AprilTagWorkbench/config.json at main · amquake/AprilTagWorkbench · GitHub

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{
  "baseName" : "mmal service 16.1",
  "uniqueName" : "mmal_service_16.1",
  "nickname" : "mmal_service_16.1",
  "FOV" : 70.0,
  "path" : "/dev/video0",
  "cameraType" : "UsbCamera",
  "currentPipelineIndex" : -1,
  "calibrations" : [ {
    "resolution" : {
      "width" : 1280.0,
      "height" : 720.0
    },
    "cameraIntrinsics" : {
      "rows" : 3,
      "cols" : 3,
      "type" : 6,
      "data" : [ 1258.2595768163499, 0.0, 660.5290293216651, 0.0, 1217.967443128214, 364.2378237466866, 0.0, 0.0, 1.0 ]
    },
    "cameraExtrinsics" : {
      "rows" : 1,
      "cols" : 5,
      "type" : 6,
      "data" : [ -0.026938049296275236, 2.2663036196673785, -1.8482463294273443E-4, 0.005586881351680982, -9.209014748400586 ]
    },
    "perViewErrors" : [ 1.8468218461619084, 4.862318397770534, 3.143062026893998, 1.7282250611330396, 1.0147793279848598, 0.9641382748500522, 2.4714436874403614, 1.608300778631216, 1.6808499382032702, 1.8487253804054988, 0.8425529392618274, 0.7629146451275474 ],
    "standardDeviation" : 1.1137666809010516
  }, {
    "resolution" : {
      "width" : 960.0,
      "height" : 720.0
    },
    "cameraIntrinsics" : {
      "rows" : 3,
      "cols" : 3,
      "type" : 6,
      "data" : [ 745.6731036941444, 0.0, 488.7616177219188, 0.0, 719.8588082591871, 365.7469602025352, 0.0, 0.0, 1.0 ]
    },
    "cameraExtrinsics" : {
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      "cols" : 5,
      "type" : 6,
      "data" : [ 0.1817123670316795, -0.420110204494415, 0.0034299088551594434, 0.005417274622407807, 0.2783035005330443 ]
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    "perViewErrors" : [ 0.5881038502255231, 0.2439627712099586, 0.4172740498067447, 0.4718867937098583, 0.20986805964907637, 0.22742867451786822, 0.17608198647540138, 0.22832762161120584, 0.27263894448566983, 0.3986046603714501, 0.3282895280385893, 0.37387729036075235, 0.6589500957615786 ],
    "standardDeviation" : 0.14457173436620147
  }, {
    "resolution" : {
      "width" : 640.0,
      "height" : 480.0
    },
    "cameraIntrinsics" : {
      "rows" : 3,
      "cols" : 3,
      "type" : 6,
      "data" : [ 497.8204072694636, 0.0, 314.53659309737424, 0.0, 481.6955284883231, 231.95042993880858, 0.0, 0.0, 1.0 ]
    },
    "cameraExtrinsics" : {
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      "type" : 6,
      "data" : [ 0.16990717177326176, -0.47305087536583684, -0.002992219989630736, -0.0016840919550094836, 0.36623021008942863 ]
    },
    "perViewErrors" : [ 0.29262487955741917, 0.2538400324194579, 0.186285636391678, 0.21111016880860142, 0.22827217544348144, 0.18590771792653557, 0.17917233303102498, 0.20087239175852015, 0.1713566652654359, 0.2837249558951523, 0.3806942109966284, 0.40291386724484135 ],
    "standardDeviation" : 0.07480774748313568
  }, {
    "resolution" : {
      "width" : 320.0,
      "height" : 240.0
    },
    "cameraIntrinsics" : {
      "rows" : 3,
      "cols" : 3,
      "type" : 6,
      "data" : [ 248.91331608053923, 0.0, 157.62260539236934, 0.0, 240.6014958497898, 119.70287961507316, 0.0, 0.0, 1.0 ]
    },
    "cameraExtrinsics" : {
      "rows" : 1,
      "cols" : 5,
      "type" : 6,
      "data" : [ 0.1723634659391677, -0.45091871506633513, 0.001716253868664934, -0.0013984154275443871, 0.31402567220852967 ]
    },
    "perViewErrors" : [ 0.2163704714649805, 0.12615826371500963, 0.1052248335366415, 0.13504127009042, 0.12727716409822126, 0.1128359385820497, 0.12559276052679144, 0.10471581922805889, 0.22773770160809184, 0.14116163614573346, 0.2188611517099613, 0.20708631529070132 ],
    "standardDeviation" : 0.04625597051223628
  } ],
  "streamIndex" : 0
}