From 3bcb92dcc88103063cf2b81a4fd1bef739916fbb Mon Sep 17 00:00:00 2001
From: Chao Qu <quchao@seas.upenn.edu>
Date: Wed, 24 Sep 2014 22:58:45 -0400
Subject: [PATCH] properly calibrate thermal camera

---
 calib/calib_flir_gige.yml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/calib/calib_flir_gige.yml b/calib/calib_flir_gige.yml
index 724de33..5d21c39 100644
--- a/calib/calib_flir_gige.yml
+++ b/calib/calib_flir_gige.yml
@@ -4,17 +4,17 @@ camera_name: flir_gige
 camera_matrix:
   rows: 3
   cols: 3
-  data: [375.129394282814, 0, 169.8366184742329, 0, 373.6219959672013, 146.6576806258171, 0, 0, 1]
+  data: [375.9842119838092, 0, 153.4678765696215, 0, 377.2729167128362, 135.8320416882365, 0, 0, 1]
 distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.4820410607450944, 0.2750311470161373, -0.009904477400646594, -0.003677987376798879, 0]
+  data: [-0.4418380040899846, 0.1548031845443598, -0.002349621102286872, -0.001071255038523554, 0]
 rectification_matrix:
   rows: 3
   cols: 3
-  data: [1428.0, 1.0, 118.126, 377312.0, 1, 0, 0, 0, 1]
+  data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
 projection_matrix:
   rows: 3
   cols: 4
-  data: [315.831787109375, 0, 169.363890729408, 0, 0, 314.255126953125, 144.8520194076191, 0, 0, 0, 1, 0]
+  data: [341.0677795410156, 0, 151.2476567559443, 0, 0, 355.1935729980469, 135.8747393661461, 0, 0, 0, 1, 0]
\ No newline at end of file