lidar_camera_calibration
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calibration_file(.ini format) usage
What should be the content of calibration_file(.ini format) in aruco_mapping/data folder? It has the following params:
# Prosilica camera intrinsics
[image]
width
1280
height
720
[camera]
camera matrix
704.12 0 636.094
0 700.12 393.9
0 0 1
distortion
-1.7716164842652732e-01 2.4527309548752887e-02 1.9240901813031473e-04 -1.8595650055847136e-03 3.0916019834707860e-03
rectification
9.9998735061408284e-01 5.1865487826668606e-04 -5.0029600182704102e-03
-5.2010329088742055e-04 9.9999982321248571e-01 -2.8821444103838947e-04
5.0028096499837114e-03 2.9081285127238347e-04 9.9998744358291403e-01
projection
6.8230856098675258e+02 0 6.2940856933593750e+02 0
0 6.8230856098675258e+02 3.8939595031738281e+02 0
0 0 1 0
I m confused about the data to be filled in the rectification and projection matrix.