Re: Using Stereo Vision With Gazebo

Posted by Jim Rothrock on May 16, 2020; 12:19am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-Stereo-Vision-With-Gazebo-tp6643p6665.html

calib_left.yaml:

%YAML:1.0
---
camera_name: calib_left
image_width: 640
image_height: 480
camera_matrix:
   rows: 3
   cols: 3
   data: [ 3.8136250000000001e+02, 0., 3.2050000000000000e+02, 0.,
       3.8136250000000001e+02, 2.4050000000000000e+02, 0., 0., 1. ]

calib_right.yaml:

%YAML:1.0
---
camera_name: calib_right
image_width: 640
image_height: 480
camera_matrix:
   rows: 3
   cols: 3
   data: [ 3.8136250000000001e+02, 0., 3.2050000000000000e+02, 0.,
       3.8136250000000001e+02, 2.4050000000000000e+02, 0., 0., 1. ]
projection_matrix:
   rows: 3
   cols: 4
   data: [ 3.8136250000000001e+02, 0., 3.2050000000000000e+02,
       -1.5729372584999999e+02, 0., 3.8136250000000001e+02,
       2.4050000000000000e+02, 0., 0., 0., 1., 0. ]

Left camera info:

header:
  seq: 16
  stamp:
    secs: 40
    nsecs: 110000000
  frame_id: "scout_1_tf/left_camera_optical"
height: 480
width: 640
distortion_model: "plumb_bob"
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [381.36246688113556, 0.0, 320.5, 0.0, 381.36246688113556, 240.5, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [381.36246688113556, 0.0, 320.5, -157.29401728003162, 0.0, 381.36246688113556, 240.5, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi:
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False

Right camera_info:

header:
  seq: 20
  stamp:
    secs: 98
    nsecs: 760000000
  frame_id: "scout_1_tf/right_camera_optical"
height: 480
width: 640
distortion_model: "plumb_bob"
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [381.36246688113556, 0.0, 320.5, 0.0, 381.36246688113556, 240.5, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [381.36246688113556, 0.0, 320.5, -157.29401728003162, 0.0, 381.36246688113556, 240.5, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi:
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False