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Add tool for rescaling camera info file
Generate fisheye_cam camera info for all the different resolutions
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,65 @@ | ||
| # Generated from fisheye_cam.yaml by rescale_camera_info.py | ||
| camera_matrix: | ||
| cols: 3 | ||
| data: | ||
| - 415.5985593268293 | ||
| - 0.0 | ||
| - 400.0 | ||
| - 0.0 | ||
| - 312.35267324512984 | ||
| - 225.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 1.0 | ||
| rows: 3 | ||
| camera_name: main_camera_optical | ||
| distortion_coefficients: | ||
| cols: 8 | ||
| data: | ||
| - 0.215356885 | ||
| - -0.117472846 | ||
| - -0.000306197672 | ||
| - -0.000109444025 | ||
| - -0.00453657258 | ||
| - 0.573090623 | ||
| - -0.127574577 | ||
| - -0.0286125589 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| rows: 1 | ||
| distortion_model: plumb_bob | ||
| image_height: 720 | ||
| image_width: 1280 | ||
| projection_matrix: | ||
| cols: 4 | ||
| data: | ||
| - 415.5985593268293 | ||
| - 0.0 | ||
| - 405.4752811707317 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 312.35267324512984 | ||
| - 205.91677004464282 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 1.0 | ||
| - 0.0 | ||
| rows: 3 | ||
| rectification_matrix: | ||
| cols: 3 | ||
| data: | ||
| - 1 | ||
| - 0 | ||
| - 0 | ||
| - 0 | ||
| - 1 | ||
| - 0 | ||
| - 0 | ||
| - 0 | ||
| - 1 | ||
| rows: 3 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,65 @@ | ||
| # Generated from fisheye_cam.yaml by rescale_camera_info.py | ||
| camera_matrix: | ||
| cols: 3 | ||
| data: | ||
| - 1246.7956779804879 | ||
| - 0.0 | ||
| - 1200.0 | ||
| - 0.0 | ||
| - 702.7935148015422 | ||
| - 506.25 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 1.0 | ||
| rows: 3 | ||
| camera_name: main_camera_optical | ||
| distortion_coefficients: | ||
| cols: 8 | ||
| data: | ||
| - 0.215356885 | ||
| - -0.117472846 | ||
| - -0.000306197672 | ||
| - -0.000109444025 | ||
| - -0.00453657258 | ||
| - 0.573090623 | ||
| - -0.127574577 | ||
| - -0.0286125589 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| rows: 1 | ||
| distortion_model: plumb_bob | ||
| image_height: 1080 | ||
| image_width: 1920 | ||
| projection_matrix: | ||
| cols: 4 | ||
| data: | ||
| - 1246.7956779804879 | ||
| - 0.0 | ||
| - 1216.4258435121951 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 702.7935148015422 | ||
| - 463.31273260044634 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 1.0 | ||
| - 0.0 | ||
| rows: 3 | ||
| rectification_matrix: | ||
| cols: 3 | ||
| data: | ||
| - 1 | ||
| - 0 | ||
| - 0 | ||
| - 0 | ||
| - 1 | ||
| - 0 | ||
| - 0 | ||
| - 0 | ||
| - 1 | ||
| rows: 3 |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,65 @@ | ||
| # Generated from fisheye_cam.yaml by rescale_camera_info.py | ||
| camera_matrix: | ||
| cols: 3 | ||
| data: | ||
| - 5049.522495820976 | ||
| - 0.0 | ||
| - 4860.0 | ||
| - 0.0 | ||
| - 2846.313734946246 | ||
| - 2050.3125 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 1.0 | ||
| rows: 3 | ||
| camera_name: main_camera_optical | ||
| distortion_coefficients: | ||
| cols: 8 | ||
| data: | ||
| - 0.215356885 | ||
| - -0.117472846 | ||
| - -0.000306197672 | ||
| - -0.000109444025 | ||
| - -0.00453657258 | ||
| - 0.573090623 | ||
| - -0.127574577 | ||
| - -0.0286125589 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| rows: 1 | ||
| distortion_model: plumb_bob | ||
| image_height: 1944 | ||
| image_width: 2592 | ||
| projection_matrix: | ||
| cols: 4 | ||
| data: | ||
| - 5049.522495820976 | ||
| - 0.0 | ||
| - 4926.52466622439 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 2846.313734946246 | ||
| - 1876.4165670318075 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 1.0 | ||
| - 0.0 | ||
| rows: 3 | ||
| rectification_matrix: | ||
| cols: 3 | ||
| data: | ||
| - 1 | ||
| - 0 | ||
| - 0 | ||
| - 0 | ||
| - 1 | ||
| - 0 | ||
| - 0 | ||
| - 0 | ||
| - 1 | ||
| rows: 3 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,65 @@ | ||
| # Generated from fisheye_cam.yaml by rescale_camera_info.py | ||
| camera_matrix: | ||
| cols: 3 | ||
| data: | ||
| - 166.23942373073172 | ||
| - 0.0 | ||
| - 160.0 | ||
| - 0.0 | ||
| - 166.5880923974026 | ||
| - 120.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 1.0 | ||
| rows: 3 | ||
| camera_name: main_camera_optical | ||
| distortion_coefficients: | ||
| cols: 8 | ||
| data: | ||
| - 0.215356885 | ||
| - -0.117472846 | ||
| - -0.000306197672 | ||
| - -0.000109444025 | ||
| - -0.00453657258 | ||
| - 0.573090623 | ||
| - -0.127574577 | ||
| - -0.0286125589 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| rows: 1 | ||
| distortion_model: plumb_bob | ||
| image_height: 240 | ||
| image_width: 320 | ||
| projection_matrix: | ||
| cols: 4 | ||
| data: | ||
| - 166.23942373073172 | ||
| - 0.0 | ||
| - 162.19011246829268 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 166.5880923974026 | ||
| - 109.82227735714285 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 1.0 | ||
| - 0.0 | ||
| rows: 3 | ||
| rectification_matrix: | ||
| cols: 3 | ||
| data: | ||
| - 1 | ||
| - 0 | ||
| - 0 | ||
| - 0 | ||
| - 1 | ||
| - 0 | ||
| - 0 | ||
| - 0 | ||
| - 1 | ||
| rows: 3 |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,65 @@ | ||
| # Generated from fisheye_cam.yaml by rescale_camera_info.py | ||
| camera_matrix: | ||
| cols: 3 | ||
| data: | ||
| - 30297.13497492585 | ||
| - 0.0 | ||
| - 29160.0 | ||
| - 0.0 | ||
| - 12808.411807258106 | ||
| - 9226.40625 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 1.0 | ||
| rows: 3 | ||
| camera_name: main_camera_optical | ||
| distortion_coefficients: | ||
| cols: 8 | ||
| data: | ||
| - 0.215356885 | ||
| - -0.117472846 | ||
| - -0.000306197672 | ||
| - -0.000109444025 | ||
| - -0.00453657258 | ||
| - 0.573090623 | ||
| - -0.127574577 | ||
| - -0.0286125589 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| rows: 1 | ||
| distortion_model: plumb_bob | ||
| image_height: 2160 | ||
| image_width: 3840 | ||
| projection_matrix: | ||
| cols: 4 | ||
| data: | ||
| - 30297.13497492585 | ||
| - 0.0 | ||
| - 29559.14799734634 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 12808.411807258106 | ||
| - 8443.874551643134 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 1.0 | ||
| - 0.0 | ||
| rows: 3 | ||
| rectification_matrix: | ||
| cols: 3 | ||
| data: | ||
| - 1 | ||
| - 0 | ||
| - 0 | ||
| - 0 | ||
| - 1 | ||
| - 0 | ||
| - 0 | ||
| - 0 | ||
| - 1 | ||
| rows: 3 |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,65 @@ | ||
| # Generated from fisheye_cam.yaml by rescale_camera_info.py | ||
| camera_matrix: | ||
| cols: 3 | ||
| data: | ||
| - 192008.0929035926 | ||
| - 0.0 | ||
| - 184801.5 | ||
| - 0.0 | ||
| - 81119.941445968 | ||
| - 58433.90625 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 1.0 | ||
| rows: 3 | ||
| camera_name: main_camera_optical | ||
| distortion_coefficients: | ||
| cols: 8 | ||
| data: | ||
| - 0.215356885 | ||
| - -0.117472846 | ||
| - -0.000306197672 | ||
| - -0.000109444025 | ||
| - -0.00453657258 | ||
| - 0.573090623 | ||
| - -0.127574577 | ||
| - -0.0286125589 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| rows: 1 | ||
| distortion_model: plumb_bob | ||
| image_height: 3040 | ||
| image_width: 4056 | ||
| projection_matrix: | ||
| cols: 4 | ||
| data: | ||
| - 192008.0929035926 | ||
| - 0.0 | ||
| - 187331.10043318244 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 81119.941445968 | ||
| - 53477.87216040651 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 1.0 | ||
| - 0.0 | ||
| rows: 3 | ||
| rectification_matrix: | ||
| cols: 3 | ||
| data: | ||
| - 1 | ||
| - 0 | ||
| - 0 | ||
| - 0 | ||
| - 1 | ||
| - 0 | ||
| - 0 | ||
| - 0 | ||
| - 1 | ||
| rows: 3 |
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