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calibration/calib_cam_to_pose.txt

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+image_00: 0.0371783278 -0.0986182135 0.9944306009 1.5752681039 0.9992675562 -0.0053553387 -0.0378902567 0.0043914093 0.0090621821 0.9951109327 0.0983468786 -0.6500000000 
+image_01: 0.0194000864 -0.1051529641 0.9942668106 1.5977241400 0.9997374956 -0.0100836652 -0.0205732716 0.5981494900 0.0121891942 0.9944049345 0.1049297370 -0.6488433108 
+image_02: 0.9995185086 0.0041276589 -0.0307524527 0.7264036936 -0.0307926666 0.0100608424 -0.9994751579 -0.1499658517 -0.0038160970 0.9999408692 0.0101830998 -1.0686400091 
+image_03: -0.9996821702 0.0005703407 -0.0252038325 0.7016842127 -0.0252033830 0.0007820814 0.9996820384 0.7463650950 0.0005898709 0.9999995315 -0.0007674583 -1.0751978255 

calibration/calib_cam_to_velo.txt

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+0.04307104361 -0.08829286498 0.995162929 0.8043914418 -0.999004371 0.007784614041 0.04392796942 0.2993489574 -0.01162548558 -0.9960641394 -0.08786966659 -0.1770225824

calibration/calib_sick_to_velo.txt

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+0.9998328856 -0.01305514558 -0.01279702916 -0.3971222434 0.01322436405 0.9998250388 0.01322905751 -0.009085164561 0.0126220829 -0.01339607931 0.9998305997 -0.07072622777

calibration/image_02.yaml

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+%YAML:1.0
+model_type: MEI
+camera_name: image_02
+image_width: 1400
+image_height: 1400
+mirror_parameters:
+   xi: 2.2134047507854890e+00
+distortion_parameters:
+   k1: 1.6798235660113681e-02
+   k2: 1.6548773243373522e+00
+   p1: 4.2223943394772046e-04
+   p2: 4.2462134260997584e-04
+projection_parameters:
+   gamma1: 1.3363220825849971e+03
+   gamma2: 1.3357883350012958e+03
+   u0: 7.1694323510126321e+02
+   v0: 7.0576498308221585e+02

calibration/image_03.yaml

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+%YAML:1.0
+model_type: MEI
+camera_name: image_03
+image_width: 1400
+image_height: 1400
+mirror_parameters:
+   xi: 2.5535139132482758e+00
+distortion_parameters:
+   k1: 4.9370396274089505e-02
+   k2: 4.5068455478645308e+00
+   p1: 1.3477698472982495e-03
+   p2: -7.0340482615055284e-04
+projection_parameters:
+   gamma1: 1.4854388981875156e+03
+   gamma2: 1.4849477411748708e+03
+   u0: 6.9888316784030962e+02
+   v0: 6.9814541887723055e+02

calibration/perspective.txt

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+calib_time: 17-Feb-2016 14:23:48
+corner_dist: 0.100000
+S_00: 1392.000000 512.000000
+K_00: 788.629315 0.000000 687.158398 0.000000 786.382230 317.752196 0.000000 0.000000 0.000000
+D_00: -0.344441 0.141678 0.000414 -0.000222 -0.029608
+R_00: 1.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1.000000
+T_00: 0.000000 0.000000 0.000000
+S_rect_00: 1408.000000 376.000000
+R_rect_00: 0.999974 -0.007141 -0.000089 0.007141 0.999969 -0.003247 0.000112 0.003247 0.999995
+P_rect_00: 552.554261 0.000000 682.049453 0.000000 0.000000 552.554261 238.769549 0.000000 0.000000 0.000000 1.000000 0.000000
+S_01: 1392.000000 512.000000
+K_01: 785.134093 0.000000 686.437073 0.000000 782.346289 321.352788 0.000000 0.000000 0.000000
+D_01: -0.353195 0.161996 0.000383 -0.000242 -0.041476
+R_01: 0.999837 0.004862 -0.017390 -0.004974 0.999967 -0.006389 0.017358 0.006474 0.999828
+T_01: -0.594052 0.007198 -0.010233
+S_rect_01: 1408.000000 376.000000
+R_rect_01: 0.999778 -0.012115 0.017222 0.012059 0.999922 0.003351 -0.017261 -0.003143 0.999846
+P_rect_01: 552.554261 0.000000 682.049453 -328.318735 0.000000 552.554261 238.769549 0.000000 0.000000 0.000000 1.000000 0.000000