diff --git a/calibration/trajectory_hera_000865.yaml b/calibration/trajectory_hera_000865.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000865.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000866.yaml b/calibration/trajectory_hera_000866.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000866.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000867.yaml b/calibration/trajectory_hera_000867.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000867.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000868.yaml b/calibration/trajectory_hera_000868.yaml new file mode 100644 index 0000000000000000000000000000000000000000..135dea55a77bddf06d2d56f19794fa106d70086c --- /dev/null +++ b/calibration/trajectory_hera_000868.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 120.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000869.yaml b/calibration/trajectory_hera_000869.yaml new file mode 100644 index 0000000000000000000000000000000000000000..135dea55a77bddf06d2d56f19794fa106d70086c --- /dev/null +++ b/calibration/trajectory_hera_000869.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 120.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000870.yaml b/calibration/trajectory_hera_000870.yaml new file mode 100644 index 0000000000000000000000000000000000000000..135dea55a77bddf06d2d56f19794fa106d70086c --- /dev/null +++ b/calibration/trajectory_hera_000870.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 120.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000871.yaml b/calibration/trajectory_hera_000871.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000871.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000872.yaml b/calibration/trajectory_hera_000872.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000872.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000873.yaml b/calibration/trajectory_hera_000873.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000873.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000874.yaml b/calibration/trajectory_hera_000874.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000874.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000875.yaml b/calibration/trajectory_hera_000875.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000875.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000876.yaml b/calibration/trajectory_hera_000876.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000876.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000877.yaml b/calibration/trajectory_hera_000877.yaml new file mode 100644 index 0000000000000000000000000000000000000000..71be4106c6dd5da9479d665913d43e04af373b84 --- /dev/null +++ b/calibration/trajectory_hera_000877.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 80.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000878.yaml b/calibration/trajectory_hera_000878.yaml new file mode 100644 index 0000000000000000000000000000000000000000..71be4106c6dd5da9479d665913d43e04af373b84 --- /dev/null +++ b/calibration/trajectory_hera_000878.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 80.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000879.yaml b/calibration/trajectory_hera_000879.yaml new file mode 100644 index 0000000000000000000000000000000000000000..71be4106c6dd5da9479d665913d43e04af373b84 --- /dev/null +++ b/calibration/trajectory_hera_000879.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 80.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000880.yaml b/calibration/trajectory_hera_000880.yaml new file mode 100644 index 0000000000000000000000000000000000000000..71be4106c6dd5da9479d665913d43e04af373b84 --- /dev/null +++ b/calibration/trajectory_hera_000880.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 80.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000881.yaml b/calibration/trajectory_hera_000881.yaml new file mode 100644 index 0000000000000000000000000000000000000000..71be4106c6dd5da9479d665913d43e04af373b84 --- /dev/null +++ b/calibration/trajectory_hera_000881.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 80.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000882.yaml b/calibration/trajectory_hera_000882.yaml new file mode 100644 index 0000000000000000000000000000000000000000..71be4106c6dd5da9479d665913d43e04af373b84 --- /dev/null +++ b/calibration/trajectory_hera_000882.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 80.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000883.yaml b/calibration/trajectory_hera_000883.yaml new file mode 100644 index 0000000000000000000000000000000000000000..135dea55a77bddf06d2d56f19794fa106d70086c --- /dev/null +++ b/calibration/trajectory_hera_000883.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 120.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000884.yaml b/calibration/trajectory_hera_000884.yaml new file mode 100644 index 0000000000000000000000000000000000000000..135dea55a77bddf06d2d56f19794fa106d70086c --- /dev/null +++ b/calibration/trajectory_hera_000884.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 120.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000885.yaml b/calibration/trajectory_hera_000885.yaml new file mode 100644 index 0000000000000000000000000000000000000000..135dea55a77bddf06d2d56f19794fa106d70086c --- /dev/null +++ b/calibration/trajectory_hera_000885.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 120.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000886.yaml b/calibration/trajectory_hera_000886.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000886.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000887.yaml b/calibration/trajectory_hera_000887.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000887.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000888.yaml b/calibration/trajectory_hera_000888.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000888.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000889.yaml b/calibration/trajectory_hera_000889.yaml new file mode 100644 index 0000000000000000000000000000000000000000..135dea55a77bddf06d2d56f19794fa106d70086c --- /dev/null +++ b/calibration/trajectory_hera_000889.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 120.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000890.yaml b/calibration/trajectory_hera_000890.yaml new file mode 100644 index 0000000000000000000000000000000000000000..135dea55a77bddf06d2d56f19794fa106d70086c --- /dev/null +++ b/calibration/trajectory_hera_000890.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 120.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000891.yaml b/calibration/trajectory_hera_000891.yaml new file mode 100644 index 0000000000000000000000000000000000000000..135dea55a77bddf06d2d56f19794fa106d70086c --- /dev/null +++ b/calibration/trajectory_hera_000891.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 120.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000892.yaml b/calibration/trajectory_hera_000892.yaml new file mode 100644 index 0000000000000000000000000000000000000000..75b58ad46f97f346f5a90005a2b6f51f384a5a6e --- /dev/null +++ b/calibration/trajectory_hera_000892.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 250.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000893.yaml b/calibration/trajectory_hera_000893.yaml new file mode 100644 index 0000000000000000000000000000000000000000..75b58ad46f97f346f5a90005a2b6f51f384a5a6e --- /dev/null +++ b/calibration/trajectory_hera_000893.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 250.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000894.yaml b/calibration/trajectory_hera_000894.yaml new file mode 100644 index 0000000000000000000000000000000000000000..75b58ad46f97f346f5a90005a2b6f51f384a5a6e --- /dev/null +++ b/calibration/trajectory_hera_000894.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 250.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000895.yaml b/calibration/trajectory_hera_000895.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000895.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000896.yaml b/calibration/trajectory_hera_000896.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000896.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000897.yaml b/calibration/trajectory_hera_000897.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000897.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000898.yaml b/calibration/trajectory_hera_000898.yaml new file mode 100644 index 0000000000000000000000000000000000000000..71be4106c6dd5da9479d665913d43e04af373b84 --- /dev/null +++ b/calibration/trajectory_hera_000898.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 80.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000899.yaml b/calibration/trajectory_hera_000899.yaml new file mode 100644 index 0000000000000000000000000000000000000000..71be4106c6dd5da9479d665913d43e04af373b84 --- /dev/null +++ b/calibration/trajectory_hera_000899.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 80.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000900.yaml b/calibration/trajectory_hera_000900.yaml new file mode 100644 index 0000000000000000000000000000000000000000..71be4106c6dd5da9479d665913d43e04af373b84 --- /dev/null +++ b/calibration/trajectory_hera_000900.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 80.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000901.yaml b/calibration/trajectory_hera_000901.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000901.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000902.yaml b/calibration/trajectory_hera_000902.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000902.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000903.yaml b/calibration/trajectory_hera_000903.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000903.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000904.yaml b/calibration/trajectory_hera_000904.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000904.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000905.yaml b/calibration/trajectory_hera_000905.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000905.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000906.yaml b/calibration/trajectory_hera_000906.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000906.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000907.yaml b/calibration/trajectory_hera_000907.yaml new file mode 100644 index 0000000000000000000000000000000000000000..75b58ad46f97f346f5a90005a2b6f51f384a5a6e --- /dev/null +++ b/calibration/trajectory_hera_000907.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 250.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000908.yaml b/calibration/trajectory_hera_000908.yaml new file mode 100644 index 0000000000000000000000000000000000000000..75b58ad46f97f346f5a90005a2b6f51f384a5a6e --- /dev/null +++ b/calibration/trajectory_hera_000908.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 250.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000909.yaml b/calibration/trajectory_hera_000909.yaml new file mode 100644 index 0000000000000000000000000000000000000000..75b58ad46f97f346f5a90005a2b6f51f384a5a6e --- /dev/null +++ b/calibration/trajectory_hera_000909.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 250.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000910.yaml b/calibration/trajectory_hera_000910.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000910.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000911.yaml b/calibration/trajectory_hera_000911.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000911.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000912.yaml b/calibration/trajectory_hera_000912.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000912.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000913.yaml b/calibration/trajectory_hera_000913.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000913.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000914.yaml b/calibration/trajectory_hera_000914.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000914.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000915.yaml b/calibration/trajectory_hera_000915.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000915.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000916.yaml b/calibration/trajectory_hera_000916.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000916.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000917.yaml b/calibration/trajectory_hera_000917.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000917.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000918.yaml b/calibration/trajectory_hera_000918.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000918.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000919.yaml b/calibration/trajectory_hera_000919.yaml new file mode 100644 index 0000000000000000000000000000000000000000..75b58ad46f97f346f5a90005a2b6f51f384a5a6e --- /dev/null +++ b/calibration/trajectory_hera_000919.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 250.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000920.yaml b/calibration/trajectory_hera_000920.yaml new file mode 100644 index 0000000000000000000000000000000000000000..75b58ad46f97f346f5a90005a2b6f51f384a5a6e --- /dev/null +++ b/calibration/trajectory_hera_000920.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 250.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000921.yaml b/calibration/trajectory_hera_000921.yaml new file mode 100644 index 0000000000000000000000000000000000000000..75b58ad46f97f346f5a90005a2b6f51f384a5a6e --- /dev/null +++ b/calibration/trajectory_hera_000921.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 250.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000922.yaml b/calibration/trajectory_hera_000922.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000922.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000923.yaml b/calibration/trajectory_hera_000923.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000923.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000924.yaml b/calibration/trajectory_hera_000924.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000924.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000925.yaml b/calibration/trajectory_hera_000925.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000925.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000926.yaml b/calibration/trajectory_hera_000926.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000926.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000927.yaml b/calibration/trajectory_hera_000927.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000927.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000928.yaml b/calibration/trajectory_hera_000928.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000928.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000929.yaml b/calibration/trajectory_hera_000929.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000929.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000930.yaml b/calibration/trajectory_hera_000930.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000930.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000931.yaml b/calibration/trajectory_hera_000931.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000931.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000932.yaml b/calibration/trajectory_hera_000932.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000932.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000933.yaml b/calibration/trajectory_hera_000933.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000933.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000934.yaml b/calibration/trajectory_hera_000934.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000934.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000935.yaml b/calibration/trajectory_hera_000935.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000935.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000936.yaml b/calibration/trajectory_hera_000936.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000936.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000937.yaml b/calibration/trajectory_hera_000937.yaml new file mode 100644 index 0000000000000000000000000000000000000000..75b58ad46f97f346f5a90005a2b6f51f384a5a6e --- /dev/null +++ b/calibration/trajectory_hera_000937.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 250.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000938.yaml b/calibration/trajectory_hera_000938.yaml new file mode 100644 index 0000000000000000000000000000000000000000..75b58ad46f97f346f5a90005a2b6f51f384a5a6e --- /dev/null +++ b/calibration/trajectory_hera_000938.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 250.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000939.yaml b/calibration/trajectory_hera_000939.yaml new file mode 100644 index 0000000000000000000000000000000000000000..75b58ad46f97f346f5a90005a2b6f51f384a5a6e --- /dev/null +++ b/calibration/trajectory_hera_000939.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 250.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000940.yaml b/calibration/trajectory_hera_000940.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000940.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000941.yaml b/calibration/trajectory_hera_000941.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000941.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000942.yaml b/calibration/trajectory_hera_000942.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000942.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000943.yaml b/calibration/trajectory_hera_000943.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000943.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000944.yaml b/calibration/trajectory_hera_000944.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000944.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000945.yaml b/calibration/trajectory_hera_000945.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000945.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000946.yaml b/calibration/trajectory_hera_000946.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000946.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000947.yaml b/calibration/trajectory_hera_000947.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000947.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000948.yaml b/calibration/trajectory_hera_000948.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000948.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000949.yaml b/calibration/trajectory_hera_000949.yaml new file mode 100644 index 0000000000000000000000000000000000000000..71be4106c6dd5da9479d665913d43e04af373b84 --- /dev/null +++ b/calibration/trajectory_hera_000949.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 80.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000950.yaml b/calibration/trajectory_hera_000950.yaml new file mode 100644 index 0000000000000000000000000000000000000000..71be4106c6dd5da9479d665913d43e04af373b84 --- /dev/null +++ b/calibration/trajectory_hera_000950.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 80.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000951.yaml b/calibration/trajectory_hera_000951.yaml new file mode 100644 index 0000000000000000000000000000000000000000..71be4106c6dd5da9479d665913d43e04af373b84 --- /dev/null +++ b/calibration/trajectory_hera_000951.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 80.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000952.yaml b/calibration/trajectory_hera_000952.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000952.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000953.yaml b/calibration/trajectory_hera_000953.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000953.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000954.yaml b/calibration/trajectory_hera_000954.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000954.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000955.yaml b/calibration/trajectory_hera_000955.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000955.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000956.yaml b/calibration/trajectory_hera_000956.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000956.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000957.yaml b/calibration/trajectory_hera_000957.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000957.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000958.yaml b/calibration/trajectory_hera_000958.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000958.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000959.yaml b/calibration/trajectory_hera_000959.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000959.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000960.yaml b/calibration/trajectory_hera_000960.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000960.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000961.yaml b/calibration/trajectory_hera_000961.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000961.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000962.yaml b/calibration/trajectory_hera_000962.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000962.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000963.yaml b/calibration/trajectory_hera_000963.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000963.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000964.yaml b/calibration/trajectory_hera_000964.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000964.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000965.yaml b/calibration/trajectory_hera_000965.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000965.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000966.yaml b/calibration/trajectory_hera_000966.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000966.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000967.yaml b/calibration/trajectory_hera_000967.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000967.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000968.yaml b/calibration/trajectory_hera_000968.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000968.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000969.yaml b/calibration/trajectory_hera_000969.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000969.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000970.yaml b/calibration/trajectory_hera_000970.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000970.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000971.yaml b/calibration/trajectory_hera_000971.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000971.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000972.yaml b/calibration/trajectory_hera_000972.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000972.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000973.yaml b/calibration/trajectory_hera_000973.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000973.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000974.yaml b/calibration/trajectory_hera_000974.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000974.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000975.yaml b/calibration/trajectory_hera_000975.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000975.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000976.yaml b/calibration/trajectory_hera_000976.yaml new file mode 100644 index 0000000000000000000000000000000000000000..75b58ad46f97f346f5a90005a2b6f51f384a5a6e --- /dev/null +++ b/calibration/trajectory_hera_000976.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 250.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000977.yaml b/calibration/trajectory_hera_000977.yaml new file mode 100644 index 0000000000000000000000000000000000000000..75b58ad46f97f346f5a90005a2b6f51f384a5a6e --- /dev/null +++ b/calibration/trajectory_hera_000977.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 250.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000978.yaml b/calibration/trajectory_hera_000978.yaml new file mode 100644 index 0000000000000000000000000000000000000000..75b58ad46f97f346f5a90005a2b6f51f384a5a6e --- /dev/null +++ b/calibration/trajectory_hera_000978.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 250.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000979.yaml b/calibration/trajectory_hera_000979.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000979.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000980.yaml b/calibration/trajectory_hera_000980.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000980.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000981.yaml b/calibration/trajectory_hera_000981.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000981.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000982.yaml b/calibration/trajectory_hera_000982.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000982.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000983.yaml b/calibration/trajectory_hera_000983.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000983.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000984.yaml b/calibration/trajectory_hera_000984.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000984.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000985.yaml b/calibration/trajectory_hera_000985.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000985.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000986.yaml b/calibration/trajectory_hera_000986.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000986.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000987.yaml b/calibration/trajectory_hera_000987.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000987.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000988.yaml b/calibration/trajectory_hera_000988.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000988.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000989.yaml b/calibration/trajectory_hera_000989.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000989.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000990.yaml b/calibration/trajectory_hera_000990.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000990.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000991.yaml b/calibration/trajectory_hera_000991.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000991.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000992.yaml b/calibration/trajectory_hera_000992.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000992.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000993.yaml b/calibration/trajectory_hera_000993.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000993.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000994.yaml b/calibration/trajectory_hera_000994.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000994.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000995.yaml b/calibration/trajectory_hera_000995.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000995.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000996.yaml b/calibration/trajectory_hera_000996.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000996.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000997.yaml b/calibration/trajectory_hera_000997.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000997.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000998.yaml b/calibration/trajectory_hera_000998.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000998.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000999.yaml b/calibration/trajectory_hera_000999.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000999.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect