File size: 1,219 Bytes
c5d13bf 0303e12 feed611 c5d13bf 0303e12 c5d13bf 0303e12 c5d13bf 0303e12 feed611 0303e12 feed611 0303e12 feed611 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 | # Object models for mask / 6D-pose ground truth.
# T_body_model maps CAD (model) coords into the OptiTrack rigid body's frame:
# p_body = R(rotation_xyzw) @ p_model + translation (metres)
# cubesat.T_body_model: from 4 CAD marker positions matched to CubeSat_U1.motive (max residual 1.2 mm)
# keypoints: the cube body's 8 corners (clickable in images; excludes the marker holder)
cubesat:
class_id: 1
mocap_body: cubesat
mesh: models/CubeSat_U1.obj
mesh_scale: 1.0
trajectories:
- trajectory_007
- trajectory_008
- trajectory_009
T_body_model:
translation:
- -0.000775
- 0.00396
- -0.123879
rotation_xyzw:
- 0.54976
- 0.45179
- 0.457284
- 0.533424
cad_markers:
- - 0.046077
- 0.117998
- -0.046034
- - -0.047354
- 0.1215
- -0.047401
- - -0.047354
- 0.1215
- 0.047398
- - 0.047445
- 0.1215
- 0.047398
motive_file: models/CubeSat_U1.motive
keypoints:
- - -0.05
- 0.0
- -0.05
- - -0.05
- 0.0
- 0.05
- - -0.05
- 0.1
- -0.05
- - -0.05
- 0.1
- 0.05
- - 0.05
- 0.0
- -0.05
- - 0.05
- 0.0
- 0.05
- - 0.05
- 0.1
- -0.05
- - 0.05
- 0.1
- 0.05
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