cal_data.yaml

data:
  - image: images/0.png
    pose: poses/0.yaml
  - pose: poses/1.yaml
    image: images/1.png
  - pose: poses/2.yaml
    image: images/2.png
  - pose: poses/3.yaml
    image: images/3.png
  - image: images/4.png
    pose: poses/4.yaml
  - pose: poses/5.yaml
    image: images/5.png
  - image: images/6.png
    pose: poses/6.yaml
  - image: images/7.png
    pose: poses/7.yaml
  - image: images/8.png
    pose: poses/8.yaml
  - image: images/9.png
    pose: poses/9.yaml
  - image: images/10.png
    pose: poses/10.yaml
  - pose: poses/11.yaml
    image: images/11.png
  - image: images/12.png
    pose: poses/12.yaml
  - image: images/13.png
    pose: poses/13.yaml
  - image: images/14.png
    pose: poses/14.yaml
  - image: images/15.png
    pose: poses/15.yaml

# AVT Mako Gig-E camera intrinsics (calibrated)
intrinsics:
  fx: 1352.02747
  fy: 1356.14287
  cx: 789.67065
  cy: 627.2995

# Pose guesses
camera_mount_to_camera_guess:
  x: -0.019646
  y: 1.27843
  z: 0.283965
  qx: -0.048080
  qy: -0.558686
  qz: 0.827604
  qw: -0.025104
target_mount_to_target_guess:
  x: 0.063314
  y: 0.119958
  z: 0.211056
  qx: -0.633597
  qy: 0.262427
  qz: 0.664998
  qw: 0.295794

# Other parameters
homography_threshold: 2.0
static_camera: true

# ChArUco grid target finder
target_finder:
  type: CharucoGridTargetFinder
  rows: 7
  cols: 5
  chessboard_dim: 0.036195
  aruco_marker_dim: 0.018256
  dictionary: 10  # DICT_6X6_250