M_monado_datasets/MI_valve_index/extras/calibration.rt8.yaml

cameras:
  - T_SC: [0.015499520450221071, 0.9998798559060368, 0.0001965175227435778, 0.06917789156550716,
      -0.9969334637731943, 0.01543876948824141, 0.07671579502208402, 0.12085668743462545,
      0.07670354408366437, -0.001384972928440642, 0.9970529816288567, 0.012667308040189403,
      0.0, 0.0, 0.0, 1.0] # T_imu_cam, i.e., transforms a point in camera space into IMU space
    distortion_coefficients: [0.00033910941623906436, 0.0016526977059368436, 2.0382438109564118e-07,
      -1.9941820902364245e-07, 4.7690647490781044e-08, 0.08285582144993399, 0.007074083130056834,
      1.2021299767958244e-05] # k1, k2, p1, p2, k3, k4, k5, k6
    distortion_type: radialtangential8 # Same as opencv's default model
    focal_length: [420.52740656467927, 420.668449021409] # fx, fy
    image_dimension: [960, 960] # width, height
    principal_point: [469.48259744072743, 479.1369038467134] # cx, cy
  - T_SC: [0.021535931033980826, 0.9995998465532432, 0.018339859465996557, 0.06906817063497311,
      -0.9968529688349355, 0.02286934463860607, -0.07590225030113408, -0.012925461789829002,
      -0.07629129832081094, -0.016647517728884998, 0.9969465873124757, 0.013021838608092437,
      0.0, 0.0, 0.0, 1.0]
    distortion_coefficients: [0.00010833706764279817, 0.0020852934669309585, 2.732762364402409e-07,
      -2.7121692029207587e-07, 8.00967425983354e-08, 0.08086045956434132, 0.008319953204836639,
      1.5525470378559292e-05]
    distortion_type: radialtangential8
    focal_length: [421.23561386503076, 421.4668948188076]
    image_dimension: [960, 960]
    principal_point: [467.746800268133, 484.4807401358835]