M_monado_datasets/MO_odyssey_plus/extras/calibration.kb4.yaml

cameras:
  - T_SC: [0.9174075807755737, 0.006647316356289734, -0.39789338260489987, -0.0836171207584613,
      0.13777833942240095, 0.9327164187092706, 0.3332524740435679, -0.0019908210116357005,
      0.37333692547284353, -0.36054943552224933, 0.8547652570285438, 0.005251507311936389,
      0.0, 0.0, 0.0, 1.0] # T_imu_cam, i.e., transforms a point in camera space into IMU space
    distortion_coefficients: [0.07967334603430463, -0.028193800038563192, 0.20273128935703774,
      -0.11691215909852215] # k1, k2, k3, k4
    distortion_type: equidistant # kannalabrandt4 / opencv's fisheye
    focal_length: [268.7643797200632, 268.6254278509791] # fx, fy
    image_dimension: [640, 480] # width, height
    principal_point: [322.99894365261827, 245.85420172532994] # cx, cy
  - T_SC: [0.9183897385354933, 0.004662488271049342, 0.39564952844130963, 0.02184301895036105,
      -0.15034835638878274, 0.929043591797278, 0.33804345322991297, -0.002049686931566472,
      -0.3659995353602241, -0.3699408949326029, 0.853925098807012, 0.005005028649289218,
      0.0, 0.0, 0.0, 1.0]
    distortion_coefficients: [0.05921598747583376, 0.0008485613746588702, 0.18691042621700857,
      -0.11581177928178256]
    distortion_type: equidistant
    focal_length: [270.38245569848516, 270.8952605677133]
    image_dimension: [640, 480]
    principal_point: [322.59133920842345, 250.7654767124812]