camera.yml

%YAML:1.0
calibration_time: "2011\xff\xff\xff01\xff\xff\xff04\xff\xff\xff 12\xff\xff\xff35\xff\xff\xff53\xff\xff\xff"
nframes: 10
image_width: 640
image_height: 480
board_width: 8
board_height: 6
square_size: 3.5500001162290573e-02
flags: 0
camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 6.9087198143883597e+02, 0., 2.8144865187825843e+02, 0.,
       6.8782081798955699e+02, 2.4274858622336447e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
   rows: 5
   cols: 1
   dt: d
   data: [ 3.1273416176014168e-01, -2.3395447084321725e+00,
       1.7084853823547406e-03, -1.1105437688004349e-02,
       5.8901970229878939e+00 ]
avg_reprojection_error: 2.1139592801571396e+00
per_view_reprojection_errors: !!opencv-matrix
   rows: 10
   cols: 1
   dt: f
   data: [ 2.32626945e-01, 3.22594553e-01, 5.22851348e-01,
       5.68466127e-01, 4.29263383e-01, 4.09682178e+00, 4.16907489e-01,
       4.04312998e-01, 1.75898135e+00, 4.85118723e+00 ]
# a set of 6-tuples (rotation vector + translation vector) for each view
extrinsic_parameters: !!opencv-matrix
   rows: 10
   cols: 6
   dt: f
   data: [ -3.79224144e+18, -1.50994051e+00, 8.80572944e+12,
       -1.40608847e+00, -1.17095518e-15, 1.76257026e+00, 7.77466913e-34,
       -1.49259400e+00, -4.41809464e+01, -1.44223571e+00,
       -8.19170164e-05, 1.73727286e+00, 7.52569292e-15, -1.41118908e+00,
       -1.43977757e+29, -1.31741512e+00, 4.06631880e-04, 1.70257723e+00,
       2.56442590e-21, -1.24149048e+00, -8.21041107e+00, -1.40145373e+00,
       -2.59069886e-35, 1.66519797e+00, -7.94221136e-19, -1.50044227e+00,
       2.12434056e+23, -1.39503741e+00, 5.73038071e-37, 1.71394837e+00,
       -1.96504743e-10, -1.16940773e+00, 7.36246801e+22, -1.37228918e+00,
       -4.08590637e-08, 1.78292990e+00, -1.00396783e-11, -1.43563366e+00,
       -1.89241407e-28, -1.41179049e+00, 3.40507799e+30, 1.69481730e+00,
       -3.53053849e+25, -1.45073569e+00, 9.22305373e+18, -1.15248775e+00,
       -1.70119385e-14, 1.69478440e+00, 3.99946116e+33, 1.29803228e+00,
       -1.42095137e+01, -1.25174952e+00, 1.03770481e-38, 1.80202866e+00,
       -37334052., -1.54512095e+00, 1.47787778e+37, 1.12638569e+00,
       7.98896818e-33, 1.76450479e+00 ]
image_points: !!opencv-matrix
   rows: 10
   cols: 48
   dt: "2f"
   data: [ 1.08645248e+02, 1.43576462e+02, 1.55135437e+02,
       1.41318161e+02, 2.00090866e+02, 1.38811569e+02, 2.43758545e+02,
       1.36545044e+02, 2.86348785e+02, 1.34230408e+02, 3.27612091e+02,
       1.31823730e+02, 3.68381470e+02, 1.29496689e+02, 4.07922699e+02,
       1.27239632e+02, 1.12562706e+02, 1.87537064e+02, 1.59143097e+02,
       1.84457001e+02, 2.04481140e+02, 1.81546646e+02, 2.48502823e+02,
       1.78547073e+02, 2.91289429e+02, 1.75796143e+02, 3.32855194e+02,
       1.72724899e+02, 3.73861664e+02, 1.70031982e+02, 4.14032318e+02,
       1.67435196e+02, 1.16139259e+02, 2.32235886e+02, 1.63295334e+02,
       2.28504852e+02, 2.09006561e+02, 2.24746185e+02, 2.53503433e+02,
       2.21302490e+02, 2.96451965e+02, 2.17850677e+02, 3.38226227e+02,
       2.14611374e+02, 3.79374969e+02, 2.11246521e+02, 4.19617798e+02,
       2.08174896e+02, 1.19848999e+02, 2.77739624e+02, 1.67204803e+02,
       2.73275146e+02, 2.13301758e+02, 2.69047974e+02, 2.58032104e+02,
       2.64836945e+02, 3.01579865e+02, 2.60769562e+02, 3.43649048e+02,
       2.56820587e+02, 3.85219330e+02, 2.53051437e+02, 4.25625305e+02,
       2.49350525e+02, 1.23241447e+02, 3.23953156e+02, 1.71141708e+02,
       3.18818237e+02, 2.17701630e+02, 3.13881958e+02, 2.62676849e+02,
       3.09051819e+02, 3.06529785e+02, 3.04570526e+02, 3.49107147e+02,
       3.00131653e+02, 3.90755005e+02, 2.95655273e+02, 4.31592682e+02,
       2.91649323e+02, 1.26524353e+02, 3.71572021e+02, 1.74758072e+02,
       3.65584076e+02, 2.21717178e+02, 3.59952423e+02, 2.67507690e+02,
       3.54424561e+02, 3.11713226e+02, 3.49217560e+02, 3.54567261e+02,
       3.44140106e+02, 3.96853607e+02, 3.39307922e+02, 4.38003174e+02,
       3.34678101e+02, 1.00782364e+02, 1.00915565e+02, 1.53980667e+02,
       1.02331917e+02, 2.07165115e+02, 1.03833595e+02, 2.59589874e+02,
       1.05128151e+02, 3.11802338e+02, 1.06213860e+02, 3.62984894e+02,
       1.07345268e+02, 4.14757965e+02, 1.08488091e+02, 4.66113556e+02,
       1.09475937e+02, 1.08599380e+02, 1.45324600e+02, 1.59514160e+02,
       1.46770050e+02, 2.10070007e+02, 1.47973572e+02, 2.59925262e+02,
       1.49248123e+02, 3.09594818e+02, 1.50043900e+02, 3.58575470e+02,
       1.51230560e+02, 4.07799011e+02, 1.52230057e+02, 4.56938171e+02,
       1.53230438e+02, 1.15595169e+02, 1.85886917e+02, 1.64380478e+02,
       1.86931625e+02, 2.12409744e+02, 1.88049500e+02, 2.60429321e+02,
       1.89053650e+02, 3.07713593e+02, 1.89878281e+02, 3.54634857e+02,
       1.90693085e+02, 4.01545868e+02, 1.91605148e+02, 4.48492035e+02,
       1.92664749e+02, 1.22299164e+02, 2.22646500e+02, 1.68619690e+02,
       2.23701355e+02, 2.14968933e+02, 2.24590591e+02, 2.60533722e+02,
       2.25542847e+02, 3.05844452e+02, 2.26319672e+02, 3.50779175e+02,
       2.27058990e+02, 3.95740875e+02, 2.28267212e+02, 4.40667755e+02,
       2.28890854e+02, 1.28232864e+02, 2.56565948e+02, 1.72764496e+02,
       2.57256775e+02, 2.16730133e+02, 2.57967743e+02, 2.60788025e+02,
       2.58686340e+02, 3.04027771e+02, 2.59388367e+02, 3.47517700e+02,
       2.60317963e+02, 3.90406708e+02, 2.61123596e+02, 4.33770905e+02,
       2.61675293e+02, 1.33525375e+02, 2.87426849e+02, 1.76160980e+02,
       2.87610626e+02, 2.18677551e+02, 2.88435669e+02, 2.60635437e+02,
       2.89190887e+02, 3.02752563e+02, 2.89728699e+02, 3.43886047e+02,
       2.90825592e+02, 3.85497803e+02, 2.91672607e+02, 4.27009247e+02,
       2.92312836e+02, 1.41311661e+02, 1.58858307e+02, 2.03551331e+02,
       1.62069580e+02, 2.64837006e+02, 1.64908813e+02, 3.25248230e+02,
       1.67664276e+02, 3.84974854e+02, 1.70251038e+02, 4.44033295e+02,
       1.72674072e+02, 5.02501526e+02, 1.75210297e+02, 5.61441956e+02,
       1.77633072e+02, 1.41762619e+02, 2.19135849e+02, 2.02969193e+02,
       2.21594040e+02, 2.62496216e+02, 2.24251541e+02, 3.22298126e+02,
       2.26581390e+02, 3.80574554e+02, 2.28552795e+02, 4.38104767e+02,
       2.30892303e+02, 4.95899933e+02, 2.33182709e+02, 5.53518921e+02,
       2.35481033e+02, 1.42183670e+02, 2.76615448e+02, 2.02105484e+02,
       2.78480499e+02, 2.60654266e+02, 2.80559021e+02, 3.18375793e+02,
       2.82855621e+02, 3.75916840e+02, 2.84415314e+02, 4.32695648e+02,
       2.86567444e+02, 4.89178192e+02, 2.88603180e+02, 5.45845215e+02,
       2.90668274e+02, 1.42263336e+02, 3.31863953e+02, 2.01084396e+02,
       3.33278412e+02, 2.58587128e+02, 3.34945740e+02, 3.15669830e+02,
       3.36633057e+02, 3.71622253e+02, 3.38346863e+02, 4.27395691e+02,
       3.40069611e+02, 4.83656067e+02, 3.41616699e+02, 5.38443176e+02,
       3.43697266e+02, 1.42411865e+02, 3.84728119e+02, 1.99718643e+02,
       3.86083008e+02, 2.56736877e+02, 3.87380371e+02, 3.12196838e+02,
       3.88654816e+02, 3.67842651e+02, 3.89987122e+02, 4.22099426e+02,
       3.91642365e+02, 4.77255157e+02, 3.93366119e+02, 5.30823853e+02,
       3.94768524e+02, 1.42478760e+02, 4.35458099e+02, 1.98735870e+02,
       4.36490234e+02, 2.54337799e+02, 4.37564728e+02, 3.09342438e+02,
       4.38526154e+02, 3.63541321e+02, 4.39859924e+02, 4.17376282e+02,
       4.41002197e+02, 4.70978027e+02, 4.42578278e+02, 5.23772888e+02,
       4.43615479e+02, 2.17266937e+02, 8.28650589e+01, 2.74269501e+02,
       1.00606346e+02, 3.23736786e+02, 1.16174484e+02, 3.67572723e+02,
       1.29925888e+02, 4.06331970e+02, 1.42127502e+02, 4.40968079e+02,
       1.52730591e+02, 4.72245117e+02, 1.61510422e+02, 5.01214478e+02,
       1.70344406e+02, 2.15598663e+02, 1.56509354e+02, 2.73199249e+02,
       1.69524139e+02, 3.23519012e+02, 1.80724564e+02, 3.67699341e+02,
       1.90542023e+02, 4.06675201e+02, 1.99505524e+02, 4.41681702e+02,
       2.06902359e+02, 4.73925446e+02, 2.14615814e+02, 5.02293976e+02,
       2.21318436e+02, 2.13656784e+02, 2.31661224e+02, 2.72265167e+02,
       2.39531921e+02, 3.23419067e+02, 2.46488647e+02, 3.68071808e+02,
       2.52427292e+02, 4.07501495e+02, 2.58084534e+02, 4.42467651e+02,
       2.61778046e+02, 4.74900421e+02, 2.66930908e+02, 5.04497925e+02,
       2.71019775e+02, 2.11535141e+02, 3.08420105e+02, 2.70744659e+02,
       3.11324890e+02, 3.22671265e+02, 3.13715637e+02, 3.68282898e+02,
       3.15838715e+02, 4.08210999e+02, 3.17565277e+02, 4.43953339e+02,
       3.19256866e+02, 4.76680786e+02, 3.20899719e+02, 5.05747101e+02,
       3.22326050e+02, 2.08758636e+02, 3.88035858e+02, 2.69509949e+02,
       3.85117798e+02, 3.22191528e+02, 3.82702148e+02, 3.68070038e+02,
       3.80511505e+02, 4.08845459e+02, 3.78774017e+02, 4.44583038e+02,
       3.78337402e+02, 4.78126617e+02, 3.76187378e+02, 5.07254791e+02,
       3.74698456e+02, 2.05573303e+02, 4.71236938e+02, 2.68116455e+02,
       4.61959686e+02, 3.21496460e+02, 4.53958282e+02, 3.68427734e+02,
       4.47420593e+02, 4.09518524e+02, 4.41668640e+02, 4.46414764e+02,
       4.36928131e+02, 4.79425354e+02, 4.32335876e+02, 5.09124725e+02,
       4.28307922e+02, 7.39814453e+01, 1.23538506e+02, 1.33508591e+02,
       1.34242294e+02, 1.89539856e+02, 1.44533401e+02, 2.42291077e+02,
       1.54177658e+02, 2.92177887e+02, 1.63154877e+02, 3.38797119e+02,
       1.71645096e+02, 3.83884094e+02, 1.79694946e+02, 4.26585876e+02,
       1.87375580e+02, 6.65088120e+01, 1.80929001e+02, 1.26636307e+02,
       1.90171570e+02, 1.83193390e+02, 1.98809448e+02, 2.36330551e+02,
       2.06876709e+02, 2.86419586e+02, 2.14582016e+02, 3.33856140e+02,
       2.21734131e+02, 3.79096039e+02, 2.28617050e+02, 4.22309845e+02,
       2.35056030e+02, 5.86036415e+01, 2.39044296e+02, 1.19481674e+02,
       2.46504608e+02, 1.76516571e+02, 2.53493729e+02, 2.30331924e+02,
       2.60181610e+02, 2.80796661e+02, 2.66450867e+02, 3.28684418e+02,
       2.72361389e+02, 3.74342163e+02, 2.77923431e+02, 4.18178192e+02,
       2.83444244e+02, 5.05607224e+01, 2.98155243e+02, 1.12021141e+02,
       3.03835541e+02, 1.69781586e+02, 3.09140167e+02, 2.24105606e+02,
       3.14092773e+02, 2.75221924e+02, 3.18967438e+02, 3.23646820e+02,
       3.23653748e+02, 3.69677307e+02, 3.27970612e+02, 4.13786774e+02,
       3.32505035e+02, 4.26307640e+01, 3.58302399e+02, 1.04458778e+02,
       3.61945221e+02, 1.62641296e+02, 3.65485016e+02, 2.17468948e+02,
       3.69116974e+02, 2.69548004e+02, 3.72032074e+02, 3.18479523e+02,
       3.75603882e+02, 3.65348389e+02, 3.78576569e+02, 4.08620300e+02,
       3.82154846e+02, 3.46963615e+01, 4.18848053e+02, 9.65766983e+01,
       4.20722137e+02, 1.55572769e+02, 4.23111664e+02, 2.11196533e+02,
       4.24741364e+02, 2.63405029e+02, 4.26597839e+02, 3.12680023e+02,
       4.28300415e+02, 3.60167816e+02, 4.30261108e+02, 4.04694794e+02,
       4.32312469e+02, 2.59058228e+02, 1.92865982e+02, 280., 183., 327.,
       157., 3.46524445e+02, 1.51278854e+02, 3.82349792e+02,
       1.41547272e+02, 4.22735138e+02, 1.32589798e+02, 4.65434448e+02,
       1.21995018e+02, 5.13987549e+02, 1.10690994e+02, 2.61022614e+02,
       2.10588898e+02, 2.89003815e+02, 2.05721146e+02, 3.19091034e+02,
       2.00482697e+02, 3.51960663e+02, 1.94687943e+02, 3.88313507e+02,
       1.88359573e+02, 4.27500610e+02, 1.81407745e+02, 4.71560120e+02,
       1.73911499e+02, 5.19983521e+02, 1.65250000e+02, 2.65948425e+02,
       2.49958115e+02, 2.94001617e+02, 2.46764618e+02, 3.24402863e+02,
       2.43282593e+02, 3.57792816e+02, 2.39231323e+02, 3.94378998e+02,
       2.35280518e+02, 4.33615875e+02, 2.30453461e+02, 4.77974121e+02,
       2.25631760e+02, 5.26563843e+02, 2.19591278e+02, 2.71022003e+02,
       2.89277191e+02, 2.99329285e+02, 2.87530609e+02, 3.29793274e+02,
       2.85902924e+02, 3.63318085e+02, 2.83880646e+02, 3.99794189e+02,
       2.81620544e+02, 4.39918243e+02, 2.79316315e+02, 4.83979980e+02,
       2.76722382e+02, 5.33401978e+02, 2.73918488e+02, 2.76379822e+02,
       3.28751892e+02, 3.04439575e+02, 3.28534210e+02, 3.35436279e+02,
       3.28427979e+02, 3.69084198e+02, 3.28257111e+02, 4.05925293e+02,
       3.28223480e+02, 4.46138336e+02, 3.27945160e+02, 4.90657318e+02,
       3.28145111e+02, 5.40305664e+02, 3.27882660e+02, 2.81109375e+02,
       3.67973785e+02, 3.09685486e+02, 3.69464966e+02, 3.40963165e+02,
       3.71031616e+02, 3.74820099e+02, 3.72782379e+02, 4.12051270e+02,
       3.74601166e+02, 4.52588043e+02, 3.76881622e+02, 4.97342773e+02,
       3.79399658e+02, 5.47002197e+02, 3.82188202e+02, 1.13272850e+02,
       9.70886688e+01, 1.78017899e+02, 9.81799850e+01, 2.42246063e+02,
       9.91252441e+01, 3.05641663e+02, 9.97874908e+01, 3.69646637e+02,
       1.00020416e+02, 4.32082947e+02, 9.98025665e+01, 4.95731995e+02,
       1.00107056e+02, 5.58926392e+02, 1.00013138e+02, 1.24318581e+02,
       1.47496872e+02, 1.84874634e+02, 1.48505066e+02, 2.45162445e+02,
       1.48832275e+02, 3.04678619e+02, 1.49643005e+02, 3.64106201e+02,
       1.49620316e+02, 4.23364319e+02, 1.50172684e+02, 4.82825226e+02,
       1.50039673e+02, 5.42413391e+02, 1.50321014e+02, 1.33865387e+02,
       1.91951385e+02, 1.90812698e+02, 1.92660248e+02, 2.47519775e+02,
       1.93335449e+02, 3.03769470e+02, 1.93540115e+02, 3.59577667e+02,
       1.93530045e+02, 4.15211090e+02, 1.93683670e+02, 4.71403259e+02,
       1.94035522e+02, 5.27655334e+02, 1.94598465e+02, 1.42200638e+02,
       2.31700729e+02, 1.96166550e+02, 2.31785919e+02, 2.49561844e+02,
       2.31964111e+02, 3.02765930e+02, 2.32612854e+02, 3.55504272e+02,
       2.32704330e+02, 4.08179901e+02, 2.32895660e+02, 4.61372833e+02,
       2.33542984e+02, 5.14479675e+02, 2.33667816e+02, 1.49648361e+02,
       2.66263000e+02, 2.00798706e+02, 2.66632874e+02, 2.51527054e+02,
       2.66857117e+02, 3.01656097e+02, 2.67026825e+02, 3.51838562e+02,
       2.67100311e+02, 4.02013092e+02, 2.67657471e+02, 4.52425232e+02,
       2.68103058e+02, 5.02841095e+02, 2.68408386e+02, 1.56350113e+02,
       2.97728180e+02, 2.04508484e+02, 2.97700836e+02, 2.53161789e+02,
       2.98099365e+02, 3.00707001e+02, 2.98170593e+02, 3.48772400e+02,
       2.98411621e+02, 3.95885010e+02, 2.98603546e+02, 4.44017365e+02,
       2.99419342e+02, 4.92038025e+02, 2.99768707e+02, 9.98459473e+01,
       2.07996109e+02, 1.64861343e+02, 2.11244095e+02, 2.29016129e+02,
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       2.19426285e+02, 4.18205627e+02, 2.21613647e+02, 4.81418762e+02,
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       2.72648621e+02, 5.29015686e+02, 2.75371674e+02, 1.14388840e+02,
       3.02425293e+02, 1.72907364e+02, 3.04748077e+02, 2.30604507e+02,
       3.07252777e+02, 2.87892487e+02, 3.09423065e+02, 3.44759308e+02,
       3.11281311e+02, 4.01411194e+02, 3.13579681e+02, 4.58319214e+02,
       3.16220795e+02, 5.15649414e+02, 3.18516296e+02, 1.20648354e+02,
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       3.51037537e+02, 3.94196564e+02, 3.53128418e+02, 4.48441437e+02,
       3.55922729e+02, 5.02905365e+02, 3.57988434e+02, 1.26341705e+02,
       3.79511444e+02, 1.78822556e+02, 3.81343170e+02, 2.31684784e+02,
       3.83391357e+02, 2.83941559e+02, 3.84975403e+02, 3.35925415e+02,
       3.86854858e+02, 3.87598846e+02, 3.89003632e+02, 4.39429779e+02,
       3.91602295e+02, 4.91232025e+02, 3.93738861e+02, 1.31123032e+02,
       4.12947784e+02, 1.81773941e+02, 4.14831512e+02, 2.32009048e+02,
       4.16340698e+02, 2.82139252e+02, 4.17947510e+02, 3.31953979e+02,
       4.19698212e+02, 3.81282471e+02, 4.21769714e+02, 4.31118561e+02,
       4.24269196e+02, 4.80667358e+02, 4.26425507e+02, 3.23691528e+02,
       2.11287659e+02, 3.44688995e+02, 2.14601730e+02, 3.67409149e+02,
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       1.89608597e+02, 3.21841461e+02, 1.80287079e+02, 8.09640121e+01,
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       3.29779907e+02, 1.44920410e+02, 3.12682770e+02, 1.87485916e+02,
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       2.99830841e+02, 3.22171204e+02, 2.85577209e+02, 3.55609924e+02,
       2.72277222e+02, 3.87362061e+02, 2.59684235e+02, 1.40251389e+02,
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       3.68677277e+02, 3.70840057e+02, 3.51615662e+02, 4.04947632e+02,
       3.35555389e+02, 4.37184113e+02, 3.20580170e+02 ]