Commit 174686ee authored by Radim Tylecek's avatar Radim Tylecek

train around hedge

parent 078cdf88
camfix:
rotation: [ -0.3711, 0.0050, -0.9286, 0.0269]
translation: [0.12, 0.015, -0.145]
msg_time_shift: 0
cam0:
cam_overlaps: [1, 2, 3, 8, 9]
camera_model: pinhole
distortion_coeffs: [-0.3587690871187596, 0.11078947299389359, -0.0021780792358551846,
0.0011356593244950483]
distortion_model: radtan
intrinsics: [543.6696561242189, 537.5408824639999, 380.0151007157061, 234.36556730449118]
resolution: [752, 480]
rostopic: /uvc_camera/cam_0/image_raw
cam1:
T_cn_cnm1:
- [0.9998527383095952, 0.017137738662598448, 0.0008942082137564826, -0.030880484313990136]
- [-0.01714093820943339, 0.9998462287513096, 0.003702308614529358, -6.527514320719734e-05]
- [-0.0008306215127587759, -0.003717090974042763, 0.9999927466249874, 0.00018972059463724382]
- [0.0, 0.0, 0.0, 1.0]
cam_overlaps: [0, 2, 3, 8, 9]
camera_model: pinhole
distortion_coeffs: [-0.353144426187912, 0.10573328445472395, -0.002580762364064637,
0.0015643763611592502]
distortion_model: radtan
intrinsics: [538.3775780565093, 532.5535724693466, 371.25616245221073, 231.21357156768667]
resolution: [752, 480]
rostopic: /uvc_camera/cam_1/image_raw
cam2:
T_cn_cnm1:
- [0.31149151654244916, -0.008955800913476598, 0.9502067294815791, 0.0872829353960657]
- [0.024766494567423795, 0.999692413651424, 0.00130339350448885, 0.003005051981533158]
- [-0.9499261317960058, 0.023127293784270305, 0.3116175097989347, -0.05394550944575083]
- [0.0, 0.0, 0.0, 1.0]
cam_overlaps: [0, 1, 3, 4, 5]
camera_model: pinhole
distortion_coeffs: [-0.3605185378853076, 0.10936954674509232, -0.0011088324128469991,
-0.0006382486700628317]
distortion_model: radtan
intrinsics: [544.3804118498692, 535.9312835741073, 390.81200139738917, 277.588460638854]
resolution: [752, 480]
rostopic: /uvc_camera/cam_2/image_raw
cam3:
T_cn_cnm1:
- [0.9999710111137126, 0.005760671439309794, -0.004979116063980995, -0.029261320719829526]
- [-0.005824399502668552, 0.9999000760733924, -0.012880770118605354, -5.78080083917376e-06]
- [0.004904416646614305, 0.01290939708055193, 0.9999046425356589, -0.00046465688915452234]
- [0.0, 0.0, 0.0, 1.0]
cam_overlaps: [0, 1, 2, 4, 5]
camera_model: pinhole
distortion_coeffs: [-0.3582955697364296, 0.10784625374915544, -0.0011753169412302125,
-0.0010040787737917879]
distortion_model: radtan
intrinsics: [546.0203967139188, 537.7169111899459, 378.1028461045431, 278.09712634461846]
resolution: [752, 480]
rostopic: /uvc_camera/cam_3/image_raw
cam4:
T_cn_cnm1:
- [0.30044419537433736, -0.013617213839615833, 0.9537021846221735, 0.09044782290677211]
- [0.013407574100583864, 0.9998595824238323, 0.01005248188110284, 0.00019429929490094445]
- [-0.9537051548684202, 0.00976662287992749, 0.3005845815322484, -0.061156190749617846]
- [0.0, 0.0, 0.0, 1.0]
cam_overlaps: [2, 3, 5, 6, 7]
camera_model: pinhole
distortion_coeffs: [-0.3479975244082098, 0.09933410234514833, -0.0027142736958379373,
0.00026979496805150355]
distortion_model: radtan
intrinsics: [533.4739221963415, 527.1088992238627, 379.0655341096242, 270.04278009985524]
resolution: [752, 480]
rostopic: /uvc_camera/cam_4/image_raw
cam5:
T_cn_cnm1:
- [0.9999367427960977, -0.004446100243154904, 0.010331630991170066, -0.028209322476417057]
- [0.004422381245588988, 0.9999875358420928, 0.002317478059665759, 0.00027974464974978795]
- [-0.010341805955854646, -0.0022716410513519266, 0.99994394177698, -0.0002968089722215753]
- [0.0, 0.0, 0.0, 1.0]
cam_overlaps: [2, 3, 4, 6, 7]
camera_model: pinhole
distortion_coeffs: [-0.3426973060943818, 0.09567394656768138, -0.0016701255650504673,
0.0019889641475287294]
distortion_model: radtan
intrinsics: [538.5113849764855, 532.4898097922554, 401.1057053033241, 264.9341702656638]
resolution: [752, 480]
rostopic: /uvc_camera/cam_5/image_raw
cam6:
T_cn_cnm1:
- [0.32477675901267106, -0.011975076282617955, 0.9457148906267944, 0.08715597431777547]
- [0.004965546829508832, 0.9999276490363629, 0.01095627844183401, -0.002686163318926537]
- [-0.9457776695132466, 0.001137646973591924, 0.32481272390325805, -0.06318980746172721]
- [0.0, 0.0, 0.0, 1.0]
cam_overlaps: [4, 5, 7, 8, 9]
camera_model: pinhole
distortion_coeffs: [-0.3516294599477266, 0.10217342887237586, -0.0012601534543088574,
-0.0003311591924849961]
distortion_model: radtan
intrinsics: [536.0735332176009, 529.6492230106669, 381.7362216083739, 266.15340993552496]
resolution: [752, 480]
rostopic: /uvc_camera/cam_6/image_raw
cam7:
T_cn_cnm1:
- [0.9999973276575306, 0.00108230016257119, 0.0020428666521684078, -0.029576521691089108]
- [-0.0010984746304969375, 0.9999679292131928, 0.0079330888415619, 0.0005032924835345612]
- [-0.0020342151524846133, -0.00793531167882256, 0.9999664458356972, 0.00022784034690943896]
- [0.0, 0.0, 0.0, 1.0]
cam_overlaps: [4, 5, 6, 8, 9]
camera_model: pinhole
distortion_coeffs: [-0.3469027065858808, 0.09782171028200094, -0.0010566067417192011,
0.00031947052084256155]
distortion_model: radtan
intrinsics: [535.6875507076088, 529.5050400305854, 403.9040594384209, 251.16557165316686]
resolution: [752, 480]
rostopic: /uvc_camera/cam_7/image_raw
cam8:
T_cn_cnm1:
- [0.2894529225570243, 0.006104877417295148, 0.9571727827800512, 0.09188213367412144]
- [-0.00040599647437018944, 0.9999803540619998, -0.006255130445527323, -0.0004339385289345265]
- [-0.9571921650275091, 0.0014219570132615084, 0.28944971454156304, -0.056817942787090764]
- [0.0, 0.0, 0.0, 1.0]
cam_overlaps: [0, 1, 6, 7, 9]
camera_model: pinhole
distortion_coeffs: [-0.3615171272327767, 0.11244116384386382, -0.001793757142504963,
0.001682688039627592]
distortion_model: radtan
intrinsics: [544.0018678784033, 537.6037424553131, 370.2077855096763, 238.8119942676884]
resolution: [752, 480]
rostopic: /uvc_camera/cam_8/image_raw
cam9:
T_cn_cnm1:
- [0.9999441451577945, 0.008410156422244417, -0.0064012368799087945, -0.029860834303319227]
- [-0.008415048901317885, 0.999964320700359, -0.000737752160175909, 0.0004929642879089837]
- [0.006394803877192181, 0.0007915776745187709, 0.9999792397285802, 0.0004038876785153061]
- [0.0, 0.0, 0.0, 1.0]
cam_overlaps: [0, 1, 6, 7, 8]
camera_model: pinhole
distortion_coeffs: [-0.35450494385358006, 0.10453041900169024, -0.000933584960816966,
0.0016826106177271097]
distortion_model: radtan
intrinsics: [544.0477136712977, 537.7080416827957, 398.60238083777193, 238.66996602941458]
resolution: [752, 480]
rostopic: /uvc_camera/cam_9/image_raw
R:
- [0.028956131633854354, -0.9995806820638596, -4.985531004830406E-5]
- [0.9995806818754359, 0.02895612888687027, 5.496658511919596E-5]
- [-5.349991986071354E-5, -5.142602448736994E-5, 0.9999999972465613]
T: [8.869999885559082, -3.3299999237060547, -0.8500000238418579]
Stamp: {FrameOffset: 0.031324148178100586, Sec: 1.49502586E9, Nsec: 7.21929856E8}
R:
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- [0.00879389322633901, 0.009165807227421779, 0.999919324455625]
T: [8.869999885559082, -3.268626669515146, -0.8500000238418579]
Stamp: {FrameOffset: 0.02279496192932129, Sec: 1.495025862E9, Nsec: 5.56645211E8}
R:
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- [0.998673777183797, -0.011136826708872949, 0.05026587168551391]
- [-0.050085787983885396, 0.01589858436673529, 0.9986183699778245]
T: [8.899999618530273, -2.799999952316284, -0.8399999737739563]
Stamp: {FrameOffset: -0.04099869728088379, Sec: 1.495025864E9, Nsec: 4.15322785E8}
R:
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T: [8.851001449178447, -2.356502252501925, -0.8600000143051147]
Stamp: {FrameOffset: -0.035201072692871094, Sec: 1.495025866E9, Nsec: 2.64320336E8}
R:
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T: [8.819999694824219, -1.8939686232692527, -0.8600000143051147]
Stamp: {FrameOffset: 0.03105449676513672, Sec: 1.495025868E9, Nsec: 9.5526216E7}
R:
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T: [8.805971225449616, -1.438058191790164, -0.8600000143051147]
Stamp: {FrameOffset: 0.03151655197143555, Sec: 1.495025869E9, Nsec: 9.39215782E8}
R:
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T: [8.789999961853027, -0.9773375200888128, -0.8700000047683716]
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R:
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T: [8.760000228881836, 0.4029746044133887, -0.8899999856948853]
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Stamp: {FrameOffset: -0.02287888526916504, Sec: 1.495025871E9, Nsec: 6.21922759E8}
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