add wust typr mpc and mutipule x

wust_vision-main/config/camera_info.yaml

@@ -0,0 +1,82 @@
+#8mm
+# image_width: 1440
+# image_height: 1080
+# camera_name: narrow_stereo
+# camera_matrix:
+#   rows: 3
+#   cols: 3
+#   data: [2419.64498,    0.     ,  719.05623,
+#             0.     , 2414.38209,  538.71651,
+#             0.     ,    0.     ,    1.     ]
+# distortion_model: plumb_bob
+# distortion_coefficients:
+#   rows: 1
+#   cols: 5
+#   data: [-0.033521, 0.087954, -0.002045, -0.001438, 0.000000]
+# rectification_matrix:
+#   rows: 3
+#   cols: 3
+#   data: [1., 0., 0.,
+#          0., 1., 0.,
+#          0., 0., 1.]
+# projection_matrix:
+#   rows: 3
+#   cols: 4
+#   data: [2413.22632,    0.     ,  717.5196 ,    0.     ,
+#             0.     , 2408.83228,  537.43444,    0.     ,
+#             0.     ,    0.     ,    1.     ,    0.     ]
+#6mm
+
+image_width: 1440
+image_height: 1080
+camera_name: narrow_stereo
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [1814.19888,    0.     ,  730.27359,
+            0.     , 1807.37177,  529.57031,
+            0.     ,    0.     ,    1.     ]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.089138, 0.114766, 0.000034, 0.000238, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1., 0., 0.,
+         0., 1., 0.,
+         0., 0., 1.]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [1793.54229,    0.     ,  730.67194,    0.     ,
+            0.     , 1794.48784,  529.46193,    0.     ,
+            0.     ,    0.     ,    1.     ,    0.     ]
+#12mm
+# image_width: 1440
+# image_height: 1080
+# camera_name: narrow_stereo
+# camera_matrix:
+#   rows: 3
+#   cols: 3
+#   data: [3655.11292,    0.     ,  748.66803,
+#             0.     , 3648.34439,  556.97683,
+#             0.     ,    0.     ,    1.     ]
+# distortion_model: plumb_bob
+# distortion_coefficients:
+#   rows: 1
+#   cols: 5
+#   data: [-0.058763, 1.430269, 0.001191, 0.001641, 0.000000]
+# rectification_matrix:
+#   rows: 3
+#   cols: 3
+#   data: [1., 0., 0.,
+#          0., 1., 0.,
+#          0., 0., 1.]
+# projection_matrix:
+#   rows: 3
+#   cols: 4
+#   data: [3659.22949,    0.     ,  748.71496,    0.     ,
+#             0.     , 3652.02661,  556.81908,    0.     ,
+#             0.     ,    0.     ,    1.     ,    0.     ]