realsense D435i双目IMU 数据集

使用双目+IMU的数据

双目内参

model_type: PINHOLE
camera_name: camera
image_width: 640
image_height: 480
distortion_parameters:
k1: 0
k2: 0
p1: 0
p2: 0
projection_parameters:
fx: 383.6842956542969
fy: 383.6842956542969
cx: 324.6466369628906
cy: 242.73611450195312

双目IMU外参

body_T_cam0: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ -5.7586305857286746e-03, -4.0463318787729019e-03,
9.9997523237933461e-01, 2.0329267950355900e-02,
-9.9998287214160420e-01, -1.0224590553211677e-03,
-5.7628118925283633e-03, 7.9325209639615653e-03,
1.0457519809151661e-03, -9.9999129084997906e-01,
-4.0403746097850135e-03, 2.8559824645148020e-03, 0., 0., 0., 1. ]

body_T_cam1: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ -1.0021770212322867e-03, 3.6313480322730518e-04,
9.9999943188700535e-01, 1.5285779565991807e-02,
-9.9999216342926500e-01, -3.8303422615924010e-03,
-1.0007788055728661e-03, -5.2435791444330505e-02,
3.8299766679101843e-03, -9.9999259827824449e-01,
3.6697063849344680e-04, 8.6931302450199057e-03, 0., 0., 0., 1. ]

注意：没有网盘分享rosbag数据，有需要者可以相互分享，或帮助分享一下