GrabBag/App/BinocularMark/Calib/Mark_13度/StereoCamera.xml

<?xml version="1.0" encoding="UTF-8"?>
<opencv_storage>
  <LeftCamera>
    <RMS>0.06146430978</RMS>
    <Valid>1</Valid>
    <ImageWidth>4504</ImageWidth>
    <ImageHeight>4096</ImageHeight>

    <CameraMatrix type_id="opencv-matrix">
      <rows>3</rows>
      <cols>3</cols>
      <dt>d</dt>
      <data>
        4999.017674094238 0 2250.300598868841
        0 4999.264966915443 2060.093794884652
        0 0 1
      </data>
    </CameraMatrix>

    <DistCoeffs type_id="opencv-matrix">
      <rows>5</rows>
      <cols>1</cols>
      <dt>d</dt>
      <data>
        -0.08489310178734437 0.08964236499982539
        -4.389392288741819e-05 -0.0002227984524448615
        0
      </data>
    </DistCoeffs>
  </LeftCamera>

  <RightCamera>
    <RMS>0.06217309213</RMS>
    <Valid>1</Valid>
    <ImageWidth>4504</ImageWidth>
    <ImageHeight>4096</ImageHeight>

    <CameraMatrix type_id="opencv-matrix">
      <rows>3</rows>
      <cols>3</cols>
      <dt>d</dt>
      <data>
        4992.951845199774 0 2287.939849021047
        0 4993.710759765725 2079.376780201305
        0 0 1
      </data>
    </CameraMatrix>

    <DistCoeffs type_id="opencv-matrix">
      <rows>5</rows>
      <cols>1</cols>
      <dt>d</dt>
      <data>
        -0.08228116868058684 0.08103473937956641
        0.0001915425595540736 0.0002891358523536006
        0
      </data>
    </DistCoeffs>
  </RightCamera>

  <Stereo>
    <RMS>0.1603139252</RMS>
    <Baseline>769.5892579</Baseline>

    <R type_id="opencv-matrix">
      <rows>3</rows>
      <cols>3</cols>
      <dt>d</dt>
      <data>
        0.9322109350774885 0.01932513268084685 0.3613991031654922
        -0.01133689914678807 0.9996425865176145 -0.02421102926579374
        -0.3617378156064002 0.01847264104672718 0.9320968374010657
      </data>
    </R>

    <T type_id="opencv-matrix">
      <rows>3</rows>
      <cols>1</cols>
      <dt>d</dt>
      <data>
        -757.6654235863944
        4.918948081748063
        134.8574643798533
      </data>
    </T>

    <E type_id="opencv-matrix">
      <rows>3</rows>
      <cols>3</cols>
      <dt>d</dt>
      <data>
        -0.2505040613068761 -134.718398541642 7.849973967148773
        -148.3606323169181 16.60221979557121 754.9549118150683
        4.004079303323432 -757.4896830731973 16.56615631886883
      </data>
    </E>

    <F type_id="opencv-matrix">
      <rows>3</rows>
      <cols>3</cols>
      <dt>d</dt>
      <data>
        2.418342063864832e-10 1.300494101930773e-07 -0.0003063421843195674
        1.432041578875006e-07 -1.602439449329651e-08 -0.003932101974551648
        -0.0003176289560551479 0.003386806984800907 1
      </data>
    </F>
  </Stereo>

  <Rectification>
    <R1 type_id="opencv-matrix">
      <rows>3</rows>
      <cols>3</cols>
      <dt>d</dt>
      <data>
        0.9812283571586967 0.009399327302279969 0.1926202579011606
        -0.00728629653304425 0.9999052931083844 -0.01167538850182497
        -0.1927117562331825 0.01005273396149594 0.9812039143569606
      </data>
    </R1>

    <R2 type_id="opencv-matrix">
      <rows>3</rows>
      <cols>3</cols>
      <dt>d</dt>
      <data>
        0.9845062360556691 -0.006391653770329639 -0.1752330389212585
        0.008311462219611297 0.9999131906571748 0.0102240278540578
        0.1751524786101271 -0.01152206196254848 0.9844738957051427
      </data>
    </R2>

    <P1 type_id="opencv-matrix">
      <rows>3</rows>
      <cols>4</cols>
      <dt>d</dt>
      <data>
        4996.487863340584 0 2214.277709960938 0
        0 4996.487863340584 2076.116622924805 0
        0 0 1 0
      </data>
    </P1>

    <P2 type_id="opencv-matrix">
      <rows>3</rows>
      <cols>4</cols>
      <dt>d</dt>
      <data>
        4996.487863340584 0 2214.277709960938 -3845243.386765275
        0 4996.487863340584 2076.116622924805 0
        0 0 1 0
      </data>
    </P2>

    <Q type_id="opencv-matrix">
      <rows>4</rows>
      <cols>4</cols>
      <dt>d</dt>
      <data>
        1 0 0 -2214.277709960938
        0 1 0 -2076.116622924805
        0 0 0 4996.487863340584
        0 0 0.001299394436393211 0
      </data>
    </Q>
  </Rectification>
</opencv_storage>