相机内参Intrinsics: k表现等距畸变系数,mu,mv对应焦距,v,u对应主点坐标。 相机外参Extrinsics(从右目往左目): rotation表现旋转矩阵, translation表现平移矩阵。 D、K、R、P 分别为畸变参数,内参矩阵,改正矩阵,投影矩阵。 seq: 0 stamp: secs: 1719912958 nsecs: 823117551 frame_id: "oak_rgb_camera_optical_frame" height: 720 width: 1280 distortion_model: "plumb_bob" 畸变参数D: [-1.87286, 16.683033, 0.001053, -0.002063, 61.878521, -2.158907, 18.424637, 57.682858, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 内参矩阵 K: [1479.458984, 0.0, 950.694458, 0.0, 1477.587158, 530.697632, 0.0, 0.0, 1.0] R: [0.9997062937394856, -0.023389961528659683, 0.006343181957754751, 0.0233922879452606, 0.999726320114537, -0.0002928052810344399, -0.006334597252184302, 0.0004411008211352551, 0.9999798389506251] P: [1479.458984, 0.0, 950.694458, 0.0, 0.0, 1477.587158, 530.697632, 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 --- |
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