import os
data_root = './data/camera1'# 绝对路径
data_collection_config = {'cam_id':0,
                          'img_wight':1280,'img_hight':720,
                          'scan_topic_name': 'scan', # 激光消息名字,一般为scan
                          'local_ros':True,
                          'ROS_HOSTNAME':"192.168.43.17",# if local_ros is False
                          'ROS_MASTER_UR':"http://192.168.43.56:11311/",# if local_ros is False
                          }

camera_config = {
        'camera_model': 'pinhole',# fisheye, pinhole or omnidir(Mei) model
        'tag_type': 'chess',  # 'chess' or 'aruco'
        'aruco_id': 0,  # 如果使用单个'aruco',需要id(使用aruco.DICT_4X4_250)
        'tag_size':  0.0104,#,  #单位米 0.012
        'checkerboard': (9,7),  # if choice chess ,need
        'inter_params_path': os.path.join(data_root,'inter_param.pkl'),# 内参路径
        'exter_params_path': os.path.join(data_root,'exter_param.pkl'),# 外参路径


        'inter_image_path': os.path.join(data_root,'inter_img'),# 内参图像路径
        'exter_image_path':os.path.join(data_root,'exter_param.jpg'),# 外参图像路径
        'K':None,'D':None,'Xi':None#或者手动输入内参,List
}


calibrate_config={
        'select_laser':'auto'
                       '',# auto or manual
        'one_by_one_show':True,# one by one frame to show laser data
        'optimize_method': 'svd',# 目前只有svd
        }

be0dadb6fd7765f957a78799b572dc973ac6b5b4
<mask token>

<mask token>
data_root = './data/camera1'
data_collection_config = {'cam_id': 0, 'img_wight': 1280, 'img_hight': 720,
    'scan_topic_name': 'scan', 'local_ros': True, 'ROS_HOSTNAME':
    '192.168.43.17', 'ROS_MASTER_UR': 'http://192.168.43.56:11311/'}
camera_config = {'camera_model': 'pinhole', 'tag_type': 'chess', 'aruco_id':
    0, 'tag_size': 0.0104, 'checkerboard': (9, 7), 'inter_params_path': os.
    path.join(data_root, 'inter_param.pkl'), 'exter_params_path': os.path.
    join(data_root, 'exter_param.pkl'), 'inter_image_path': os.path.join(
    data_root, 'inter_img'), 'exter_image_path': os.path.join(data_root,
    'exter_param.jpg'), 'K': None, 'D': None, 'Xi': None}
calibrate_config = {'select_laser': 'auto', 'one_by_one_show': True,
    'optimize_method': 'svd'}

import os
data_root = './data/camera1'
data_collection_config = {'cam_id': 0, 'img_wight': 1280, 'img_hight': 720,
    'scan_topic_name': 'scan', 'local_ros': True, 'ROS_HOSTNAME':
    '192.168.43.17', 'ROS_MASTER_UR': 'http://192.168.43.56:11311/'}
camera_config = {'camera_model': 'pinhole', 'tag_type': 'chess', 'aruco_id':
    0, 'tag_size': 0.0104, 'checkerboard': (9, 7), 'inter_params_path': os.
    path.join(data_root, 'inter_param.pkl'), 'exter_params_path': os.path.
    join(data_root, 'exter_param.pkl'), 'inter_image_path': os.path.join(
    data_root, 'inter_img'), 'exter_image_path': os.path.join(data_root,
    'exter_param.jpg'), 'K': None, 'D': None, 'Xi': None}
calibrate_config = {'select_laser': 'auto', 'one_by_one_show': True,
    'optimize_method': 'svd'}

import os
data_root = './data/camera1'# 绝对路径
data_collection_config = {'cam_id':0,
                          'img_wight':1280,'img_hight':720,
                          'scan_topic_name': 'scan', # 激光消息名字,一般为scan
                          'local_ros':True,
                          'ROS_HOSTNAME':"192.168.43.17",# if local_ros is False
                          'ROS_MASTER_UR':"http://192.168.43.56:11311/",# if local_ros is False
                          }

camera_config = {
        'camera_model': 'pinhole',# fisheye, pinhole or omnidir(Mei) model
        'tag_type': 'chess',  # 'chess' or 'aruco'
        'aruco_id': 0,  # 如果使用单个'aruco',需要id(使用aruco.DICT_4X4_250)
        'tag_size':  0.0104,#,  #单位米 0.012
        'checkerboard': (9,7),  # if choice chess ,need
        'inter_params_path': os.path.join(data_root,'inter_param.pkl'),# 内参路径
        'exter_params_path': os.path.join(data_root,'exter_param.pkl'),# 外参路径


        'inter_image_path': os.path.join(data_root,'inter_img'),# 内参图像路径
        'exter_image_path':os.path.join(data_root,'exter_param.jpg'),# 外参图像路径
        'K':None,'D':None,'Xi':None#或者手动输入内参,List
}


calibrate_config={
        'select_laser':'auto'
                       '',# auto or manual
        'one_by_one_show':True,# one by one frame to show laser data
        'optimize_method': 'svd',# 目前只有svd
        }
