M_monado_datasets/MI_valve_index/extras/calibration.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: [0.19293820423427943, 0.04211519667505778, -0.2331148927645627, 0.09541027202996667] # k1, k2, k3, k4
    distortion_type: equidistant # kannalabrandt4 / opencv's fisheye
    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: [0.19017898170828448, 0.0546719732148914, -0.2491419411107316, 0.10310283081793621]
    distortion_type: equidistant
    focal_length: [421.23561386503076, 421.4668948188076]
    image_dimension: [960, 960]
    principal_point: [467.746800268133, 484.4807401358835]