Commit ·
fc8ef57
1
Parent(s): 3927fad
added calibration json and removed old files
Browse filesSigned-off-by: Michal Pelka <michalpelka@gmail.com>
- extrinsics.json +66 -0
extrinsics.json
ADDED
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@@ -0,0 +1,66 @@
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{
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"extrinsics": {
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"T_lidar_to_camera_4x4": [
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[
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-0.030796028673648834,
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-0.9994500279426575,
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0.012299378402531147,
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-0.07036551833152771
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],
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[
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0.023415250703692436,
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-0.013023221865296364,
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-0.9996410012245178,
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-0.07282713800668716
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],
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[
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0.9992513656616211,
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-0.030496979132294655,
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0.023803435266017914,
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-0.23503082990646362
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],
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[
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0,
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+
0,
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0,
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1
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]
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],
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"camera_position_in_world_xyz": [
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0.2343931794166565,
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-0.07844298332929611,
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-0.06634100526571274
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],
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"camera_rotation_matrix_in_world": [
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[
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-0.030796028673648834,
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0.023415250703692436,
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0.9992513656616211
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],
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[
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-0.9994500279426575,
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-0.013023221865296364,
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-0.030496979132294655
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],
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[
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0.012299378402531147,
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-0.9996410012245178,
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0.023803435266017914
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]
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]
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},
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"intrinsics": {
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"cx": 2345.2666015625,
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"cy": 1698.0667724609375,
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"fx": 2378.621826171875,
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"fy": 2379.01513671875,
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"k1": -0.991870105266571,
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"k2": 0.3968757092952728,
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"k3": 0.007128315977752209,
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"k4": -0.7582084536552429,
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"k5": 0.16545666754245758,
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"k6": 0.09888693690299988,
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"p1": -0.00020598563423845917,
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"p2": -0.0011458585504442453
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}
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}
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