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Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- calibration/trajectory_hera_000004.yaml +94 -0
- calibration/trajectory_hera_000009.yaml +94 -0
- calibration/trajectory_hera_000014.yaml +94 -0
- calibration/trajectory_hera_000021.yaml +94 -0
- calibration/trajectory_hera_000027.yaml +94 -0
- calibration/trajectory_hera_000032.yaml +94 -0
- calibration/trajectory_hera_000036.yaml +94 -0
- calibration/trajectory_hera_000039.yaml +94 -0
- calibration/trajectory_hera_000048.yaml +94 -0
- calibration/trajectory_hera_000054.yaml +94 -0
- calibration/trajectory_hera_000062.yaml +94 -0
- calibration/trajectory_hera_000065.yaml +94 -0
- calibration/trajectory_hera_000067.yaml +94 -0
- calibration/trajectory_hera_000069.yaml +94 -0
- calibration/trajectory_hera_000071.yaml +94 -0
- calibration/trajectory_hera_000075.yaml +94 -0
- calibration/trajectory_hera_000079.yaml +94 -0
- calibration/trajectory_hera_000083.yaml +94 -0
- calibration/trajectory_hera_000088.yaml +94 -0
- calibration/trajectory_hera_000089.yaml +94 -0
- calibration/trajectory_hera_000091.yaml +94 -0
- calibration/trajectory_hera_000106.yaml +94 -0
- calibration/trajectory_hera_000108.yaml +94 -0
- calibration/trajectory_hera_000111.yaml +94 -0
- calibration/trajectory_hera_000113.yaml +94 -0
- calibration/trajectory_hera_000123.yaml +94 -0
- calibration/trajectory_hera_000126.yaml +94 -0
- calibration/trajectory_hera_000132.yaml +94 -0
- calibration/trajectory_hera_000139.yaml +94 -0
- calibration/trajectory_hera_000140.yaml +94 -0
- calibration/trajectory_hera_000143.yaml +94 -0
- calibration/trajectory_hera_000144.yaml +94 -0
- calibration/trajectory_hera_000147.yaml +94 -0
- calibration/trajectory_hera_000156.yaml +94 -0
- calibration/trajectory_hera_000157.yaml +94 -0
- calibration/trajectory_hera_000158.yaml +94 -0
- calibration/trajectory_hera_000160.yaml +94 -0
- calibration/trajectory_hera_000161.yaml +94 -0
- calibration/trajectory_hera_000165.yaml +94 -0
- calibration/trajectory_hera_000166.yaml +94 -0
- calibration/trajectory_hera_000167.yaml +94 -0
- calibration/trajectory_hera_000172.yaml +94 -0
- calibration/trajectory_hera_000177.yaml +94 -0
- calibration/trajectory_hera_000182.yaml +94 -0
- calibration/trajectory_hera_000186.yaml +94 -0
- calibration/trajectory_hera_000192.yaml +94 -0
- calibration/trajectory_hera_000194.yaml +94 -0
- calibration/trajectory_hera_000199.yaml +94 -0
- calibration/trajectory_hera_000201.yaml +94 -0
- calibration/trajectory_hera_000204.yaml +94 -0
calibration/trajectory_hera_000004.yaml
ADDED
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@@ -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
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| 80 |
+
horizontal_fov_deg:
|
| 81 |
+
- -60.0
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| 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_000009.yaml
ADDED
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@@ -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 (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_000014.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 (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_000021.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_000027.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_000032.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_000036.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_000039.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_000048.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_000054.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_000062.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_000065.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_000067.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_000069.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_000071.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_000075.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_000079.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_000083.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_000088.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_000089.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_000091.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_000106.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_000108.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_000111.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_000113.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_000123.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_000126.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_000132.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_000139.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_000140.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_000143.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_000144.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_000147.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_000156.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_000157.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_000158.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_000160.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_000161.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_000165.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_000166.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_000167.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_000172.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_000177.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_000182.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_000186.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_000192.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_000194.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_000199.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_000201.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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|
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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 (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_000204.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
|