refactor: change parameters file for c2 camera

calibrators/intrinsic_camera_calibrator/intrinsic_camera_calibrator/config/c2_intrinsics_calibrator.yaml

@@ -9,15 +9,15 @@ calibration_parameters:
   use_ransac_pre_rejection: true # yamllint disable-line rule:truthy
   pre_rejection_iterations: 100
   pre_rejection_min_hypotheses: 6
-  pre_rejection_max_rms_error: 0.35
+  pre_rejection_max_rms_error: 0.5
   max_calibration_samples: 80
   max_fast_calibration_samples: 20
   use_entropy_maximization_subsampling: true # yamllint disable-line rule:truthy
   subsampling_pixel_cells: 16
   subsampling_tilt_resolution: 15.0
   subsampling_max_tilt_deg: 45.0
   use_post_rejection: true # yamllint disable-line rule:truthy
-  post_rejection_max_rms_error: 0.35
+  post_rejection_max_rms_error: 0.5
   plot_calibration_data_statistics: true # yamllint disable-line rule:truthy
   plot_calibration_results_statistics: true # yamllint disable-line rule:truthy
   viz_pixel_cells: 16
@@ -27,13 +27,15 @@ calibration_parameters:
   radial_distortion_coefficients: 3
   rational_distortion_coefficients: 3
   use_tangential_distortion: true
+  pre_calibration_num_samples: 40
+  regularization_weight: 0.2
   enable_prism_model: false
   fix_principal_point: false
   fix_aspect_ratio: false
   use_lu_decomposition: false
   use_qr_decomposition: false
 
-calibrator_type: opencv
+calibrator_type: ceres
 
 data_collector:
   max_samples: 500
@@ -43,13 +45,13 @@ data_collector:
   max_allowed_pixel_speed: 10.0
   max_allowed_speed: 0.1
   filter_by_reprojection_error: true # yamllint disable-line rule:truthy
-  max_allowed_max_reprojection_error: 0.5
-  max_allowed_rms_reprojection_error: 0.3
+  max_allowed_max_reprojection_error: 2.0
+  max_allowed_rms_reprojection_error: 0.5
   filter_by_2d_redundancy: true # yamllint disable-line rule:truthy
   min_normalized_2d_center_difference: 0.05
   min_normalized_skew_difference: 0.05
   min_normalized_2d_size_difference: 0.05
-  filter_by_3d_redundancy: true # yamllint disable-line rule:truthy
+  filter_by_3d_redundancy: false # yamllint disable-line rule:truthy
   min_3d_center_difference: 1.0
   min_tilt_difference: 15.0
   heatmap_cells: 16