Sample camera calibration file for tonav (https://github.com/tomas789/tonav)

calibration.yaml

#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------

# Camera calibration and distortion parameters (OpenCV) 
Camera.fx: 528.52949934564765
Camera.fy: 528.52949934564765
Camera.cx: 319.5
Camera.cy: 239.5

Camera.k1: 1.2960762005931481e-01
Camera.k2: -4.1561328079467191e-01
Camera.p1: 0
Camera.p2: 0
Camera.k3: 3.5055751673541535e-01

Camera.posToImuX: 0.15
Camera.posToImuY: 1.05
Camera.posToImuZ: -0.05

Camera.td: 0
Camera.tr: 0

#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------

# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1000

#--------------------------------------------------------------------------------------------
# IMU Parameters
#--------------------------------------------------------------------------------------------

Imu.Ts: [1 0 0; 0 1 0; 0 0 1]

Imu.Tg: [1 0 0; 0 1 0; 0 0 1]

Imu.Ta: [1 0 0; 0 1 0; 0 0 1]

#--------------------------------------------------------------------------------------------
# Filter Parameters
#--------------------------------------------------------------------------------------------

Filter.maxCameraPoses: 30

Filter.bufferSize: 100

Filter.maxTriangulationIterations: 30

Filter.imuToCameraFrameRotation: [1 0 0; 0 1 0; 0 0 1]