StarkitRobots · Renass · Oct 14, 2020 · Oct 15, 2020 · Oct 19, 2020 · Oct 20, 2020
diff --git a/README.md b/README.md
@@ -5,3 +5,5 @@
 
 Visit our site <https://www.starkitrobots.com/cvr> to check content.
 Course is online and will be carried out on our *[YouTube chanel](https://www.youtube.com/channel/UC0QPJgfg17wCqf4-hG_A5OA)*.
+New string in Readme
+New string in Readme
diff --git a/data/imgs/arrow/vlcsnap-2020-10-21-18h01m22s212.png b/data/imgs/arrow/vlcsnap-2020-10-21-18h01m22s212.png
diff --git a/data/imgs/arrow/vlcsnap-2020-10-21-18h01m27s294.png b/data/imgs/arrow/vlcsnap-2020-10-21-18h01m27s294.png
diff --git a/data/imgs/arrow/vlcsnap-2020-10-21-18h01m29s941.png b/data/imgs/arrow/vlcsnap-2020-10-21-18h01m29s941.png
diff --git a/data/imgs/arrow/vlcsnap-2020-10-21-18h01m33s362.png b/data/imgs/arrow/vlcsnap-2020-10-21-18h01m33s362.png
diff --git a/data/imgs/arrow/vlcsnap-2020-10-21-18h01m36s056.png b/data/imgs/arrow/vlcsnap-2020-10-21-18h01m36s056.png
diff --git a/data/imgs/arrow/vlcsnap-2020-10-21-18h01m41s874.png b/data/imgs/arrow/vlcsnap-2020-10-21-18h01m41s874.png
diff --git a/data/imgs/arrow/vlcsnap-2020-10-21-18h01m44s163.png b/data/imgs/arrow/vlcsnap-2020-10-21-18h01m44s163.png
diff --git a/data/imgs/arrow/vlcsnap-2020-10-21-18h01m46s644.png b/data/imgs/arrow/vlcsnap-2020-10-21-18h01m46s644.png
diff --git a/data/imgs/arrow/vlcsnap-2020-10-21-18h01m49s487.png b/data/imgs/arrow/vlcsnap-2020-10-21-18h01m49s487.png
diff --git a/data/imgs/arrow/vlcsnap-2020-10-21-18h01m51s638.png b/data/imgs/arrow/vlcsnap-2020-10-21-18h01m51s638.png
diff --git a/data/imgs/calibrationdat/left-0000.png b/data/imgs/calibrationdat/left-0000.png
diff --git a/data/imgs/calibrationdat/left-0001.png b/data/imgs/calibrationdat/left-0001.png
diff --git a/data/imgs/calibrationdat/left-0002.png b/data/imgs/calibrationdat/left-0002.png
diff --git a/data/imgs/calibrationdat/left-0003.png b/data/imgs/calibrationdat/left-0003.png
diff --git a/data/imgs/calibrationdat/left-0004.png b/data/imgs/calibrationdat/left-0004.png
diff --git a/data/imgs/calibrationdat/left-0005.png b/data/imgs/calibrationdat/left-0005.png
diff --git a/data/imgs/calibrationdat/left-0006.png b/data/imgs/calibrationdat/left-0006.png
diff --git a/data/imgs/calibrationdat/left-0007.png b/data/imgs/calibrationdat/left-0007.png
diff --git a/data/imgs/calibrationdat/left.yaml b/data/imgs/calibrationdat/left.yaml
@@ -0,0 +1,26 @@
+image_width: 640
+image_height: 480
+camera_name: narrow_stereo/left
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [ 516.59994,    0.     ,  336.09025,
+            0.     ,  517.37249,  240.91926,
+            0.     ,    0.     ,    1.     ]
+camera_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [0.026571, -0.034210, 0.003277, -0.005444, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [ 0.99999073, -0.00420354, -0.00092856,
+          0.00420532,  0.99998931,  0.00192413,
+          0.00092046, -0.00192802,  0.99999772]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [ 530.5395 ,    0.     ,  328.00837,    0.     ,
+            0.     ,  530.5395 ,  242.05832,    0.     ,
+            0.     ,    0.     ,    1.     ,    0.     ]
diff --git a/data/imgs/calibrationdat/ost.txt b/data/imgs/calibrationdat/ost.txt
@@ -0,0 +1,60 @@
+# oST version 5.0 parameters
+
+
+[image]
+
+width
+640
+
+height
+480
+
+[narrow_stereo/left]
+
+camera matrix
+516.599939 0.000000 336.090247
+0.000000 517.372490 240.919255
+0.000000 0.000000 1.000000
+
+distortion
+0.026571 -0.034210 0.003277 -0.005444 0.000000
+
+rectification
+0.999991 -0.004204 -0.000929
+0.004205 0.999989 0.001924
+0.000920 -0.001928 0.999998
+
+projection
+530.539503 0.000000 328.008369 0.000000
+0.000000 530.539503 242.058321 0.000000
+0.000000 0.000000 1.000000 0.000000
+# oST version 5.0 parameters
+
+
+[image]
+
+width
+640
+
+height
+480
+
+[narrow_stereo/right]
+
+camera matrix
+518.242390 0.000000 311.634592
+0.000000 519.791883 240.411589
+0.000000 0.000000 1.000000
+
+distortion
+0.018105 -0.031117 0.001837 -0.005342 0.000000
+
+rectification
+0.999770 -0.002319 -0.021334
+0.002278 0.999996 -0.001950
+0.021338 0.001901 0.999771
+
+projection
+530.539503 0.000000 328.008369 -30.084789
+0.000000 530.539503 242.058321 0.000000
+0.000000 0.000000 1.000000 0.000000
diff --git a/data/imgs/calibrationdat/right-0000.png b/data/imgs/calibrationdat/right-0000.png
diff --git a/data/imgs/calibrationdat/right-0001.png b/data/imgs/calibrationdat/right-0001.png
diff --git a/data/imgs/calibrationdat/right-0002.png b/data/imgs/calibrationdat/right-0002.png
diff --git a/data/imgs/calibrationdat/right-0003.png b/data/imgs/calibrationdat/right-0003.png
diff --git a/data/imgs/calibrationdat/right-0004.png b/data/imgs/calibrationdat/right-0004.png
diff --git a/data/imgs/calibrationdat/right-0005.png b/data/imgs/calibrationdat/right-0005.png
diff --git a/data/imgs/calibrationdat/right-0006.png b/data/imgs/calibrationdat/right-0006.png
diff --git a/data/imgs/calibrationdat/right-0007.png b/data/imgs/calibrationdat/right-0007.png
diff --git a/data/imgs/calibrationdat/right.yaml b/data/imgs/calibrationdat/right.yaml
@@ -0,0 +1,26 @@
+image_width: 640
+image_height: 480
+camera_name: narrow_stereo/right
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [ 518.24239,    0.     ,  311.63459,
+            0.     ,  519.79188,  240.41159,
+            0.     ,    0.     ,    1.     ]
+camera_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [0.018105, -0.031117, 0.001837, -0.005342, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [ 0.99976973, -0.0023187 , -0.02133351,
+          0.0022776 ,  0.9999955 , -0.00195049,
+          0.02133794,  0.00190145,  0.99977051]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [ 530.5395 ,    0.     ,  328.00837,  -30.08479,
+            0.     ,  530.5395 ,  242.05832,    0.     ,
+            0.     ,    0.     ,    1.     ,    0.     ]
diff --git a/data/imgs/calibrationdata/left-0000.png b/data/imgs/calibrationdata/left-0000.png
diff --git a/data/imgs/calibrationdata/left-0001.png b/data/imgs/calibrationdata/left-0001.png
diff --git a/data/imgs/calibrationdata/left-0002.png b/data/imgs/calibrationdata/left-0002.png
diff --git a/data/imgs/calibrationdata/left-0003.png b/data/imgs/calibrationdata/left-0003.png
diff --git a/data/imgs/calibrationdata/left-0004.png b/data/imgs/calibrationdata/left-0004.png
diff --git a/data/imgs/calibrationdata/left-0005.png b/data/imgs/calibrationdata/left-0005.png
diff --git a/data/imgs/calibrationdata/left-0006.png b/data/imgs/calibrationdata/left-0006.png
diff --git a/data/imgs/calibrationdata/left-0007.png b/data/imgs/calibrationdata/left-0007.png
diff --git a/data/imgs/calibrationdata/left-0008.png b/data/imgs/calibrationdata/left-0008.png
diff --git a/data/imgs/calibrationdata/left-0009.png b/data/imgs/calibrationdata/left-0009.png
diff --git a/data/imgs/calibrationdata/left-0010.png b/data/imgs/calibrationdata/left-0010.png
diff --git a/data/imgs/calibrationdata/left-0011.png b/data/imgs/calibrationdata/left-0011.png
diff --git a/data/imgs/calibrationdata/left-0012.png b/data/imgs/calibrationdata/left-0012.png
diff --git a/data/imgs/calibrationdata/left-0013.png b/data/imgs/calibrationdata/left-0013.png
diff --git a/data/imgs/calibrationdata/left-0014.png b/data/imgs/calibrationdata/left-0014.png
diff --git a/data/imgs/calibrationdata/left-0015.png b/data/imgs/calibrationdata/left-0015.png
diff --git a/data/imgs/calibrationdata/left-0016.png b/data/imgs/calibrationdata/left-0016.png
diff --git a/data/imgs/calibrationdata/left-0017.png b/data/imgs/calibrationdata/left-0017.png
diff --git a/data/imgs/calibrationdata/left-0018.png b/data/imgs/calibrationdata/left-0018.png
diff --git a/data/imgs/calibrationdata/left-0019.png b/data/imgs/calibrationdata/left-0019.png
diff --git a/data/imgs/calibrationdata/left-0020.png b/data/imgs/calibrationdata/left-0020.png
diff --git a/data/imgs/calibrationdata/left-0021.png b/data/imgs/calibrationdata/left-0021.png
diff --git a/data/imgs/calibrationdata/left-0022.png b/data/imgs/calibrationdata/left-0022.png
diff --git a/data/imgs/calibrationdata/left-0023.png b/data/imgs/calibrationdata/left-0023.png
diff --git a/data/imgs/calibrationdata/left-0024.png b/data/imgs/calibrationdata/left-0024.png
diff --git a/data/imgs/calibrationdata/left-0025.png b/data/imgs/calibrationdata/left-0025.png
diff --git a/data/imgs/calibrationdata/left-0026.png b/data/imgs/calibrationdata/left-0026.png
diff --git a/data/imgs/calibrationdata/left-0027.png b/data/imgs/calibrationdata/left-0027.png
diff --git a/data/imgs/calibrationdata/left-0028.png b/data/imgs/calibrationdata/left-0028.png
diff --git a/data/imgs/calibrationdata/left-0029.png b/data/imgs/calibrationdata/left-0029.png
diff --git a/data/imgs/calibrationdata/left-0030.png b/data/imgs/calibrationdata/left-0030.png
diff --git a/data/imgs/calibrationdata/left-0031.png b/data/imgs/calibrationdata/left-0031.png
diff --git a/data/imgs/calibrationdata/left-0032.png b/data/imgs/calibrationdata/left-0032.png
diff --git a/data/imgs/calibrationdata/left-0033.png b/data/imgs/calibrationdata/left-0033.png
diff --git a/data/imgs/calibrationdata/left-0034.png b/data/imgs/calibrationdata/left-0034.png
diff --git a/data/imgs/calibrationdata/left-0035.png b/data/imgs/calibrationdata/left-0035.png
diff --git a/data/imgs/calibrationdata/left-0036.png b/data/imgs/calibrationdata/left-0036.png
diff --git a/data/imgs/calibrationdata/left-0037.png b/data/imgs/calibrationdata/left-0037.png
diff --git a/data/imgs/calibrationdata/left-0038.png b/data/imgs/calibrationdata/left-0038.png
diff --git a/data/imgs/calibrationdata/left-0039.png b/data/imgs/calibrationdata/left-0039.png
diff --git a/data/imgs/calibrationdata/left-0040.png b/data/imgs/calibrationdata/left-0040.png
diff --git a/data/imgs/calibrationdata/left-0041.png b/data/imgs/calibrationdata/left-0041.png
diff --git a/data/imgs/calibrationdata/left-0042.png b/data/imgs/calibrationdata/left-0042.png
diff --git a/data/imgs/calibrationdata/left-0043.png b/data/imgs/calibrationdata/left-0043.png
diff --git a/data/imgs/calibrationdata/left-0044.png b/data/imgs/calibrationdata/left-0044.png
diff --git a/data/imgs/calibrationdata/left-0045.png b/data/imgs/calibrationdata/left-0045.png
diff --git a/data/imgs/calibrationdata/left-0046.png b/data/imgs/calibrationdata/left-0046.png
diff --git a/data/imgs/calibrationdata/left-0047.png b/data/imgs/calibrationdata/left-0047.png
diff --git a/data/imgs/calibrationdata/left-0048.png b/data/imgs/calibrationdata/left-0048.png
diff --git a/data/imgs/calibrationdata/left-0049.png b/data/imgs/calibrationdata/left-0049.png
diff --git a/data/imgs/calibrationdata/left-0050.png b/data/imgs/calibrationdata/left-0050.png
diff --git a/data/imgs/calibrationdata/left-0051.png b/data/imgs/calibrationdata/left-0051.png
diff --git a/data/imgs/calibrationdata/left-0052.png b/data/imgs/calibrationdata/left-0052.png
diff --git a/data/imgs/calibrationdata/left-0053.png b/data/imgs/calibrationdata/left-0053.png
diff --git a/data/imgs/calibrationdata/left-0054.png b/data/imgs/calibrationdata/left-0054.png
diff --git a/data/imgs/calibrationdata/left-0055.png b/data/imgs/calibrationdata/left-0055.png
diff --git a/data/imgs/calibrationdata/left-0056.png b/data/imgs/calibrationdata/left-0056.png
diff --git a/data/imgs/calibrationdata/left-0057.png b/data/imgs/calibrationdata/left-0057.png
diff --git a/data/imgs/calibrationdata/left-0058.png b/data/imgs/calibrationdata/left-0058.png
diff --git a/data/imgs/calibrationdata/left-0059.png b/data/imgs/calibrationdata/left-0059.png
diff --git a/data/imgs/calibrationdata/left-0060.png b/data/imgs/calibrationdata/left-0060.png
diff --git a/data/imgs/calibrationdata/left-0061.png b/data/imgs/calibrationdata/left-0061.png
diff --git a/data/imgs/calibrationdata/left-0062.png b/data/imgs/calibrationdata/left-0062.png
diff --git a/data/imgs/calibrationdata/left-0063.png b/data/imgs/calibrationdata/left-0063.png
diff --git a/data/imgs/calibrationdata/left-0064.png b/data/imgs/calibrationdata/left-0064.png
diff --git a/data/imgs/calibrationdata/left-0065.png b/data/imgs/calibrationdata/left-0065.png
diff --git a/data/imgs/calibrationdata/left-0066.png b/data/imgs/calibrationdata/left-0066.png
diff --git a/data/imgs/calibrationdata/left.yaml b/data/imgs/calibrationdata/left.yaml
@@ -0,0 +1,26 @@
+image_width: 640
+image_height: 480
+camera_name: narrow_stereo/left
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [ 516.59994,    0.     ,  336.09025,
+            0.     ,  517.37249,  240.91926,
+            0.     ,    0.     ,    1.     ]
+camera_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [0.026571, -0.034210, 0.003277, -0.005444, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [ 0.99999073, -0.00420354, -0.00092856,
+          0.00420532,  0.99998931,  0.00192413,
+          0.00092046, -0.00192802,  0.99999772]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [ 530.5395 ,    0.     ,  328.00837,    0.     ,
+            0.     ,  530.5395 ,  242.05832,    0.     ,
+            0.     ,    0.     ,    1.     ,    0.     ]
diff --git a/data/imgs/calibrationdata/ost.txt b/data/imgs/calibrationdata/ost.txt
@@ -0,0 +1,60 @@
+# oST version 5.0 parameters
+
+
+[image]
+
+width
+640
+
+height
+480
+
+[narrow_stereo/left]
+
+camera matrix
+516.599939 0.000000 336.090247
+0.000000 517.372490 240.919255
+0.000000 0.000000 1.000000
+
+distortion
+0.026571 -0.034210 0.003277 -0.005444 0.000000
+
+rectification
+0.999991 -0.004204 -0.000929
+0.004205 0.999989 0.001924
+0.000920 -0.001928 0.999998
+
+projection
+530.539503 0.000000 328.008369 0.000000
+0.000000 530.539503 242.058321 0.000000
+0.000000 0.000000 1.000000 0.000000
+# oST version 5.0 parameters
+
+
+[image]
+
+width
+640
+
+height
+480
+
+[narrow_stereo/right]
+
+camera matrix
+518.242390 0.000000 311.634592
+0.000000 519.791883 240.411589
+0.000000 0.000000 1.000000
+
+distortion
+0.018105 -0.031117 0.001837 -0.005342 0.000000
+
+rectification
+0.999770 -0.002319 -0.021334
+0.002278 0.999996 -0.001950
+0.021338 0.001901 0.999771
+
+projection
+530.539503 0.000000 328.008369 -30.084789
+0.000000 530.539503 242.058321 0.000000
+0.000000 0.000000 1.000000 0.000000
diff --git a/data/imgs/calibrationdata/right-0000.png b/data/imgs/calibrationdata/right-0000.png
diff --git a/data/imgs/calibrationdata/right-0001.png b/data/imgs/calibrationdata/right-0001.png
diff --git a/data/imgs/calibrationdata/right-0002.png b/data/imgs/calibrationdata/right-0002.png
diff --git a/data/imgs/calibrationdata/right-0003.png b/data/imgs/calibrationdata/right-0003.png
diff --git a/data/imgs/calibrationdata/right-0004.png b/data/imgs/calibrationdata/right-0004.png
diff --git a/data/imgs/calibrationdata/right-0005.png b/data/imgs/calibrationdata/right-0005.png
diff --git a/data/imgs/calibrationdata/right-0006.png b/data/imgs/calibrationdata/right-0006.png
diff --git a/data/imgs/calibrationdata/right-0007.png b/data/imgs/calibrationdata/right-0007.png
diff --git a/data/imgs/calibrationdata/right-0008.png b/data/imgs/calibrationdata/right-0008.png
diff --git a/data/imgs/calibrationdata/right-0009.png b/data/imgs/calibrationdata/right-0009.png
diff --git a/data/imgs/calibrationdata/right-0010.png b/data/imgs/calibrationdata/right-0010.png
diff --git a/data/imgs/calibrationdata/right-0011.png b/data/imgs/calibrationdata/right-0011.png
diff --git a/data/imgs/calibrationdata/right-0012.png b/data/imgs/calibrationdata/right-0012.png
diff --git a/data/imgs/calibrationdata/right-0013.png b/data/imgs/calibrationdata/right-0013.png
diff --git a/data/imgs/calibrationdata/right-0014.png b/data/imgs/calibrationdata/right-0014.png
diff --git a/data/imgs/calibrationdata/right-0015.png b/data/imgs/calibrationdata/right-0015.png
diff --git a/data/imgs/calibrationdata/right-0016.png b/data/imgs/calibrationdata/right-0016.png
diff --git a/data/imgs/calibrationdata/right-0017.png b/data/imgs/calibrationdata/right-0017.png
diff --git a/data/imgs/calibrationdata/right-0018.png b/data/imgs/calibrationdata/right-0018.png
diff --git a/data/imgs/calibrationdata/right-0019.png b/data/imgs/calibrationdata/right-0019.png
diff --git a/data/imgs/calibrationdata/right-0020.png b/data/imgs/calibrationdata/right-0020.png
diff --git a/data/imgs/calibrationdata/right-0021.png b/data/imgs/calibrationdata/right-0021.png
diff --git a/data/imgs/calibrationdata/right-0022.png b/data/imgs/calibrationdata/right-0022.png
diff --git a/data/imgs/calibrationdata/right-0023.png b/data/imgs/calibrationdata/right-0023.png
diff --git a/data/imgs/calibrationdata/right-0024.png b/data/imgs/calibrationdata/right-0024.png
diff --git a/data/imgs/calibrationdata/right-0025.png b/data/imgs/calibrationdata/right-0025.png
diff --git a/data/imgs/calibrationdata/right-0026.png b/data/imgs/calibrationdata/right-0026.png
diff --git a/data/imgs/calibrationdata/right-0027.png b/data/imgs/calibrationdata/right-0027.png
diff --git a/data/imgs/calibrationdata/right-0028.png b/data/imgs/calibrationdata/right-0028.png
diff --git a/data/imgs/calibrationdata/right-0029.png b/data/imgs/calibrationdata/right-0029.png
diff --git a/data/imgs/calibrationdata/right-0030.png b/data/imgs/calibrationdata/right-0030.png
diff --git a/data/imgs/calibrationdata/right-0031.png b/data/imgs/calibrationdata/right-0031.png
diff --git a/data/imgs/calibrationdata/right-0032.png b/data/imgs/calibrationdata/right-0032.png
diff --git a/data/imgs/calibrationdata/right-0033.png b/data/imgs/calibrationdata/right-0033.png
diff --git a/data/imgs/calibrationdata/right-0034.png b/data/imgs/calibrationdata/right-0034.png
diff --git a/data/imgs/calibrationdata/right-0035.png b/data/imgs/calibrationdata/right-0035.png
diff --git a/data/imgs/calibrationdata/right-0036.png b/data/imgs/calibrationdata/right-0036.png
diff --git a/data/imgs/calibrationdata/right-0037.png b/data/imgs/calibrationdata/right-0037.png
diff --git a/data/imgs/calibrationdata/right-0038.png b/data/imgs/calibrationdata/right-0038.png
diff --git a/data/imgs/calibrationdata/right-0039.png b/data/imgs/calibrationdata/right-0039.png
diff --git a/data/imgs/calibrationdata/right-0040.png b/data/imgs/calibrationdata/right-0040.png
diff --git a/data/imgs/calibrationdata/right-0041.png b/data/imgs/calibrationdata/right-0041.png
diff --git a/data/imgs/calibrationdata/right-0042.png b/data/imgs/calibrationdata/right-0042.png
diff --git a/data/imgs/calibrationdata/right-0043.png b/data/imgs/calibrationdata/right-0043.png
diff --git a/data/imgs/calibrationdata/right-0044.png b/data/imgs/calibrationdata/right-0044.png
diff --git a/data/imgs/calibrationdata/right-0045.png b/data/imgs/calibrationdata/right-0045.png
diff --git a/data/imgs/calibrationdata/right-0046.png b/data/imgs/calibrationdata/right-0046.png
diff --git a/data/imgs/calibrationdata/right-0047.png b/data/imgs/calibrationdata/right-0047.png
diff --git a/data/imgs/calibrationdata/right-0048.png b/data/imgs/calibrationdata/right-0048.png
diff --git a/data/imgs/calibrationdata/right-0049.png b/data/imgs/calibrationdata/right-0049.png
diff --git a/data/imgs/calibrationdata/right-0050.png b/data/imgs/calibrationdata/right-0050.png
diff --git a/data/imgs/calibrationdata/right-0051.png b/data/imgs/calibrationdata/right-0051.png
diff --git a/data/imgs/calibrationdata/right-0052.png b/data/imgs/calibrationdata/right-0052.png
diff --git a/data/imgs/calibrationdata/right-0053.png b/data/imgs/calibrationdata/right-0053.png
diff --git a/data/imgs/calibrationdata/right-0054.png b/data/imgs/calibrationdata/right-0054.png
diff --git a/data/imgs/calibrationdata/right-0055.png b/data/imgs/calibrationdata/right-0055.png
diff --git a/data/imgs/calibrationdata/right-0056.png b/data/imgs/calibrationdata/right-0056.png
diff --git a/data/imgs/calibrationdata/right-0057.png b/data/imgs/calibrationdata/right-0057.png
diff --git a/data/imgs/calibrationdata/right-0058.png b/data/imgs/calibrationdata/right-0058.png
diff --git a/data/imgs/calibrationdata/right-0059.png b/data/imgs/calibrationdata/right-0059.png
diff --git a/data/imgs/calibrationdata/right-0060.png b/data/imgs/calibrationdata/right-0060.png
diff --git a/data/imgs/calibrationdata/right-0061.png b/data/imgs/calibrationdata/right-0061.png
diff --git a/data/imgs/calibrationdata/right-0062.png b/data/imgs/calibrationdata/right-0062.png
diff --git a/data/imgs/calibrationdata/right-0063.png b/data/imgs/calibrationdata/right-0063.png
diff --git a/data/imgs/calibrationdata/right-0064.png b/data/imgs/calibrationdata/right-0064.png
diff --git a/data/imgs/calibrationdata/right-0065.png b/data/imgs/calibrationdata/right-0065.png
diff --git a/data/imgs/calibrationdata/right-0066.png b/data/imgs/calibrationdata/right-0066.png
diff --git a/data/imgs/calibrationdata/right.yaml b/data/imgs/calibrationdata/right.yaml
@@ -0,0 +1,26 @@
+image_width: 640
+image_height: 480
+camera_name: narrow_stereo/right
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [ 518.24239,    0.     ,  311.63459,
+            0.     ,  519.79188,  240.41159,
+            0.     ,    0.     ,    1.     ]
+camera_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [0.018105, -0.031117, 0.001837, -0.005342, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [ 0.99976973, -0.0023187 , -0.02133351,
+          0.0022776 ,  0.9999955 , -0.00195049,
+          0.02133794,  0.00190145,  0.99977051]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [ 530.5395 ,    0.     ,  328.00837,  -30.08479,
+            0.     ,  530.5395 ,  242.05832,    0.     ,
+            0.     ,    0.     ,    1.     ,    0.     ]
diff --git a/data/imgs/stereopairs/sp1.jpg b/data/imgs/stereopairs/sp1.jpg
diff --git a/data/imgs/stereopairs/sp2.jpg b/data/imgs/stereopairs/sp2.jpg
diff --git a/data/imgs/stereopairs/sp3.jpg b/data/imgs/stereopairs/sp3.jpg