version: 20230525
parameters:
hardware:
slam_100-sn: SLAM100243301098
lidar2rasterR: [0.02251372, -0.00115653, 0.00410817, 0.99973744]
pcl2imuR: [-0.01502171, 0.00107022, -0.01290336, 0.99980333]
pcl2imuT: [0.06787, 0.00825, 0.12309]
lidarCorrect: [-0.2, 0.0]
# 相机模型：针孔相机模型
# 畸变模型：MOD AUS(remove-distortion)
param:
# 外参顺序：x,y,z,o,p,k
mountTolaserTransform_cam0: [10.376520, 2.026785, 1.004915, 0.492150, -1.524287, 3.038346]
# 内参顺序：w,h,ps,x0,y0,f,k1,k2,k3,k4,p1,p2,a,b
camera_instrinsic_parameters_cam0: [2592, 1944, 2.000000, 1270.375920, 996.428154, 1014.319007, -6.891758e-08, 8.762100e-14, -3.179253e-20, 4.805413e-27, -2.279775e-07, -5.927125e-08, 2.055735e-04, 1.029149e-03]
mountTolaserTransform_cam1: [10.449387, 2.029506, 1.004663, 0.550087, 1.511966, 0.105586]
camera_instrinsic_parameters_cam1: [2592, 1944, 2.000000, 1237.811008, 952.370945, 1017.337772, -7.340132e-08, 9.595968e-14, -3.759864e-20, 6.089098e-27, 4.533589e-08, -1.412770e-08, 4.730455e-04, -3.932715e-04]
mountTolaserTransform_cam2: [10.411169, 2.050057, 1.001986, 1.475338, -0.271312, 1.840679]
camera_instrinsic_parameters_cam2: [2592, 1944, 2.000000, 1259.644222, 988.085701, 1016.300276, -6.673976e-08, 8.407886e-14, -2.945940e-20, 4.249187e-27, 1.733913e-07, 2.379725e-08, -5.027512e-06, 7.306926e-04]
AE0: 44.121094
TS1: [-0.50636, 0.584628, -0.089405, 0.092403, -0.396065, -0.421532, 0.815747, 0.051562, 0.439221, 0.693196, 0.571458, -0.049223, 0.0, 0.0, 0.0, 1.0]
TS2: [0.373949, -0.825831, -0.559049, 0.074324, 0.575368, -0.422544, 0.700292, 0.002879, -0.814545, -0.373445, 0.44391, 0.119928, 0.0, 0.0, 0.0, 1.0]
TS3: [0.321907, 0.003817, -0.999753, 0.066093, 0.010984, 0.999931, 0.004058, -0.000213, 0.9997, -0.01107, 0.021864, 0.003555, 0.0, 0.0, 0.0, 1.0]
angle(e0): 44.121094
T_lidar2camera2_at_e0: [-0.50636, 0.584628, -0.089405, 0.092403, -0.396065, -0.421532, 0.815747, 0.051562, 0.439221, 0.693196, 0.571458, -0.049223, 0.0, 0.0, 0.0, 1.0]
T_imu2camera2_refine: [0.999954, -0.007731, 0.005735, 0.001314, 0.007731, 0.999970, -0.000031, -0.002121, -0.005734, 0.000075, 0.999984, 0.001576, 0.000000, 0.000000, 0.000000, 1.000000]一般在数据目录下的slam_calib.yaml文件
version: 20231225
parameters:
hardware:
sn: SLAM200024010078
deviceType: SLAM2000
lidar2rasterR: [0.00165801, 0.00846416, -0.00001403, 0.99996280]
raster2bodyR: [-0.00158121, 0.00006055, -0.00748217, 0.99997076]
pcl2imuR: [0.00097208, -0.00150440, -0.00171004, 0.99999693]
pcl2imuT: [0.03702, 0.0, 0.11866]
lidarCorrect: [0, 0]
param:
mountTolaserTransform_opt_cam: [10.404353, 2.143580, 1.036278, 1.537471, -1.713882, 1.713371]
# 针孔相机的畸变改正参数(width, height,PixelSize,x0,y0,f,k1,k2,k3,k4,p1,p2,a,b)
camera_instrinsic_parameters_opt_cam: [4000, 3000, 2.000000, 2007.475411, 1412.999692, 2080.191099, -1.906622e-08, 6.648838e-15, -9.127758e-22, 4.434991e-29, 1.453920e-07, -4.015978e-08, -1.284934e-03, 1.256813e-04]
mountTolaserTransform_clr_cam: [10.403952, 2.148968, 0.994351, -1.535257, 1.252545, 1.246529]
# 赋色鱼眼相机的畸变改正参数: width, height,PixelSize, cx, cy, fx, fy, k1, k2, k3, k4
camera_instrinsic_parameters_clr_cam: [4000, 3000, 2.000000, 1993.169704, 1495.426811, 809.868921, 808.794428, 1.339803e-02, -1.506665e-02, 6.574013e-03, -1.751310e-03]
T_imu2clrcam_refine: [0.019859, 0.004583, 0.999790, 0.062366, -0.999750, -0.009995, 0.019905, -0.000178, 0.010083, -0.999935, 0.004382, -0.026587, 0.000000, 0.000000, 0.000000, 1.000000]
T_imu2optcam_refine: [0.019099, 0.001902, -0.999815, 0.057084, -0.999810, 0.003496, -0.019093, -0.000256, 0.003459, 0.999989, 0.001969, 0.015376, 0.000000, 0.000000, 0.000000, 1.000000]parameters:
hardware:
# insta360的设备识别码(在全景相机的设置中可查询)
device-sn: SN_INSTA_00001
# insta360的设备类型：目前支持 INSTA360OneRS 和 INSTAX4
device-type: INSTA360OneRS / INSTAX4
# insta360安装的激光设备类型，目前支持 SLAM2000 和 SLAM100
device-platform: SLAM2000 / SLAM100
param:
# 0号相机在检校场坐标系下的外参 x, y, z, o, p, k
mount2laserTransform_clr_cam00: [9.442085,2.360162,1.293657,0.023129,1.557838,-1.546753]
# 0号鱼眼相机的参数(采用opencv-fisheye相机模型): width, height,PixelSize, cx, cy, fx, fy, k1, k2, k3, k4
camera_instrinsic_parameters_clr_cam00: [2944,2880,2.400000,1467.103227,1435.715138,936.380151,934.367150,3.311767e-02,-2.276017e-02,4.708334e-03,-1.050605e-03]
# 1号相机在检校场坐标系下的外参
mount2laserTransform_clr_cam10: [9.473358,2.361591,1.293585,-0.021371,-1.584823,1.544450]
# 1号鱼眼相机的参数
camera_instrinsic_parameters_clr_cam10: [2944,2880,2.400000,1471.364361,1436.236759,934.484548,933.353740,3.165434e-02,-2.300634e-02,4.948189e-03,-1.114662e-03]
# IMU到0号相机的变换矩阵
T_imu2instacam00_refine: [-0.999840, -0.007203, -0.016314, 0.000077, -0.016284, -0.004368, 0.999857, 0.006746, -0.007272, 0.999963, 0.004250, 0.267013, 0.000000, 0.000000, 0.000000, 1.000000]
# IMU到1号相机的转换矩阵
T_imu2instacam10_refine: [0.999883, -0.004921, 0.014588, 0.001266, 0.014563, -0.005439, -0.999878, -0.024464, 0.005000, 0.999973, -0.005367, 0.267226, 0.000000, 0.000000, 0.000000, 1.000000]
请参考文档：《相机畸变模型说明》