Fill in the external parameters for binocular purpose

[WangHongxuan0715]

If I use my own recorded data to fill in the external parameters, how can I modify it based on the oivio.yaml configuration file? Currently, I fill in the transformation T from the left camera to the right camera in cam0, and then fill in the unit matrix in cam1. This filling shows that almost no matching feature points are detected. I think I may have filled it in incorrectly.

%YAML:1.0

image_height: 1260 image_width: 1680 use_imu: 0

depth_lower_thr: 0.1 depth_upper_thr: 10.0 max_y_diff: 30

Calibration

distortion_type: 1 # 0 for undistorted inputs, 1 for radial-tangential: [k1, k2, p1, p2, k3], 2 for equidistant/fisheye: [k1, k2, k3, k4, 0]. cam0: intrinsics: [1192.703518726793618, 1192.437900413209945, 839.587888923699097, 609.982668736013238] # fx, fy, cx, cy distortion_coeffs: [0, 0, 0, 0, 0] T_type: 0 # 0 for Euroc format, the following T is Tbc. 1 for Kalibr format, the following T is Tcb T:

• [0.999999606792653, 0.000789311607587, 0.000404229793522, -0.430370755417723160]
• [-0.000772038232196, 0.999155430938691, -0.041083193433401, -0.002471955916083025]
• [-0.000436315834999, 0.041082865198333, 0.999155647442173, -0.015380798799766124]
• [0.0, 0.0, 0.0, 1.0] cam1: intrinsics: [1174.011910797035171, 1175.708934480511516, 819.071816376535480, 609.982668736013238] distortion_coeffs: [0, 0, 0, 0, 0] T_type: 0
  T:
• [1, 0, 0, 0]
• [0, 1, 0, 0]
• [0, 0, 1, 0]
• [0.0, 0.0, 0.0, 1.0]

[xukuanHIT]

@WangHongxuan0715 Hi, tartanair.yaml is a configuration file for stereo camera.