hjkim
82d3725779
FAST-LIVO2 dual/triple-camera VIO-LIO mapping workspace (ROS2 Humble),
including the N-camera port from Omni-LIVO, rpg_vikit multi-camera
parameter loader, and the um982_driver/gnss_comm packages staged here
ahead of RTK fusion work.
FAST-LIVO2 and rpg_vikit were previously separate git clones tracking
their own GitHub history (Robotic-Developer-Road org, humble/main
branches) — that history is preserved locally in
src/{FAST-LIVO2,rpg_vikit}/.git-github-backup (not pushed here) and
these two are now tracked flat as part of this repo going forward.
38 lines
1.0 KiB
YAML
38 lines
1.0 KiB
YAML
/**:
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ros__parameters:
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cam_model: Pinhole
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# 카메라: MVS BinningHorizontal=2, BinningVertical=2 → 720x540 출력
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# scale=1.0 (하드웨어 binning이 이미 해상도 축소)
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cam_width: 720
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cam_height: 540
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scale: 1.0
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# --- 8mm lens v4, 720x540 binning 2x2 (1440x1080 × 0.5) ---
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cam_fx: 1173.519316
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cam_fy: 1176.587995
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cam_cx: 395.975479
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cam_cy: 283.304207
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cam_d0: -0.128253
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cam_d1: 0.437160
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cam_d2: 0.002047
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cam_d3: 0.007568
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# --- 8mm lens v4, 1440x1080 + software scale=0.5 (binning 미지원 시 대안) ---
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# cam_width: 1440
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# cam_height: 1080
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# scale: 0.5
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# cam_fx: 2347.038631
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# cam_fy: 2353.175990
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# cam_cx: 791.950958
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# cam_cy: 566.608413
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# --- 6mm lens, 1440x1080 + scale=0.5 ---
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# cam_width: 1440
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# cam_height: 1080
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# scale: 0.5
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# cam_fx: 1731.285808
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# cam_fy: 1739.429604
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# cam_cx: 713.349417
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# cam_cy: 547.551014
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# cam_d0: -0.091047
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# cam_d1: 0.101541
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# cam_d2: -0.001141
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# cam_d3: -0.001854
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