M_monado_datasets/MG_reverb_g2/extras/calibration.yaml

cameras:
  - T_SC: [0.04064854009491342, -0.9850960390247252, -0.16713315076893012, -0.05195440637617857,
      0.9639580399507583, -0.005353797389843817, 0.2660004399767062, 0.012655050280492696,
      -0.26293077682623045, -0.17192187397567016, 0.9493736228936684, 0.005695776071192284,
      0.0, 0.0, 0.0, 1.0] # T_imu_cam, i.e., transforms a point in camera space into IMU space
    distortion_coefficients: [0.30219806837496743, -0.02149991534580404, -0.0002497397372516134,
      6.0560040605677345e-05, 0.01581679697554863, 0.5750558896824219, -0.06263534784491315,
      0.033851495423692875] # k1, k2, p1, p2, k3, k4, k5, k6
    distortion_type: radialtangential8 # Same as opencv's default model
    focal_length: [269.6842474086801, 269.7882977693903] # fx, fy
    image_dimension: [640, 480] # width, height
    principal_point: [322.5578605887897, 228.87319994407375] # cx, cy
  - T_SC: [-0.0599848995239452, -0.9845511162145, 0.16450201029131717, 0.05645131964241192,
      0.9646370462558942, -0.014800992811683733, 0.2631659164908946, 0.013367520829980857,
      -0.2566655037588928, 0.17447071436940617, 0.9506223166997623, 0.005817523980411749,
      0.0, 0.0, 0.0, 1.0]
    distortion_coefficients: [0.5583172692824788, 0.5318767353683427, -4.8499786577281645e-05,
      -0.00010215399449113709, 0.008892983151449383, 0.8224870747364966, 0.5989619132003846,
      0.08178414100136008]
    distortion_type: radialtangential8
    focal_length: [268.32364529421596, 268.36616184269246]
    image_dimension: [640, 480]
    principal_point: [323.18415014901007, 236.88768983819338]
  - T_SC: [-0.04684095792433285, 0.058286940283299005, -0.9972003596334802, -0.0757213665829658,
      -0.9623623504515357, 0.2649068023771114, 0.06068848727501508, 0.014530127422240255,
      0.26770250483349334, 0.9625107888469331, 0.04368466846764807, -0.02939269417912614,
      0.0, 0.0, 0.0, 1.0]
    distortion_coefficients: [0.16062287804829353, -0.4619920253125824, -0.00012181822302338947,
      5.581807266350449e-05, 0.025766025600398968, 0.4509012125456936, -0.5875401333907265,
      0.0029609360409961895]
    distortion_type: radialtangential8
    focal_length: [271.6135146149873, 271.7305409932087]
    image_dimension: [640, 480]
    principal_point: [324.4789443570868, 231.32161458022873]
  - T_SC: [0.05458855286845413, 0.06773415129915167, 0.9962089011063451, 0.08047651761941818,
      -0.9637221207286739, -0.25747910500683213, 0.07031489531463364, 0.01551428498347744,
      0.2612656960145268, -0.9639069432433113, 0.051221488199587634, -0.030017654200964233,
      0.0, 0.0, 0.0, 1.0]
    distortion_coefficients: [0.38103769826253503, 0.044423043182646844, -0.00026270579116007963,
      -1.3307311696896182e-05, 0.0132763824239275, 0.6550968994941907, 0.025731031147632248,
      0.03618845247232834]
    distortion_type: radialtangential8
    focal_length: [269.7435072920675, 270.0809356226911]
    image_dimension: [640, 480]
    principal_point: [320.2882102145453, 232.11989600745244]