附录二 Camera相机标定文件模板

标定文件名：“roof_cam_999.yaml”

文件内容示例：

Roof_Cam_9:
  camera_model: pinhole
  intrinsics:
    rows: 1
    cols: 4
    data:
    - 957.3874
    - 960.8491
    - 957.7912
    - 565.3051
  resolution:
    width: 1020
    height: 1920
  distortion_model: radtan
  distortion_coeffs:
    rows: 1
    cols: 5
    data:
    - -0.3152
    - 0.1068
    - 1.0109e-05
    - 0.00014344
    - -0.0174
  rotation_veh2cam_matrix:
    rows: 3
    cols: 3
    data:
    - -0.9998299042764152
    - 0.017818974176046335
    - 0.004792519744625967
    - -0.0052751312364799794
    - -0.027136554579648777
    - -0.999617350015897
    - -0.01768206109206492
    - -0.9994728825361424
    - 0.027225960978949772
  tanslation_veh2cam_matrix:
    rows: 3
    cols: 1
    data:
    - -0.03155699382111174
    - 1.1564462683421137
    - 0.5492014802301336
  rotation_veh_cam_euler:
    yaw: 178.97898507859358
    pitch: -0.27459237862937325
    roll: -88.43985827166519
  translation_veh_cam:
    x: -0.015740166503007778
    y: 0.580856341427072
    z: 1.1412035414910402
  transform_image2veh_matrix:
    rows: 3
    cols: 3
    data: []
  transform_veh2image_matrix:
    rows: 3
    cols: 4
    data:
    - -973.6528713841998
    - -939.7369315451515
    - 30.649111295873002
    - 495.5498232950973
    - -15.049594426539091
    - -590.5017166128401
    - -944.1638507975063
    - 1420.2429138739958
    - -0.01768206109206492
    - -0.9994728825361424
    - 0.027225960978949772
    - 0.5492014802301336
  timeshift_cam_veh: 0.0