| # 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 | |