diff --git a/yaml/camera_euroc_mav0.yaml b/yaml/camera_euroc_mav0.yaml index 1fdeacdb4705d6c1c4e43736578a01c697c2d7bb..09cb584c0cba93570237d8e7f82e8897b1bcf4bd 100644 --- a/yaml/camera_euroc_mav0.yaml +++ b/yaml/camera_euroc_mav0.yaml @@ -11,7 +11,7 @@ distortion_model: plumb_bob distortion_coefficients: rows: 1 cols: 5 - data: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.000000] + data: [-0.28340811, 0.07395907, 0.00019359, 0.0000176187114, 0.000000] rectification_matrix: rows: 3 cols: 3 diff --git a/yaml/camera_euroc_mav0_notangdist.yaml b/yaml/camera_euroc_mav0_notangdist.yaml deleted file mode 100644 index ace83297fb7c2ebca132d0f116ee46ecb4f0b18e..0000000000000000000000000000000000000000 --- a/yaml/camera_euroc_mav0_notangdist.yaml +++ /dev/null @@ -1,26 +0,0 @@ -width: 752 -height: 480 -camera_name: narrow_stereo -camera_matrix: - rows: 3 - cols: 3 - data: [458, 0.000000, 367.215, - 0.000000, 457.296, 248.375, - 0.000000, 0.000000, 1.000000] -distortion_model: plumb_bob -distortion_coefficients: - rows: 1 - cols: 5 - data: [-0.28340811, 0.07395907, 0.00019359, 0.0, 0.000000] -rectification_matrix: - rows: 3 - cols: 3 - data: [1.000000, 0.000000, 0.000000, - 0.000000, 1.000000, 0.000000, - 0.000000, 0.000000, 1.000000] -projection_matrix: - rows: 3 - cols: 4 - data: [355.63, 0.000000, 362.27, 0.000000, - 0.000000, 417.16, 249.65, 0.000000, - 0.000000, 0.000000, 1.000000, 0.000000] diff --git a/yaml/demo_visual_odometry_euroc.yaml b/yaml/demo_visual_odometry_euroc.yaml index 185118f47c174768f8b92e619b459cb81e8baf6f..d45e6352dd2d369584b2dd7997546c18e3898cae 100644 --- a/yaml/demo_visual_odometry_euroc.yaml +++ b/yaml/demo_visual_odometry_euroc.yaml @@ -36,7 +36,7 @@ config: extrinsic: pose: [0,0,0, 0,0,0,1] using_raw: false - follow: "camera_euroc_mav0_notangdist.yaml" + follow: "camera_euroc_mav0.yaml" processors: -