File size: 2,282 Bytes
c5d13bf c32cc23 c5d13bf c32cc23 c5d13bf c32cc23 c5d13bf c32cc23 7c4d117 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 | # Object models for mask / 6D-pose ground truth.
# T_body_model convention (as pooh reads it), metres:
# p_model = R(rotation_xyzw) @ p_body + translation
# i.e. it maps a point in the OptiTrack rigid body's frame into CAD (model) coords.
cubesat:
class_id: 1
mocap_body: cubesat
mesh: models/CubeSat_U1.obj # Onshape export, metres, Y-up; origin = centre of the face the holder is on
mesh_scale: 1.0
trajectories: [trajectory_007, trajectory_008, trajectory_009]
T_body_model:
translation: [0.0, 0.12035, 0.0]
rotation_xyzw: [0.082481, 0.587695, 0.797056, 0.111865]
# How T_body_model was estimated (not calibrated):
# - In the lab the marker holder was on the BOTTOM face: the cube sits on it, so
# model +Y (toward the holder) = world down.
# - The mocap pivot = the active marker, taken at the holder centre, model (0, 0.1204, 0),
# ~2 cm below the cube; the cube centre is 7.0 cm above the pivot.
# - The vertical is averaged over 007-009 (spread 1-3 deg); the body frame is ~23 deg
# tilted from the cube's axes.
# - Yaw about the vertical is NOT observable from mocap alone (minimal rotation chosen);
# refine with `pooh calibrate`.
antena:
class_id: 2
mocap_body: target
# CAD: models/real/antena/model.obj (labels use model_simple.obj); trajectories and static poses
# come from models/real/mockups.json. Origin = the Motive pivot (OptiTrack ring centre, checked
# in the images); the rotation is fitted: silhouette of the CAD vs image edges in 17
# RealSense frames of trajectories 010, 022, 026, 039, 3.78 px mean edge distance at 640x360.
T_body_model:
translation: [0.0, 0.0, 0.0]
rotation_xyzw: [0.746110, 0.665259, 0.027360, -0.001420]
antena_1_solar:
class_id: 3
mocap_body: target
# CAD: models/real/antena_1_solar/model.obj (labels use model_simple.obj); trajectories and static poses
# come from models/real/mockups.json. Origin = the Motive pivot (OptiTrack ring centre, checked
# in the images); the rotation is fitted: silhouette of the CAD vs image edges in 21
# RealSense frames of trajectories 047, 050, 087, 090, 3.24 px mean edge distance at 640x360.
T_body_model:
translation: [0.0, 0.0, 0.0]
rotation_xyzw: [0.731881, 0.680641, 0.031381, 0.009688]
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