42 lines
1.1 KiB
YAML
42 lines
1.1 KiB
YAML
/**:
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ros__parameters:
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cam_model: Pinhole
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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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# --- 6mm lens (cam1/cam2) ---
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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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# --- 6mm lens (cam1, 2026-06-09 재캘리브레이션) → camera_cam1.yaml 사용 권장 ---
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# cam_fx: 2317.833528
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# cam_fy: 2322.780813
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# cam_cx: 657.065936
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# cam_cy: 587.150296
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# cam_d0: -0.111649
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# cam_d1: 0.359324
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# cam_d2: -0.001199
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# cam_d3: -0.005997
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# --- 8mm lens v4 (cam1/cam2, 2026-05-26) ---
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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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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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# --- 4mm lens (cam3, 2026-06-08 재캘리브레이션) → camera_cam3.yaml 사용 권장 ---
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# cam_fx: 1189.152341
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# cam_fy: 1192.753914
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# cam_cx: 736.714571
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# cam_cy: 558.680089
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# cam_d0: -0.101030
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# cam_d1: 0.082065
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# cam_d2: -0.000642
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# cam_d3: 0.002411 |