vins extrinsic has been fixed

zinuok · zinuok · commit cb15914ec9e5 · 2022-04-13T16:13:10.000+09:00
diff --git a/config/vins_fusion_config/left.yaml b/config/vins_fusion_config/left.yaml
@@ -0,0 +1,16 @@
+%YAML:1.0
+---
+model_type: PINHOLE
+camera_name: camera
+image_width: 640
+image_height: 480
+distortion_parameters:
+   k1: 0.006896928127777268
+   k2: -0.009144207062654397
+   p1: 0.000254113977103925
+   p2: 0.0021434982252719545
+projection_parameters:
+   fx: 380.9229090195708
+   fy: 380.29264802262736
+   cx: 324.68121181846755
+   cy: 224.6741321466431
diff --git a/config/vins_fusion_config/realsense_stereo_imu_config.yaml b/config/vins_fusion_config/realsense_stereo_imu_config.yaml
diff --git a/config/vins_fusion_config/right.yaml b/config/vins_fusion_config/right.yaml
@@ -0,0 +1,16 @@
+%YAML:1.0
+---
+model_type: PINHOLE
+camera_name: camera
+image_width: 640
+image_height: 480
+distortion_parameters:
+   k1: 0.007044055287844759
+   k2: -0.010251485722185347
+   p1: 0.0006674304399871926
+   p2: 0.001678899816379666
+projection_parameters:
+   fx: 380.95187095303424
+   fy: 380.3065956074995
+   cx: 324.0678433553536
+   cy: 225.9586983198407
