx: 456.68367112303980093, cy: 250.70083335536796199, model: 0, coeffs: [-0.51012886039889305, 0.38764476500996770, 0.00000000000000000, 0.00000000000000000, 0.00000000000000000]} I/utils.cc:96 index: 0, request: width: 752, height: 480, format: Format::YUYV, fps: 60
I0510 15:00:23.210577 6980 get_img_params.cc:26] Extrinsics left to right: {rotation: [0.99701893306553813, -0.00095378124886237, -0.07715139279485062, 0.00144939967628305, 0.99997867219985104, 0.00636823256494144, 0.07714367342455503, -0.00646107164115277, 0.99699905125522237], translation: [-118.88991734400046596, -0.04560580387053091, -3.95313736911933855]} I/utils.cc:96 index: 1, request: width: 376, height: 240, format: Format::YUYV, fps: 60
I/utils.cc:107 There are 2 stream requests, select index:
0
I/get_img_params.cc:44 Intrinsics left: {equidistant, width: 752, height: 480, k2: 0.00986113697985857, k3: -0.11937208025856659, k4: 0.19092250072175385, k5: -0.10168315832257743, mu: 356.41566867259672335, mv: 356.31078130432149464, u0: 375.76739787805968263, v0: 246.20025492033516912}
I/get_img_params.cc:45 Intrinsics right: {equidistant, width: 752, height: 480, k2: -0.02246312175999786, k3: 0.01303393297719630, k4: -0.01735983686524734, k5: 0.00675132874903371, mu: 357.96820061652590539, mv: 357.76889287108474491, u0: 397.09281703352422710, v0: 258.93978588846073308}
I/get_img_params.cc:46 Extrinsics right to left: {rotation: [0.99997489222742053, 0.00041828202737396, -0.00707389248605010, -0.00042920419615213, 0.99999871813992847, -0.00154256353448567, 0.00707323819170721, 0.00154556094848940, 0.99997378992793495], translation: [-120.01607586757218371, 0.34488126401045993, 0.64552185106557303]}
ROSMsgInfoPair:
left:
width: 752, height: 480
distortion_model: KANNALA_BRANDT
D: 0.00986114,-0.119372,0.190923,-0.101683,0,
K: 356.416,0,375.767,0,356.311,246.2,0,0,1,
R: 0.999919,-0.00246361,-0.0124477,0.00245407,0.999997,-0.000781093,0.0124496,0.000750482,0.999922,
P: 357.04,0,511.114,0,0,357.04,311.965,0,0,0,1,0,
right:
width: 752, height: 480
distortion_model: KANNALA_BRANDT
D: -0.0224631,0.0130339,-0.0173598,0.00675133,0,
K: 357.968,0,397.093,0,357.769,258.94,0,0,1,
R: 0.999981,-0.00287357,-0.00537853,0.00287782,0.999996,0.000781842,0.00537626,-0.000797306,0.999985,
P: 357.04,0,511.114,-42851.3,0,357.04,311.965,0,0,0,1,0,
Complete code examples, see `get_img_params.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_img_params.cc>`_ . Complete code examples, see `get_img_params.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_img_params.cc>`_ .