Apply 2026-08-27 camera calibration to FAST-LIVO2 configs
Intrinsics from camera2_ws/.../camera_info_cam{1,2,3}.yaml (ROS
camera_calibration): camera_matrix -> cam_fx/fy/cx/cy,
distortion_coefficients[0..3] -> cam_d0..d3.
Extrinsics from dvlc_data/cam{1,2,3}_preprocessed/calib.json
(direct_visual_lidar_calibration) results.T_lidar_camera, converted to
FAST-LIVO2's Rcl/Pcl convention (Rcl = R(q)^T, Pcl = -R(q)^T @ t).
Updated triple/dual/single camera + extrinsic configs; previous values
retained as dated comments. install/ is symlinked, no rebuild needed.
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01RvLEWLBraLsV7WnheZJUTD
This commit is contained in:
gardentech
@@ -4,16 +4,25 @@
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cam_width: 1440
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cam_height: 1080
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scale: 1.0
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# --- 4mm lens (cam1, DA9492688, 2026-08-04 재캘리브레이션 ROS camera_calibration, 3카메라 마운트, 현재 활성) ---
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# camera2_ws/src/hik_camera_ros2_driver/config/camera_info_cam1.yaml
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cam_fx: 1194.054103
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cam_fy: 1193.734257
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cam_cx: 731.768445
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cam_cy: 554.579899
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cam_d0: -0.104538
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cam_d1: 0.094169
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cam_d2: -0.000219
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cam_d3: 0.002476
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# --- 4mm lens (cam1, DA9492688, 2026-08-27 재캘리브레이션 ROS camera_calibration, 3카메라 마운트, 현재 활성) ---
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# camera2_ws/src/hik_camera_ros2_driver/config/camera_info_cam1.yaml (camera_matrix + distortion_coefficients[0..3])
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cam_fx: 1224.916886
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cam_fy: 1224.832639
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cam_cx: 725.118164
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cam_cy: 535.523447
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cam_d0: -0.076763
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cam_d1: 0.072682
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cam_d2: -0.002419
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cam_d3: 0.002109
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# --- 4mm lens (cam1, 2026-08-04 재캘리브레이션, 폐기) ---
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# cam_fx: 1194.054103
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# cam_fy: 1193.734257
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# cam_cx: 731.768445
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# cam_cy: 554.579899
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# cam_d0: -0.104538
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# cam_d1: 0.094169
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# cam_d2: -0.000219
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# cam_d3: 0.002476
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# --- 4mm lens (cam1, 2026-07-29 18:44 재캘리브레이션, 폐기) ---
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# cam_fx: 1199.340963
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# cam_fy: 1202.587584
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@@ -4,16 +4,25 @@
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cam_width: 1440
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cam_height: 1080
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scale: 1.0
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# --- 4mm lens (cam2, DB0174264, 2026-08-04 재캘리브레이션 ROS camera_calibration, 3카메라 마운트, 현재 활성) ---
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# camera2_ws/src/hik_camera_ros2_driver/config/camera_info_cam2.yaml
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cam_fx: 1193.023682
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cam_fy: 1194.022942
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cam_cx: 716.099838
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cam_cy: 571.401918
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cam_d0: -0.102107
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cam_d1: 0.089022
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cam_d2: 0.003037
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cam_d3: 0.002550
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# --- 4mm lens (cam2, DB0174264, 2026-08-27 재캘리브레이션 ROS camera_calibration, 3카메라 마운트, 현재 활성) ---
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# camera2_ws/src/hik_camera_ros2_driver/config/camera_info_cam2.yaml (camera_matrix + distortion_coefficients[0..3])
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cam_fx: 1175.884129
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cam_fy: 1176.476788
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cam_cx: 700.828862
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cam_cy: 595.203149
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cam_d0: -0.112603
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cam_d1: 0.080548
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cam_d2: 0.005849
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cam_d3: -0.000873
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# --- 4mm lens (cam2, 2026-08-04 재캘리브레이션, 폐기) ---
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# cam_fx: 1193.023682
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# cam_fy: 1194.022942
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# cam_cx: 716.099838
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# cam_cy: 571.401918
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# cam_d0: -0.102107
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# cam_d1: 0.089022
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# cam_d2: 0.003037
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# cam_d3: 0.002550
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# --- 4mm lens (cam2, 2026-07-29 18:44 재캘리브레이션, 폐기) ---
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# cam_fx: 1199.655517
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# cam_fy: 1203.544082
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@@ -4,17 +4,26 @@
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cam_width: 1440
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cam_height: 1080
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scale: 1.0
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# --- 4mm lens (cam3, DB0159632, 2026-08-04 재캘리브레이션 ROS camera_calibration, 광축 180도
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# --- 4mm lens (cam3, DB0159632, 2026-08-27 재캘리브레이션 ROS camera_calibration, 광축 180도
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# 회전 재장착 이후, 3카메라 마운트, 현재 활성) ---
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# camera2_ws/src/hik_camera_ros2_driver/config/camera_info_cam3.yaml
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cam_fx: 1195.670418
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cam_fy: 1194.671092
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cam_cx: 708.482568
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cam_cy: 536.506534
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cam_d0: -0.108922
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cam_d1: 0.102295
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cam_d2: -0.000250
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cam_d3: -0.000830
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# camera2_ws/src/hik_camera_ros2_driver/config/camera_info_cam3.yaml (camera_matrix + distortion_coefficients[0..3])
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cam_fx: 1169.607328
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cam_fy: 1164.630822
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cam_cx: 682.502192
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cam_cy: 534.780361
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cam_d0: -0.117446
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cam_d1: 0.091034
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cam_d2: 0.001009
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cam_d3: -0.006132
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# --- 4mm lens (cam3, 2026-08-04 재캘리브레이션, 폐기) ---
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# cam_fx: 1195.670418
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# cam_fy: 1194.671092
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# cam_cx: 708.482568
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# cam_cy: 536.506534
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# cam_d0: -0.108922
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# cam_d1: 0.102295
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# cam_d2: -0.000250
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# cam_d3: -0.000830
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# --- 4mm lens (cam3, 2026-07-29 18:44 재캘리브레이션, 폐기 — 회전 이전) ---
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# cam_fx: 1193.562151
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# cam_fy: 1197.422324
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@@ -9,53 +9,51 @@
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ros__parameters:
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cam_num: 2
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cam_0:
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# cam1 (DA9492688, 4mm lens), ROS camera_calibration 2026-08-04, 3-camera rig mount
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# cam1 (DA9492688, 4mm lens), ROS camera_calibration 2026-08-27, 3-camera rig mount
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# (camera2_ws/src/hik_camera_ros2_driver/config/camera_info_cam1.yaml)
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# D = [k1, k2, p1, p2, k3=0.0] -> cam_d0..d3 (k3 dropped, it's 0)
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# NOTE: this file's intrinsics are current, but extrin_dualcam_cam1_cam2.yaml's
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# Rcl/Pcl are from the 2-camera-rig mount and are stale now that the rig is 3-camera.
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# cam_fx/fy/cx/cy = camera_matrix(raw K); D = [k1, k2, p1, p2, k3=0.0] -> cam_d0..d3 (k3 생략)
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cam_model: Pinhole
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cam_width: 1440
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cam_height: 1080
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scale: 1.0
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cam_fx: 1194.054103
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cam_fy: 1193.734257
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cam_cx: 731.768445
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cam_cy: 554.579899
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cam_d0: -0.104538
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cam_d1: 0.094169
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cam_d2: -0.000219
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cam_d3: 0.002476
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# --- 이전 (2026-07-29 18:44) ---
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# cam_fx: 1199.340963
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# cam_fy: 1202.587584
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# cam_cx: 743.375449
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# cam_cy: 557.776165
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# cam_d0: -0.103276
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# cam_d1: 0.093289
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# cam_d2: -0.000926
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# cam_d3: 0.003536
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cam_fx: 1224.916886
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cam_fy: 1224.832639
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cam_cx: 725.118164
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cam_cy: 535.523447
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cam_d0: -0.076763
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cam_d1: 0.072682
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cam_d2: -0.002419
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cam_d3: 0.002109
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# --- 이전 (2026-08-04) ---
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# cam_fx: 1194.054103
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# cam_fy: 1193.734257
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# cam_cx: 731.768445
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# cam_cy: 554.579899
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# cam_d0: -0.104538
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# cam_d1: 0.094169
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# cam_d2: -0.000219
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# cam_d3: 0.002476
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cam_1:
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# cam2 (DB0174264, 4mm lens), ROS camera_calibration 2026-08-04, 3-camera rig mount
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# cam2 (DB0174264, 4mm lens), ROS camera_calibration 2026-08-27, 3-camera rig mount
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# (camera2_ws/src/hik_camera_ros2_driver/config/camera_info_cam2.yaml)
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cam_model: Pinhole
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cam_width: 1440
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cam_height: 1080
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scale: 1.0
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cam_fx: 1193.023682
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cam_fy: 1194.022942
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cam_cx: 716.099838
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cam_cy: 571.401918
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cam_d0: -0.102107
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cam_d1: 0.089022
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cam_d2: 0.003037
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cam_d3: 0.002550
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# --- 이전 (2026-07-29 18:44) ---
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# cam_fx: 1199.655517
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# cam_fy: 1203.544082
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# cam_cx: 700.154366
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# cam_cy: 570.801288
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# cam_d0: -0.106583
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# cam_d1: 0.094309
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# cam_d2: -0.001065
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# cam_d3: -0.000934
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cam_fx: 1175.884129
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cam_fy: 1176.476788
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cam_cx: 700.828862
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cam_cy: 595.203149
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cam_d0: -0.112603
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cam_d1: 0.080548
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cam_d2: 0.005849
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cam_d3: -0.000873
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# --- 이전 (2026-08-04) ---
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# cam_fx: 1193.023682
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# cam_fy: 1194.022942
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# cam_cx: 716.099838
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# cam_cy: 571.401918
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# cam_d0: -0.102107
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# cam_d1: 0.089022
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# cam_d2: 0.003037
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# cam_d3: 0.002550
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@@ -6,28 +6,41 @@
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# can read each camera's intrinsics under its own "cam_<i>." prefix. Camera
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# indices must match the order of entries in extrin_triplecam_cam1_cam2_cam3.yaml.
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#
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# Intrinsics below: 2026-08-04 재캘리브레이션 — current for all three.
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# Intrinsics below: 2026-08-27 재캘리브레이션 — current for all three.
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# 출처: camera2_ws/src/hik_camera_ros2_driver/config/camera_info_cam{1,2,3}.yaml
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# (ROS camera_calibration, 3-camera rig mount, Documents/intrinsic calibration.odt)
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# cam_fx/fy/cx/cy = camera_matrix(raw K), cam_d0..d3 = distortion_coefficients[0..3]
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# (plumb_bob k1,k2,p1,p2; k3=0 생략).
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# 참고: cam3는 2026-08-04에 광축 기준 반시계 180도 회전 재장착됨. 아래 값은 회전 이후
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# 상태로 재촬영한 것이라 그대로 유효함 (camera2_ws/.../camera_info_cam3.yaml 참고).
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# Extrinsics (Rcl/Pcl in extrin_triplecam_cam1_cam2_cam3.yaml) also updated to match
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# (direct_visual_lidar_calibration, 2026-08-04, dvlc_data/{cam1,cam2,cam3}_preprocessed).
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# (direct_visual_lidar_calibration, 2026-08-27, dvlc_data/{cam1,cam2,cam3}_preprocessed).
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/**:
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ros__parameters:
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cam_num: 3
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cam_0:
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# cam1 (DA9492688, 4mm lens), ROS camera_calibration 2026-08-04
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# cam1 (DA9492688, 4mm lens), ROS camera_calibration 2026-08-27
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cam_model: Pinhole
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cam_width: 1440
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cam_height: 1080
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scale: 1.0
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cam_fx: 1194.054103
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cam_fy: 1193.734257
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cam_cx: 731.768445
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cam_cy: 554.579899
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cam_d0: -0.104538
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cam_d1: 0.094169
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cam_d2: -0.000219
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cam_d3: 0.002476
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cam_fx: 1224.916886
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cam_fy: 1224.832639
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cam_cx: 725.118164
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cam_cy: 535.523447
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cam_d0: -0.076763
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cam_d1: 0.072682
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cam_d2: -0.002419
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cam_d3: 0.002109
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# --- 이전 (2026-08-04, 폐기) ---
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# cam_fx: 1194.054103
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# cam_fy: 1193.734257
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# cam_cx: 731.768445
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# cam_cy: 554.579899
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# cam_d0: -0.104538
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# cam_d1: 0.094169
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# cam_d2: -0.000219
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# cam_d3: 0.002476
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# --- 이전 (2026-07-29 18:44) ---
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# cam_fx: 1199.340963
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# cam_fy: 1202.587584
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@@ -38,19 +51,28 @@
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# cam_d2: -0.000926
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# cam_d3: 0.003536
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cam_1:
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# cam2 (DB0174264, 4mm lens), ROS camera_calibration 2026-08-04
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# cam2 (DB0174264, 4mm lens), ROS camera_calibration 2026-08-27
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cam_model: Pinhole
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cam_width: 1440
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cam_height: 1080
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scale: 1.0
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cam_fx: 1193.023682
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cam_fy: 1194.022942
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cam_cx: 716.099838
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cam_cy: 571.401918
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cam_d0: -0.102107
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cam_d1: 0.089022
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cam_d2: 0.003037
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cam_d3: 0.002550
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cam_fx: 1175.884129
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cam_fy: 1176.476788
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cam_cx: 700.828862
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cam_cy: 595.203149
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cam_d0: -0.112603
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cam_d1: 0.080548
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cam_d2: 0.005849
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cam_d3: -0.000873
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# --- 이전 (2026-08-04, 폐기) ---
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# cam_fx: 1193.023682
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# cam_fy: 1194.022942
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# cam_cx: 716.099838
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# cam_cy: 571.401918
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# cam_d0: -0.102107
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# cam_d1: 0.089022
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# cam_d2: 0.003037
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# cam_d3: 0.002550
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# --- 이전 (2026-07-29 18:44) ---
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# cam_fx: 1199.655517
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# cam_fy: 1203.544082
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@@ -61,19 +83,28 @@
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# cam_d2: -0.001065
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# cam_d3: -0.000934
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cam_2:
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# cam3 (DB0159632, 4mm lens, 2026-08-04 광축 180도 회전 재장착), ROS camera_calibration 2026-08-04
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# cam3 (DB0159632, 4mm lens, 2026-08-04 광축 180도 회전 재장착), ROS camera_calibration 2026-08-27
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cam_model: Pinhole
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cam_width: 1440
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cam_height: 1080
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scale: 1.0
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cam_fx: 1195.670418
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cam_fy: 1194.671092
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cam_cx: 708.482568
|
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cam_cy: 536.506534
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cam_d0: -0.108922
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cam_d1: 0.102295
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cam_d2: -0.000250
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cam_d3: -0.000830
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cam_fx: 1169.607328
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cam_fy: 1164.630822
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cam_cx: 682.502192
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cam_cy: 534.780361
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cam_d0: -0.117446
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cam_d1: 0.091034
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cam_d2: 0.001009
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cam_d3: -0.006132
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# --- 이전 (2026-08-04, 폐기) ---
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# cam_fx: 1195.670418
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# cam_fy: 1194.671092
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# cam_cx: 708.482568
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# cam_cy: 536.506534
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# cam_d0: -0.108922
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# cam_d1: 0.102295
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# cam_d2: -0.000250
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# cam_d3: -0.000830
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# --- 이전 (2026-07-29 18:44, 회전 전) ---
|
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# cam_fx: 1193.562151
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# cam_fy: 1197.422324
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@@ -2,13 +2,19 @@
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ros__parameters:
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extrin_calib:
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# Camera 1 (DA9492688, 4mm lens) extrinsics
|
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# --- 2026-07-09 재캘리브레이션 (direct_visual_lidar_calibration, 현재 활성) ---
|
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# --- 2026-08-27 재캘리브레이션 (direct_visual_lidar_calibration, 현재 활성) ---
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# dvlc_data/cam1_preprocessed/calib.json ("results.T_lidar_camera")
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# T_lidar_camera: [tx=-0.00335214, ty=0.01139264, tz=-0.12899503,
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# qx=-0.58358605, qy=0.19345293, qz=-0.39631764, qw=0.68186188]
|
||||
# Rcl = R(q)^T, Pcl = -R(q)^T @ t (p_camera = Rcl * p_lidar + Pcl)
|
||||
Rcl: [ 0.61101659, -0.76626064, 0.19875453,
|
||||
0.31467491, 0.00471932, -0.94918777,
|
||||
0.72638724, 0.64251254, 0.24400658]
|
||||
Pcl: [0.03641629, -0.12143944, 0.02659067]
|
||||
# --- 2026-07-09 재캘리브레이션 (2카메라 마운트 시절, 폐기) ---
|
||||
# T_lidar_camera: [tx=0.07907, ty=-0.04903, tz=-0.07375, qx=0.30146, qy=-0.49923, qz=0.64110, qw=-0.49887]
|
||||
# az=-20.99° el=18.65° (config/extrin_dualcam_cam1_cam2.yaml cam_0과 동일 값)
|
||||
Rcl: [-0.32049782, -0.94065569, -0.11157073,
|
||||
0.33865652, -0.00378619, -0.94090245,
|
||||
0.88464282, -0.33934134, 0.31977264]
|
||||
Pcl: [-0.02901190, -0.09635251, -0.06300165]
|
||||
# Rcl: [-0.32049782, -0.94065569, -0.11157073, 0.33865652, -0.00378619, -0.94090245, 0.88464282, -0.33934134, 0.31977264]
|
||||
# Pcl: [-0.02901190, -0.09635251, -0.06300165]
|
||||
# --- 2026-06-16 재캘리브레이션 (폐기 — 렌즈 교체됨) ---
|
||||
# T_lidar_camera: [tx=0.07719, ty=-0.00783, tz=-0.05823, qx=-0.40351, qy=0.40878, qz=-0.58252, qw=0.57510]
|
||||
# az=-0.7° el=19.9°
|
||||
|
||||
@@ -2,13 +2,19 @@
|
||||
ros__parameters:
|
||||
extrin_calib:
|
||||
# Camera 2 (DB0174264, hik_camera_ros2_driver, 4mm lens) extrinsics
|
||||
# --- 2026-07-09 재캘리브레이션 (direct_visual_lidar_calibration, 현재 활성) ---
|
||||
# --- 2026-08-27 재캘리브레이션 (direct_visual_lidar_calibration, 현재 활성) ---
|
||||
# dvlc_data/cam2_preprocessed/calib.json ("results.T_lidar_camera")
|
||||
# T_lidar_camera: [tx=0.13536789, ty=-0.01074052, tz=-0.04013808,
|
||||
# qx=-0.41786813, qy=0.41849406, qz=-0.56962699, qw=0.57076618]
|
||||
# Rcl = R(q)^T, Pcl = -R(q)^T @ t (p_camera = Rcl * p_lidar + Pcl)
|
||||
Rcl: [ 0.00077562, -0.99999831, -0.00166659,
|
||||
0.30049698, 0.00182264, -0.95378102,
|
||||
0.95378245, 0.00023897, 0.30049789]
|
||||
Pcl: [-0.01091239, -0.07894101, -0.11704754]
|
||||
# --- 2026-07-09 재캘리브레이션 (2카메라 마운트 시절, 폐기) ---
|
||||
# T_lidar_camera: [tx=0.08467, ty=0.04114, tz=-0.07354, qx=-0.49810, qy=0.30075, qz=-0.49977, qw=0.64162]
|
||||
# az=20.96° el=18.84° (config/extrin_dualcam_cam1_cam2.yaml cam_1과 동일 값)
|
||||
Rcl: [ 0.31955890, -0.94093008, 0.11194953,
|
||||
0.34172113, 0.00424131, -0.93979183,
|
||||
0.88380359, 0.33857436, 0.32289104]
|
||||
Pcl: [0.01989001, -0.09821752, -0.06501275]
|
||||
# Rcl: [0.31955890, -0.94093008, 0.11194953, 0.34172113, 0.00424131, -0.93979183, 0.88380359, 0.33857436, 0.32289104]
|
||||
# Pcl: [0.01989001, -0.09821752, -0.06501275]
|
||||
# --- 2026-05-27 (폐기 — 8mm lens v6, 렌즈 교체됨) ---
|
||||
# T_lidar_camera: [tx=0.05454, ty=0.00438, tz=-0.09330, qx=-0.41061, qy=0.43393, qz=-0.57567, qw=0.55830]
|
||||
# az=-2.5° el=16.6°
|
||||
|
||||
@@ -2,10 +2,17 @@
|
||||
ros__parameters:
|
||||
extrin_calib:
|
||||
# Camera 3 (4mm lens) extrinsics
|
||||
# --- 2026-06-18 캘리브레이션 (현재 활성, 내부 캘 2026-06-18 기반) ---
|
||||
# --- 2026-08-27 재캘리브레이션 (direct_visual_lidar_calibration, 현재 활성,
|
||||
# 광축 180도 회전 재장착 이후) ---
|
||||
# dvlc_data/cam3_preprocessed/calib.json ("results.T_lidar_camera")
|
||||
# T_lidar_camera: [tx=0.09283284, ty=-0.14639517, tz=-0.09075648,
|
||||
# qx=0.59088161, qy=0.18323904, qz=0.38731538, qw=0.68357090]
|
||||
# Rcl = R(q)^T, Pcl = -R(q)^T @ t (p_camera = Rcl * p_lidar + Pcl)
|
||||
Rcl: [ 0.63282050, 0.74606021, 0.20720132,
|
||||
-0.31296989, 0.00169145, 0.94976154,
|
||||
0.70822882, -0.66587634, 0.23456476]
|
||||
Pcl: [0.06927795, 0.11549851, -0.14193970]
|
||||
# --- 2026-06-18 캘리브레이션 (폐기 — 회전 이전, 내부 캘 2026-06-18 기반) ---
|
||||
# T_lidar_camera: [tx=0.07680, ty=-0.00628, tz=-0.08776, qx=-0.40882, qy=0.39927, qz=-0.57777, qw=0.58277]
|
||||
# az=0.9° el=-20.3°
|
||||
Rcl: [ 0.01351752, -0.99988379, 0.00704826,
|
||||
0.34695354, -0.00192070, -0.93788035,
|
||||
0.93778490, 0.01512324, 0.34688726]
|
||||
Pcl: [-0.00669994, -0.10896580, -0.04148943]
|
||||
# Rcl: [0.01351752, -0.99988379, 0.00704826, 0.34695354, -0.00192070, -0.93788035, 0.93778490, 0.01512324, 0.34688726]
|
||||
# Pcl: [-0.00669994, -0.10896580, -0.04148943]
|
||||
|
||||
@@ -29,22 +29,28 @@
|
||||
# az=20.8° el=18.9°
|
||||
# 카메라 간 상대 각도(boresight 기준) = 39.65°
|
||||
#
|
||||
# --- 2026-07-09 재캘리브레이션 (현재 활성, bag 5개 서로 다른 위치/각도로 재수집) ---
|
||||
# cam1: T_lidar_camera tx=0.07907 ty=-0.04903 tz=-0.07375 qx=0.30146 qy=-0.49923 qz=0.64110 qw=-0.49887
|
||||
# az=-20.99° el=18.65°
|
||||
# cam2: T_lidar_camera tx=0.08467 ty=0.04114 tz=-0.07354 qx=-0.49810 qy=0.30075 qz=-0.49977 qw=0.64162
|
||||
# az=20.96° el=18.84°
|
||||
# 카메라 간 상대 각도(boresight 기준) = 39.63° (0708 결과와 0.02° 차이 — 데이터셋이 완전히 달라졌는데도
|
||||
# 거의 동일하게 재현됨. 물리적으로 의도한 "약 30°"보다는 실제 마운트 각도가 ~40°였던 것으로 판단됨)
|
||||
# 광학중심 baseline = 9.04cm
|
||||
# --- 2026-08-27 재캘리브레이션 (현재 활성, 3카메라 마운트, 2026-08-27 내부 캘 기반) ---
|
||||
# direct_visual_lidar_calibration 결과: ~/dvlc_data/{cam1,cam2}_preprocessed/calib.json
|
||||
# ("results.T_lidar_camera")
|
||||
# cam1: T_lidar_camera [tx=-0.00335214, ty=0.01139264, tz=-0.12899503,
|
||||
# qx=-0.58358605, qy=0.19345293, qz=-0.39631764, qw=0.68186188]
|
||||
# cam2: T_lidar_camera [tx=0.13536789, ty=-0.01074052, tz=-0.04013808,
|
||||
# qx=-0.41786813, qy=0.41849406, qz=-0.56962699, qw=0.57076618]
|
||||
# Rcl = R(q)^T, Pcl = -R(q)^T @ t (p_camera = Rcl * p_lidar + Pcl)
|
||||
cameras:
|
||||
- img_topic: "/cam1/image"
|
||||
Rcl: [-0.32049782, -0.94065569, -0.11157073,
|
||||
0.33865652, -0.00378619, -0.94090245,
|
||||
0.88464282, -0.33934134, 0.31977264]
|
||||
Pcl: [-0.02901190, -0.09635251, -0.06300165]
|
||||
Rcl: [ 0.61101659, -0.76626064, 0.19875453,
|
||||
0.31467491, 0.00471932, -0.94918777,
|
||||
0.72638724, 0.64251254, 0.24400658]
|
||||
Pcl: [0.03641629, -0.12143944, 0.02659067]
|
||||
- img_topic: "/cam2/image"
|
||||
Rcl: [ 0.31955890, -0.94093008, 0.11194953,
|
||||
0.34172113, 0.00424131, -0.93979183,
|
||||
0.88380359, 0.33857436, 0.32289104]
|
||||
Pcl: [0.01989001, -0.09821752, -0.06501275]
|
||||
Rcl: [ 0.00077562, -0.99999831, -0.00166659,
|
||||
0.30049698, 0.00182264, -0.95378102,
|
||||
0.95378245, 0.00023897, 0.30049789]
|
||||
Pcl: [-0.01091239, -0.07894101, -0.11704754]
|
||||
#
|
||||
# --- 2026-07-09 재캘리브레이션 (2카메라 마운트 시절, 폐기) ---
|
||||
# cam1 Rcl: [-0.32049782, -0.94065569, -0.11157073, 0.33865652, -0.00378619, -0.94090245, 0.88464282, -0.33934134, 0.31977264]
|
||||
# Pcl: [-0.02901190, -0.09635251, -0.06300165]
|
||||
# cam2 Rcl: [0.31955890, -0.94093008, 0.11194953, 0.34172113, 0.00424131, -0.93979183, 0.88380359, 0.33857436, 0.32289104]
|
||||
# Pcl: [0.01989001, -0.09821752, -0.06501275]
|
||||
|
||||
@@ -9,34 +9,43 @@
|
||||
#
|
||||
# Cameras are listed in the same order they will be indexed (cam_id 0, 1, 2).
|
||||
#
|
||||
# --- 2026-08-04 재캘리브레이션 (현재 활성, cam3 광축 180도 회전 재장착 이후,
|
||||
# 새 내부 캘리브레이션 반영 후 dvlc_gui로 재진행) ---
|
||||
# --- 2026-08-27 재캘리브레이션 (현재 활성, cam3 광축 180도 회전 재장착 이후,
|
||||
# 2026-08-27 내부 캘리브레이션 반영 후 dvlc_gui로 재진행) ---
|
||||
# direct_visual_lidar_calibration 결과: ~/dvlc_data/{cam1,cam2,cam3}_preprocessed/calib.json
|
||||
# ("results.T_lidar_camera")
|
||||
# T_lidar_camera = [tx, ty, tz, qx, qy, qz, qw] (camera pose expressed in the LiDAR frame).
|
||||
# Rcl/Pcl = T_camera_lidar (Rcl = R(q)^T, Pcl = -R(q)^T @ t), FAST-LIVO2's convention:
|
||||
# p_camera = Rcl * p_lidar + Pcl.
|
||||
cameras:
|
||||
- img_topic: "/cam1/image"
|
||||
# T_lidar_camera: [tx=0.06959316, ty=0.05919484, tz=-0.11555322,
|
||||
# qx=-0.59090481, qy=0.19334609, qz=-0.39584302, qw=0.67583807]
|
||||
Rcl: [ 0.61185119, -0.76354983, 0.20646979,
|
||||
0.30655329, -0.01172039, -0.95178134,
|
||||
0.72915239, 0.64564254, 0.22689758]
|
||||
Pcl: [0.02647580, -0.13062162, -0.06274397]
|
||||
# T_lidar_camera: [tx=-0.00335214, ty=0.01139264, tz=-0.12899503,
|
||||
# qx=-0.58358605, qy=0.19345293, qz=-0.39631764, qw=0.68186188]
|
||||
Rcl: [ 0.61101659, -0.76626064, 0.19875453,
|
||||
0.31467491, 0.00471932, -0.94918777,
|
||||
0.72638724, 0.64251254, 0.24400658]
|
||||
Pcl: [0.03641629, -0.12143944, 0.02659067]
|
||||
- img_topic: "/cam2/image"
|
||||
# T_lidar_camera: [tx=0.07159342, ty=-0.00968426, tz=-0.07252498,
|
||||
# qx=-0.40764730, qy=0.41401200, qz=-0.57697645, qw=0.57403477]
|
||||
Rcl: [-0.00861552, -0.99995084, -0.00490877,
|
||||
0.32486735, 0.00184370, -0.94575780,
|
||||
0.94572035, -0.00974290, 0.32483549]
|
||||
Pcl: [-0.00942298, -0.09183158, -0.04424302]
|
||||
# T_lidar_camera: [tx=0.13536789, ty=-0.01074052, tz=-0.04013808,
|
||||
# qx=-0.41786813, qy=0.41849406, qz=-0.56962699, qw=0.57076618]
|
||||
Rcl: [ 0.00077562, -0.99999831, -0.00166659,
|
||||
0.30049698, 0.00182264, -0.95378102,
|
||||
0.95378245, 0.00023897, 0.30049789]
|
||||
Pcl: [-0.01091239, -0.07894101, -0.11704754]
|
||||
- img_topic: "/cam3/image"
|
||||
# T_lidar_camera: [tx=0.05326862, ty=-0.05701828, tz=-0.11326257,
|
||||
# qx=0.58323967, qy=0.18827243, qz=0.39372916, qw=0.68510024]
|
||||
Rcl: [ 0.61906168, 0.75910378, 0.20130595,
|
||||
-0.31987197, 0.00961769, 0.94741196,
|
||||
0.71724790, -0.65089857, 0.24876997]
|
||||
Pcl: [0.03310666, 0.12489384, -0.04714359]
|
||||
# T_lidar_camera: [tx=0.09283284, ty=-0.14639517, tz=-0.09075648,
|
||||
# qx=0.59088161, qy=0.18323904, qz=0.38731538, qw=0.68357090]
|
||||
Rcl: [ 0.63282050, 0.74606021, 0.20720132,
|
||||
-0.31296989, 0.00169145, 0.94976154,
|
||||
0.70822882, -0.66587634, 0.23456476]
|
||||
Pcl: [0.06927795, 0.11549851, -0.14193970]
|
||||
#
|
||||
# --- 2026-08-04 재캘리브레이션 (폐기 — 2026-08-27 내부 캘 재보정으로 재진행) ---
|
||||
# cam1 Rcl: [0.61185119, -0.76354983, 0.20646979, 0.30655329, -0.01172039, -0.95178134, 0.72915239, 0.64564254, 0.22689758]
|
||||
# Pcl: [0.02647580, -0.13062162, -0.06274397]
|
||||
# cam2 Rcl: [-0.00861552, -0.99995084, -0.00490877, 0.32486735, 0.00184370, -0.94575780, 0.94572035, -0.00974290, 0.32483549]
|
||||
# Pcl: [-0.00942298, -0.09183158, -0.04424302]
|
||||
# cam3 Rcl: [0.61906168, 0.75910378, 0.20130595, -0.31987197, 0.00961769, 0.94741196, 0.71724790, -0.65089857, 0.24876997]
|
||||
# Pcl: [0.03310666, 0.12489384, -0.04714359]
|
||||
#
|
||||
# --- 2026-07-29 19:0x (cam3 회전 이전, 폐기) ---
|
||||
# cam1 Rcl: [0.65273370, -0.72070111, 0.23351364, 0.33495301, -0.00192744, -0.94223286, 0.67951836, 0.69324324, 0.24014290]
|
||||
|
||||
Reference in New Issue
Block a user