single-camera calibrations for plane andybarry#3.

sensors/stereo/calib-odroid-cam3/D1-single.xml

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+<?xml version="1.0"?>
+<opencv_storage>
+<D1-single type_id="opencv-matrix">
+  <rows>1</rows>
+  <cols>5</cols>
+  <dt>d</dt>
+  <data>
+    -0.415761 0.224946 -0.002174
+    -0.000483 -0.074686</data></D1-single>
+</opencv_storage>

sensors/stereo/calib-odroid-cam3/D2-single.xml

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+<?xml version="1.0"?>
+<opencv_storage>
+<D1-single type_id="opencv-matrix">
+  <rows>1</rows>
+  <cols>5</cols>
+  <dt>d</dt>
+  <data>
+    -0.419393 0.217918 0.000807
+    -0.000445 -0.061205</data></D1-single>
+</opencv_storage>

sensors/stereo/calib-odroid-cam3/M1-single.xml

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+<?xml version="1.0"?>
+<opencv_storage>
+<M1-single type_id="opencv-matrix">
+  <rows>3</rows>
+  <cols>3</cols>
+  <dt>d</dt>
+  <data>
+    324.293413 0. 202.615133 0.
+    323.648066 121.170385 0. 0. 1.</data></M1-single>
+</opencv_storage>

sensors/stereo/calib-odroid-cam3/M2-single.xml

@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<opencv_storage>
+<M1-single type_id="opencv-matrix">
+  <rows>3</rows>
+  <cols>3</cols>
+  <dt>d</dt>
+  <data>
+    323.707095 0. 177.180961 0.
+    323.179246 122.556582 0. 0. 1.</data></M1-single>
+</opencv_storage>

sensors/stereo/deltawing-stereo-odroid-cam3.conf

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+# Stereo configuration file
+
+#################################################
+[cameras]
+#################################################
+
+# GUIDs (Unique ID) of the left and right cameras
+# if you have new cameras, run "dc1394-camls" to
+# figure these out
+left = 0x00b09d0100c728a6
+right = 0x00b09d0100a01ac5
+
+# calibration directory
+# this directory should contain a bunch of XML files
+# like D1.xml, D2.xml, M1.xml, etc. You can create these
+# files using opencv-calibrate
+# do not include a trailing slash (/).
+calibrationDir = /home/$USER/realtime/sensors/stereo/calib-odroid-cam3
+
+# conversion from internal calibration to outside world
+# set to, for example, 100 if calibration is in cm and outside
+# programs expect it in meters.
+calibrationUnitConversion = 1
+
+# last row of fully valid pixels.  Set to -1 for the entire image
+lastValidPixelRow = 205
+
+# video save directory
+# do not include a trailing slash (/).
+videoSaveDir = /home/odroid/realtime/sensors/stereo/vids
+
+# using PGM disables video recording to avi and writes many PGM files instead
+# this is highly recommended, otherwise even with Y800 you will get
+# lossy files (coversion through BGR)
+usePGM = true
+
+# compression codec FOURCC
+#fourcc = Y800
+fourcc = DIVX
+
+#################################################
+[settings]
+#################################################
+
+# Stereo disparity.  Can be positive or negative
+disparity = -43
+
+# Infinite distance disparity.  This is what is used
+# to filter out false-positives.  Can be positive
+# or negative
+infiniteDisparity = -31
+
+# Parameter that determines how aggressive the interest
+# (derivative-based) filtering is. Must be positive
+interestOperatorLimit = 860
+
+# Parameter that determines the scaling for how much more likely
+# a horizontal-invariance check will match.
+# Set to 1 for equal likelyhood, set to 0.5 for 2x decrease in score
+# (higher score means worse match)
+horizontalInvarianceMultiplier = 0.5
+
+# Search block size. If this isn't 5, you better know
+# what you're doing
+blockSize = 5
+
+# SAD (sum of absolute differences) threshold. Smaller means pixels
+# much match better. Must be positive
+sadThreshold = 54
+
+#################################################
+[lcm]
+#################################################
+
+# the broadcast URL to use
+url = udpm://239.255.76.67:7667?ttl=1
+
+# channel name to read control signals on
+stereo_control_channel = stereo-control
+
+# channel containing baro_airspeed messages (for airspeed HUD)
+baro_airspeed_channel = baro-airspeed
+
+# channel containing pose_t messages (from state estimator)
+pose_channel = STATE_ESTIMATOR_POSE
+
+# channel containing gps_data_t messages (for HUD)
+gps_channel = gps
+
+# channel containing stereo messages for reply
+stereo_replay_channel = stereo_replay
+
+# channel for battery status
+battery_status_channel = battery-status
+
+# channel containing servo out messages
+servo_out_channel = servo_out
+
+# cpu info
+cpu_info_channel1 = cpu-info-odroid-cam1
+cpu_info_channel2 = cpu-info-odroid-cam2
+cpu_info_channel3 = cpu-info-odroid-cam3