Sim dataset (1071 sim trajectories) (part 2)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- calibration/trajectory_hera_000865.yaml +94 -0
- calibration/trajectory_hera_000866.yaml +94 -0
- calibration/trajectory_hera_000867.yaml +94 -0
- calibration/trajectory_hera_000868.yaml +94 -0
- calibration/trajectory_hera_000869.yaml +94 -0
- calibration/trajectory_hera_000870.yaml +94 -0
- calibration/trajectory_hera_000871.yaml +94 -0
- calibration/trajectory_hera_000872.yaml +94 -0
- calibration/trajectory_hera_000873.yaml +94 -0
- calibration/trajectory_hera_000874.yaml +94 -0
- calibration/trajectory_hera_000875.yaml +94 -0
- calibration/trajectory_hera_000876.yaml +94 -0
- calibration/trajectory_hera_000877.yaml +94 -0
- calibration/trajectory_hera_000878.yaml +94 -0
- calibration/trajectory_hera_000879.yaml +94 -0
- calibration/trajectory_hera_000880.yaml +94 -0
- calibration/trajectory_hera_000881.yaml +94 -0
- calibration/trajectory_hera_000882.yaml +94 -0
- calibration/trajectory_hera_000883.yaml +94 -0
- calibration/trajectory_hera_000884.yaml +94 -0
- calibration/trajectory_hera_000885.yaml +94 -0
- calibration/trajectory_hera_000886.yaml +94 -0
- calibration/trajectory_hera_000887.yaml +94 -0
- calibration/trajectory_hera_000888.yaml +94 -0
- calibration/trajectory_hera_000889.yaml +94 -0
- calibration/trajectory_hera_000890.yaml +94 -0
- calibration/trajectory_hera_000891.yaml +94 -0
- calibration/trajectory_hera_000892.yaml +94 -0
- calibration/trajectory_hera_000893.yaml +94 -0
- calibration/trajectory_hera_000894.yaml +94 -0
- calibration/trajectory_hera_000895.yaml +94 -0
- calibration/trajectory_hera_000896.yaml +94 -0
- calibration/trajectory_hera_000897.yaml +94 -0
- calibration/trajectory_hera_000898.yaml +94 -0
- calibration/trajectory_hera_000899.yaml +94 -0
- calibration/trajectory_hera_000900.yaml +94 -0
- calibration/trajectory_hera_000901.yaml +94 -0
- calibration/trajectory_hera_000902.yaml +94 -0
- calibration/trajectory_hera_000903.yaml +94 -0
- calibration/trajectory_hera_000904.yaml +94 -0
- calibration/trajectory_hera_000905.yaml +94 -0
- calibration/trajectory_hera_000906.yaml +94 -0
- calibration/trajectory_hera_000907.yaml +94 -0
- calibration/trajectory_hera_000908.yaml +94 -0
- calibration/trajectory_hera_000909.yaml +94 -0
- calibration/trajectory_hera_000910.yaml +94 -0
- calibration/trajectory_hera_000911.yaml +94 -0
- calibration/trajectory_hera_000912.yaml +94 -0
- calibration/trajectory_hera_000913.yaml +94 -0
- calibration/trajectory_hera_000914.yaml +94 -0
calibration/trajectory_hera_000865.yaml
ADDED
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@@ -0,0 +1,94 @@
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| 1 |
+
rgb:
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| 2 |
+
source: simulation
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| 3 |
+
width: 320
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| 4 |
+
height: 240
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| 5 |
+
distortion_model: none
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| 6 |
+
D: &id001
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| 7 |
+
- 0.0
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| 8 |
+
- 0.0
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| 9 |
+
- 0.0
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| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
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| 12 |
+
K: &id002
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| 13 |
+
- 227.27272727272725
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| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
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| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
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| 18 |
+
- 120.0
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| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
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| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
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| 24 |
+
T_base_sensor: &id003
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| 25 |
+
parent: robot base (satellite_mockup)
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| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
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| 28 |
+
- 0.0
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| 29 |
+
- 0.17
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| 30 |
+
rotation_xyzw: &id004
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| 31 |
+
- 0.0
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| 32 |
+
- 0.0
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| 33 |
+
- 0.0
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| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
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| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: mm
|
| 48 |
+
scale_m: 0.001
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
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| 51 |
+
- 1000000.0
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| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
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| 55 |
+
height: 240
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| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
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| 78 |
+
- -30.0
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| 79 |
+
- 30.0
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| 80 |
+
horizontal_fov_deg:
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| 81 |
+
- -60.0
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| 82 |
+
- 60.0
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| 83 |
+
horizontal_res_deg: 0.5
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| 84 |
+
max_distance_m: 60.0
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| 85 |
+
T_base_sensor:
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| 86 |
+
parent: robot base (satellite_mockup)
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| 87 |
+
translation_m:
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| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
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| 90 |
+
- 0.17
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| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
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calibration/trajectory_hera_000866.yaml
ADDED
|
@@ -0,0 +1,94 @@
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|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: mm
|
| 48 |
+
scale_m: 0.001
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 60.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000867.yaml
ADDED
|
@@ -0,0 +1,94 @@
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|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: mm
|
| 48 |
+
scale_m: 0.001
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 60.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000868.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: cm
|
| 48 |
+
scale_m: 0.01
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 120.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000869.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: cm
|
| 48 |
+
scale_m: 0.01
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 120.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000870.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: cm
|
| 48 |
+
scale_m: 0.01
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 120.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000871.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: mm
|
| 48 |
+
scale_m: 0.001
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 60.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000872.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: mm
|
| 48 |
+
scale_m: 0.001
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 60.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000873.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: mm
|
| 48 |
+
scale_m: 0.001
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 60.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000874.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: mm
|
| 48 |
+
scale_m: 0.001
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 60.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000875.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: mm
|
| 48 |
+
scale_m: 0.001
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 60.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000876.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: mm
|
| 48 |
+
scale_m: 0.001
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 60.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000877.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: cm
|
| 48 |
+
scale_m: 0.01
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 80.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000878.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: cm
|
| 48 |
+
scale_m: 0.01
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 80.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000879.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: cm
|
| 48 |
+
scale_m: 0.01
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 80.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000880.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: cm
|
| 48 |
+
scale_m: 0.01
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 80.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000881.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: cm
|
| 48 |
+
scale_m: 0.01
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 80.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000882.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: cm
|
| 48 |
+
scale_m: 0.01
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 80.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000883.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: cm
|
| 48 |
+
scale_m: 0.01
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 120.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000884.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: cm
|
| 48 |
+
scale_m: 0.01
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 120.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000885.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: cm
|
| 48 |
+
scale_m: 0.01
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 120.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000886.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: mm
|
| 48 |
+
scale_m: 0.001
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 60.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000887.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: mm
|
| 48 |
+
scale_m: 0.001
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 60.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000888.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: mm
|
| 48 |
+
scale_m: 0.001
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 60.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000889.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: cm
|
| 48 |
+
scale_m: 0.01
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 120.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000890.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: cm
|
| 48 |
+
scale_m: 0.01
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 120.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000891.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: cm
|
| 48 |
+
scale_m: 0.01
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 120.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000892.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: cm
|
| 48 |
+
scale_m: 0.01
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 250.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000893.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: cm
|
| 48 |
+
scale_m: 0.01
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 250.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000894.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: cm
|
| 48 |
+
scale_m: 0.01
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 250.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000895.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: mm
|
| 48 |
+
scale_m: 0.001
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 60.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000896.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: mm
|
| 48 |
+
scale_m: 0.001
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 60.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000897.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: mm
|
| 48 |
+
scale_m: 0.001
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 60.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000898.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: cm
|
| 48 |
+
scale_m: 0.01
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 80.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000899.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: cm
|
| 48 |
+
scale_m: 0.01
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 80.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000900.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: cm
|
| 48 |
+
scale_m: 0.01
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 80.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000901.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (base_link)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.21
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.76
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: mm
|
| 48 |
+
scale_m: 0.001
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_outdoor_sunlit
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 16
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -15.0
|
| 79 |
+
- 15.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -180.0
|
| 82 |
+
- 180.0
|
| 83 |
+
horizontal_res_deg: 1.0
|
| 84 |
+
max_distance_m: 10.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (base_link)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.21
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.76
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000902.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (base_link)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.21
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.76
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: mm
|
| 48 |
+
scale_m: 0.001
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_outdoor_sunlit
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 16
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -15.0
|
| 79 |
+
- 15.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -180.0
|
| 82 |
+
- 180.0
|
| 83 |
+
horizontal_res_deg: 1.0
|
| 84 |
+
max_distance_m: 10.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (base_link)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.21
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.76
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000903.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (base_link)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.21
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.76
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: mm
|
| 48 |
+
scale_m: 0.001
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_outdoor_sunlit
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 16
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -15.0
|
| 79 |
+
- 15.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -180.0
|
| 82 |
+
- 180.0
|
| 83 |
+
horizontal_res_deg: 1.0
|
| 84 |
+
max_distance_m: 10.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (base_link)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.21
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.76
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000904.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: mm
|
| 48 |
+
scale_m: 0.001
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 60.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000905.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: mm
|
| 48 |
+
scale_m: 0.001
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 60.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000906.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: mm
|
| 48 |
+
scale_m: 0.001
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 60.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000907.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: cm
|
| 48 |
+
scale_m: 0.01
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 250.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000908.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: cm
|
| 48 |
+
scale_m: 0.01
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 250.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000909.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (satellite_mockup)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.17
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.17
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: cm
|
| 48 |
+
scale_m: 0.01
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_nominal
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 32
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -30.0
|
| 79 |
+
- 30.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
|
| 82 |
+
- 60.0
|
| 83 |
+
horizontal_res_deg: 0.5
|
| 84 |
+
max_distance_m: 250.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (satellite_mockup)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.17
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.17
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000910.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (base_link)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.21
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.76
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: mm
|
| 48 |
+
scale_m: 0.001
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_outdoor_sunlit
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 16
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -15.0
|
| 79 |
+
- 15.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -180.0
|
| 82 |
+
- 180.0
|
| 83 |
+
horizontal_res_deg: 1.0
|
| 84 |
+
max_distance_m: 10.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (base_link)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.21
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.76
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000911.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (base_link)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.21
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.76
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: mm
|
| 48 |
+
scale_m: 0.001
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_outdoor_sunlit
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 16
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -15.0
|
| 79 |
+
- 15.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -180.0
|
| 82 |
+
- 180.0
|
| 83 |
+
horizontal_res_deg: 1.0
|
| 84 |
+
max_distance_m: 10.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (base_link)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.21
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.76
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000912.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (base_link)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.21
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.76
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: mm
|
| 48 |
+
scale_m: 0.001
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_outdoor_sunlit
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 16
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -15.0
|
| 79 |
+
- 15.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -180.0
|
| 82 |
+
- 180.0
|
| 83 |
+
horizontal_res_deg: 1.0
|
| 84 |
+
max_distance_m: 10.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (base_link)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.21
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.76
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000913.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
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|
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|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (base_link)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.21
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.76
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: mm
|
| 48 |
+
scale_m: 0.001
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_outdoor_sunlit
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 16
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -15.0
|
| 79 |
+
- 15.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -180.0
|
| 82 |
+
- 180.0
|
| 83 |
+
horizontal_res_deg: 1.0
|
| 84 |
+
max_distance_m: 10.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (base_link)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.21
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.76
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|
calibration/trajectory_hera_000914.yaml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rgb:
|
| 2 |
+
source: simulation
|
| 3 |
+
width: 320
|
| 4 |
+
height: 240
|
| 5 |
+
distortion_model: none
|
| 6 |
+
D: &id001
|
| 7 |
+
- 0.0
|
| 8 |
+
- 0.0
|
| 9 |
+
- 0.0
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
K: &id002
|
| 13 |
+
- 227.27272727272725
|
| 14 |
+
- 0.0
|
| 15 |
+
- 160.0
|
| 16 |
+
- 0.0
|
| 17 |
+
- 227.27272727272725
|
| 18 |
+
- 120.0
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 1.0
|
| 22 |
+
focal_length_mm: 5.0
|
| 23 |
+
horizontal_aperture_mm: 7.04
|
| 24 |
+
T_base_sensor: &id003
|
| 25 |
+
parent: robot base (base_link)
|
| 26 |
+
translation_m:
|
| 27 |
+
- 0.21
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.76
|
| 30 |
+
rotation_xyzw: &id004
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 36 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 37 |
+
depth:
|
| 38 |
+
source: simulation
|
| 39 |
+
width: 320
|
| 40 |
+
height: 240
|
| 41 |
+
distortion_model: none
|
| 42 |
+
D: *id001
|
| 43 |
+
K: *id002
|
| 44 |
+
focal_length_mm: 5.0
|
| 45 |
+
horizontal_aperture_mm: 7.04
|
| 46 |
+
T_base_sensor: *id003
|
| 47 |
+
unit: mm
|
| 48 |
+
scale_m: 0.001
|
| 49 |
+
clipping_range_m:
|
| 50 |
+
- 0.01
|
| 51 |
+
- 1000000.0
|
| 52 |
+
semantic:
|
| 53 |
+
source: simulation
|
| 54 |
+
width: 320
|
| 55 |
+
height: 240
|
| 56 |
+
distortion_model: none
|
| 57 |
+
D: *id001
|
| 58 |
+
K: *id002
|
| 59 |
+
focal_length_mm: 5.0
|
| 60 |
+
horizontal_aperture_mm: 7.04
|
| 61 |
+
T_base_sensor: *id003
|
| 62 |
+
events:
|
| 63 |
+
source: simulation
|
| 64 |
+
width: 320
|
| 65 |
+
height: 240
|
| 66 |
+
distortion_model: none
|
| 67 |
+
D: *id001
|
| 68 |
+
K: *id002
|
| 69 |
+
focal_length_mm: 5.0
|
| 70 |
+
horizontal_aperture_mm: 7.04
|
| 71 |
+
T_base_sensor: *id003
|
| 72 |
+
emulator: v2e
|
| 73 |
+
preset: imx636_outdoor_sunlit
|
| 74 |
+
lidar:
|
| 75 |
+
source: simulation
|
| 76 |
+
channels: 16
|
| 77 |
+
vertical_fov_deg:
|
| 78 |
+
- -15.0
|
| 79 |
+
- 15.0
|
| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -180.0
|
| 82 |
+
- 180.0
|
| 83 |
+
horizontal_res_deg: 1.0
|
| 84 |
+
max_distance_m: 10.0
|
| 85 |
+
T_base_sensor:
|
| 86 |
+
parent: robot base (base_link)
|
| 87 |
+
translation_m:
|
| 88 |
+
- 0.21
|
| 89 |
+
- 0.0
|
| 90 |
+
- 0.76
|
| 91 |
+
rotation_xyzw: *id004
|
| 92 |
+
convention: sensor frame x forward, y left, z up; optical frame (z forward, x
|
| 93 |
+
right, y down) = sensor frame rotated by rpy(-90, 0, -90)
|
| 94 |
+
event_camera_sensor: event_camera_inspect
|