M_monado_datasets/MG_reverb_g2/extras/calibration.kb4.yaml

cameras:
  - T_SC: [0.04055350310199557, -0.9851041005556703, -0.16710872046234024, -0.05196080462004912,
      0.9627130947171906, -0.006246607611898214, 0.27045235653141, 0.012921625094644514,
      -0.26746758802929066, -0.171845543910068, 0.9481192954433776, 0.005240475947910249,
      0.0, 0.0, 0.0, 1.0] # T_imu_cam, i.e., transforms a point in camera space into IMU space
    distortion_coefficients: [0.07740441885450418, -0.03103032519111291, 0.21761591799757782,
      -0.12578545205590586] # k1, k2, k3, k4
    distortion_type: equidistant # kannalabrandt4 / opencv's fisheye
    focal_length: [270.00664609453304, 270.1414755298674] # fx, fy
    image_dimension: [640, 480] # width, height
    principal_point: [322.8697163592805, 229.1840515489695] # cx, cy
  - T_SC: [-0.06007095160468545, -0.9842799456945921, 0.16608572869683613, 0.056452911416210484,
      0.9630664766090835, -0.013397454828578126, 0.26893023228317525, 0.013648961551033324,
      -0.2624775083794303, 0.17610649251963353, 0.9487318171577039, 0.005147807609210512,
      0.0, 0.0, 0.0, 1.0]
    distortion_coefficients: [0.07780133707201584, -0.037783242929474714, 0.22709046369187205,
      -0.12945961303597922]
    distortion_type: equidistant
    focal_length: [268.8394814458395, 268.84629644420227]
    image_dimension: [640, 480]
    principal_point: [323.9062256755635, 236.5703052123074]
  - T_SC: [-0.0481455006833964, 0.053414751022077434, -0.9974110863316061, -0.07567766184475654,
      -0.9623303838132407, 0.2650327350576651, 0.0606455417793787, 0.014551169361842342,
      0.2675859547020471, 0.9627588035022598, 0.03864250412552328, -0.029493463003218253,
      0.0, 0.0, 0.0, 1.0]
    distortion_coefficients: [0.07632323665413357, -0.03809674852985118, 0.22440009795691718,
      -0.12797229712624544]
    distortion_type: equidistant
    focal_length: [270.95365666855855, 270.95671244010697]
    image_dimension: [640, 480]
    principal_point: [324.31540159952465, 230.97000626471197]
  - T_SC: [0.061023690109066636, 0.06827726099642412, 0.9957983354456361, 0.08070843831337933,
      -0.9620042841219845, -0.261976712078782, 0.07691527585167768, 0.01646113292588715,
      0.2661275381775086, -0.9626559187784688, 0.04969623189298711, -0.029373209824573407,
      0.0, 0.0, 0.0, 1.0]
    distortion_coefficients: [0.0782633771118353, -0.032692565978959115, 0.21570483960998454,
      -0.12346477625478411]
    distortion_type: equidistant
    focal_length: [269.1240639577031, 269.61259675615105]
    image_dimension: [640, 480]
    principal_point: [320.31028884237986, 232.07799800942055]