Projets \ Automatic Image Annotation for Mapped Features Detection \ Raw data for automatic annotation \ Validation set raw data \ sensors_extrinsic_calibration_old.yaml

Nom : sensors_extrinsic_calibration_old.yaml (sensors-extrinsic-calibration-old.yaml)

Description :

Sensor extrinsic calibration to project poles into the vehicle frame, then the lidar frame, and finally the image frame using the camera intrinsic calibration file.

Reference poses are in span frame. Following transformation must be used. SPAN -> BASE -> PANDORA -> FRONT_COLOR using all files.

Créateur : Maxime Noizet 

Taille : 922.00o

Création : 07/10/2024 11:09

Licence : Creative Commons (CC BY 4.0)

#Define base with respect to span:
span:
  #rpy: [-0.0033, 0.0077, -0.0271]
  rpy: [0, 0, 0]
  xyz: [0.0017, 0.0035, -0.2172]
#Define others with respect to base:
velodyne:
  rpy: [0, -0.01, -0.04]
  xyz: [1.0652, 0.00433, 1.56645]
pandora:
  rpy: [0, 0, 1.512796327]
  xyz: [1.5782, -0.0047, 1.5305]
GPS_ant: #phase center
  rpy: [0, 0, 0]
  xyz: [0.0408, -0.001, 1.4523]
GPS_ant_aux: #phase center
  rpy: [0,0,0]
  xyz: [1.2651, -0.0399, 1.4770]
mobileye:
  rpy: [3.1415926535898, 0, 0]
  xyz: [3.427, 0, 0]
dashcam:
  rpy: [0, 0, 0]
  xyz: [2.50, 0.0, 0.90]
ldmrs:
  rpy: [0, 0, 0]
  xyz: [3.377, 0, 0.075]
lms:
  rpy: [0, 0, 3.1415926535898]
  xyz: [-0.807, 0, 0.160]
mobileye_device:
  rpy: [0, 0, 0]
  xyz: [2.060, 0, 0.86]
septentrio_top:
  rpy: [0,0,0]
  xyz: [-0.1881,0.0014,0.4063]
septentrio_up:
  rpy: [0,0,0]
  xyz: [-0.3206, 0.0640, 0.3270]
septentrio_side:
  rpy: [0,0,0]
  xyz: [-0.2214, -0.0496, 0.2783]

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