| # 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] | |