To quote Thomas Jefferson: "He who receives an idea from me, receives instruction himself without lessening mine; as he who lights his taper at mine, receives light without darkening me. That ideas should freely spread from one to another over the globe, for the moral and mutual instruction of man, and improvement of his condition, seems to have been peculiarly and benevolently designed by nature, when she made them, like fire, expansible over all space, without lessening their density at any point, and like the air in which we breathe, move, and have our physical being, incapable of confinement or exclusive appropriation." Jefferson was one awesome dude.
device_calibration.xml
<?xml version="1.0" encoding="UTF-8" ?>
<DeviceConfiguration deviceUID="not_configured">
<Camera name="default_cam_0" id="0">
<Calibration size="640 400 " principal_point="318.04222 196.26305 " focal_length="288.13625 288.13625 " model="FISHEYE_4_PARAMETERS" radial_distortion="-0.014121161 0.013300037 0.0021744101 -0.0032311648 0 0 " />
<Rig translation="0 0 0 " rowMajorRotationMat="1 0 0 0 1 0 0 0 1 " />
<TimeAlignment delta="0.001937" />
</Camera>
<Camera name="default_cam_1" id="1">
<Calibration size="640 400 " principal_point="314.02564 196.00008 " focal_length="288.10863 288.10863 " model="FISHEYE_4_PARAMETERS" radial_distortion="-0.012481916 0.012654325 0.00090495103 -0.0024938287 0 0 " />
<Rig translation="-0.1010911 -0.00085444677 -0.0014054468 " rowMajorRotationMat="0.99893069 -0.015650516 -0.043503914 0.014852501 0.99971658 -0.018606644 0.043782786 0.017940607 0.99887997 " />
<TimeAlignment delta="0.001937" />
</Camera>
<Image format="interleaved" />
<SFConfig>
<Stateinit ombc="-2.2159839 2.2214348 0.037660594 " tbc="-0.0012271023 0.017154568 -0.0073502717 " aBias="-0.1589957 -0.36201436 -0.20936155 " wBias="-0.001751474 -0.0021026438 0.0031016318 " ka="-0.013695739 -0.0048905321 -0.014068503 " kg="0.0049880516 0.0071219524 0.0037303694 " na="0.018631337 -0.023253099 -0.00019934779 " ng="-0.00056591565 -3.1185286e-05 -0.0041183801 " ombg="0.0034282422 0.019248956 0.0074587392 " delta="0.001937" />
</SFConfig>
</DeviceConfiguration>
內(nèi)容解析
device_calibration.xml中包含雙目IMU標(biāo)定結(jié)果
雙目相機(jī)：
- size ： 圖片尺寸
- principal_point ：相機(jī)內(nèi)參 u, v
- focal_length ：相機(jī)內(nèi)參 fx, fy
- model : 畸變模型
- radial_distortion : 相機(jī)內(nèi)參 k1, k2, p1, p2, k3
- TimeAlignment : 相機(jī)與IMU的時(shí)間偏移 單位s
- rowMajorRotationMat ：相對(duì)左相機(jī)的旋轉(zhuǎn)矩陣
- translation ：相對(duì)左相機(jī)的平移矩陣
IMU
- ombc ：IMU相對(duì)左相機(jī)的旋轉(zhuǎn)向量
- tbc ： IMU相對(duì)左相機(jī)的平移向量
- aBias ： accel bias
- wBias： gyro bias
- ka：accel scale factor
- kg：gyro scale factor
- na：accel nonorthogonalities
- ng：gyro nonorthogonalities
- ombg：rotation vector from gyroscope to accelerometer
- delta：time shift
