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楼主
2023-9-26 11:07:40
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获取的参数内容类似于:
- cam0:
- T_cam_imu:
- [0.999986352841384, 0.0032862846423558872, -0.004061337739789638, 0.03756164273666725,
- -0.0032980946978333563, 0.9999903427305618, -0.0029046543646602946, 0.004490454545332502,
- 0.00405175299732687, 0.0029180094008471663, 0.9999875341816945, -0.002294968432285464,
- 0.0, 0.0, 0.0, 1.0]
- cam_overlaps: [1]
- camera_model: pinhole
- distortion_coeffs: [0.8983103161820014]
- distortion_model: fov
- intrinsics: [224.39191158040566, 223.9763931369736, 316.04781156614393, 233.3496452981823]
- resolution: [640, 480]
- rostopic: /cam0/image_raw
- timeshift_cam_imu: -0.0008752465911837162
- cam1:
- T_cam_imu:
- [0.999960529813134, 0.006935971257295801, -0.005552577649574544, -0.04240098641905449,
- -0.006952871958479482, 0.9999712371263417, -0.0030302626194672055, 0.004914311542102539,
- 0.005531400127054448, 0.0030687493758723688, 0.9999799929948112, -0.0023933299306618297,
- 0.0, 0.0, 0.0, 1.0]
- T_cn_cnm1:
- [0.9999922276621546, 0.003654068072238162, -0.0014806761289387076, -0.07998214374550276,
- -0.003654280032229186, 0.9999933132303556, -0.0001404706940503373, 0.00056082540862699,
- 0.0014801529385203055, 0.00014588040747682532, 0.9999988939324779, -0.0001546160819775631,
- 0.0, 0.0, 0.0, 1.0]
- cam_overlaps: [0]
- camera_model: pinhole
- distortion_coeffs: [0.8981703346522282]
- distortion_model: fov
- intrinsics: [225.0871335206162, 224.56943129796193, 317.00710117818915, 234.45500342491806]
- resolution: [640, 480]
- rostopic: /cam1/image_raw
- timeshift_cam_imu: -0.0009144123865168765
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