diff --git a/src/FAST-LIVO2/config/camera_cam1.yaml b/src/FAST-LIVO2/config/camera_cam1.yaml index 1a42d7c..ef1f9c3 100644 --- a/src/FAST-LIVO2/config/camera_cam1.yaml +++ b/src/FAST-LIVO2/config/camera_cam1.yaml @@ -4,16 +4,25 @@ cam_width: 1440 cam_height: 1080 scale: 1.0 - # --- 4mm lens (cam1, DA9492688, 2026-08-04 재캘리브레이션 ROS camera_calibration, 3카메라 마운트, 현재 활성) --- - # camera2_ws/src/hik_camera_ros2_driver/config/camera_info_cam1.yaml - cam_fx: 1194.054103 - cam_fy: 1193.734257 - cam_cx: 731.768445 - cam_cy: 554.579899 - cam_d0: -0.104538 - cam_d1: 0.094169 - cam_d2: -0.000219 - cam_d3: 0.002476 + # --- 4mm lens (cam1, DA9492688, 2026-08-27 재캘리브레이션 ROS camera_calibration, 3카메라 마운트, 현재 활성) --- + # camera2_ws/src/hik_camera_ros2_driver/config/camera_info_cam1.yaml (camera_matrix + distortion_coefficients[0..3]) + cam_fx: 1224.916886 + cam_fy: 1224.832639 + cam_cx: 725.118164 + cam_cy: 535.523447 + cam_d0: -0.076763 + cam_d1: 0.072682 + cam_d2: -0.002419 + cam_d3: 0.002109 + # --- 4mm lens (cam1, 2026-08-04 재캘리브레이션, 폐기) --- + # cam_fx: 1194.054103 + # cam_fy: 1193.734257 + # cam_cx: 731.768445 + # cam_cy: 554.579899 + # cam_d0: -0.104538 + # cam_d1: 0.094169 + # cam_d2: -0.000219 + # cam_d3: 0.002476 # --- 4mm lens (cam1, 2026-07-29 18:44 재캘리브레이션, 폐기) --- # cam_fx: 1199.340963 # cam_fy: 1202.587584 diff --git a/src/FAST-LIVO2/config/camera_cam2.yaml b/src/FAST-LIVO2/config/camera_cam2.yaml index 2b5d8b6..0026cb5 100644 --- a/src/FAST-LIVO2/config/camera_cam2.yaml +++ b/src/FAST-LIVO2/config/camera_cam2.yaml @@ -4,16 +4,25 @@ cam_width: 1440 cam_height: 1080 scale: 1.0 - # --- 4mm lens (cam2, DB0174264, 2026-08-04 재캘리브레이션 ROS camera_calibration, 3카메라 마운트, 현재 활성) --- - # camera2_ws/src/hik_camera_ros2_driver/config/camera_info_cam2.yaml - cam_fx: 1193.023682 - cam_fy: 1194.022942 - cam_cx: 716.099838 - cam_cy: 571.401918 - cam_d0: -0.102107 - cam_d1: 0.089022 - cam_d2: 0.003037 - cam_d3: 0.002550 + # --- 4mm lens (cam2, DB0174264, 2026-08-27 재캘리브레이션 ROS camera_calibration, 3카메라 마운트, 현재 활성) --- + # camera2_ws/src/hik_camera_ros2_driver/config/camera_info_cam2.yaml (camera_matrix + distortion_coefficients[0..3]) + cam_fx: 1175.884129 + cam_fy: 1176.476788 + cam_cx: 700.828862 + cam_cy: 595.203149 + cam_d0: -0.112603 + cam_d1: 0.080548 + cam_d2: 0.005849 + cam_d3: -0.000873 + # --- 4mm lens (cam2, 2026-08-04 재캘리브레이션, 폐기) --- + # cam_fx: 1193.023682 + # cam_fy: 1194.022942 + # cam_cx: 716.099838 + # cam_cy: 571.401918 + # cam_d0: -0.102107 + # cam_d1: 0.089022 + # cam_d2: 0.003037 + # cam_d3: 0.002550 # --- 4mm lens (cam2, 2026-07-29 18:44 재캘리브레이션, 폐기) --- # cam_fx: 1199.655517 # cam_fy: 1203.544082 diff --git a/src/FAST-LIVO2/config/camera_cam3.yaml b/src/FAST-LIVO2/config/camera_cam3.yaml index 332d6b0..20851f7 100644 --- a/src/FAST-LIVO2/config/camera_cam3.yaml +++ b/src/FAST-LIVO2/config/camera_cam3.yaml @@ -4,17 +4,26 @@ cam_width: 1440 cam_height: 1080 scale: 1.0 - # --- 4mm lens (cam3, DB0159632, 2026-08-04 재캘리브레이션 ROS camera_calibration, 광축 180도 + # --- 4mm lens (cam3, DB0159632, 2026-08-27 재캘리브레이션 ROS camera_calibration, 광축 180도 # 회전 재장착 이후, 3카메라 마운트, 현재 활성) --- - # camera2_ws/src/hik_camera_ros2_driver/config/camera_info_cam3.yaml - cam_fx: 1195.670418 - cam_fy: 1194.671092 - cam_cx: 708.482568 - cam_cy: 536.506534 - cam_d0: -0.108922 - cam_d1: 0.102295 - cam_d2: -0.000250 - cam_d3: -0.000830 + # camera2_ws/src/hik_camera_ros2_driver/config/camera_info_cam3.yaml (camera_matrix + distortion_coefficients[0..3]) + cam_fx: 1169.607328 + cam_fy: 1164.630822 + cam_cx: 682.502192 + cam_cy: 534.780361 + cam_d0: -0.117446 + cam_d1: 0.091034 + cam_d2: 0.001009 + cam_d3: -0.006132 + # --- 4mm lens (cam3, 2026-08-04 재캘리브레이션, 폐기) --- + # cam_fx: 1195.670418 + # cam_fy: 1194.671092 + # cam_cx: 708.482568 + # cam_cy: 536.506534 + # cam_d0: -0.108922 + # cam_d1: 0.102295 + # cam_d2: -0.000250 + # cam_d3: -0.000830 # --- 4mm lens (cam3, 2026-07-29 18:44 재캘리브레이션, 폐기 — 회전 이전) --- # cam_fx: 1193.562151 # cam_fy: 1197.422324 diff --git a/src/FAST-LIVO2/config/camera_dualcam_cam1_cam2.yaml b/src/FAST-LIVO2/config/camera_dualcam_cam1_cam2.yaml index b371c0e..15db969 100644 --- a/src/FAST-LIVO2/config/camera_dualcam_cam1_cam2.yaml +++ b/src/FAST-LIVO2/config/camera_dualcam_cam1_cam2.yaml @@ -9,53 +9,51 @@ ros__parameters: cam_num: 2 cam_0: - # cam1 (DA9492688, 4mm lens), ROS camera_calibration 2026-08-04, 3-camera rig mount + # cam1 (DA9492688, 4mm lens), ROS camera_calibration 2026-08-27, 3-camera rig mount # (camera2_ws/src/hik_camera_ros2_driver/config/camera_info_cam1.yaml) - # D = [k1, k2, p1, p2, k3=0.0] -> cam_d0..d3 (k3 dropped, it's 0) - # NOTE: this file's intrinsics are current, but extrin_dualcam_cam1_cam2.yaml's - # Rcl/Pcl are from the 2-camera-rig mount and are stale now that the rig is 3-camera. + # cam_fx/fy/cx/cy = camera_matrix(raw K); D = [k1, k2, p1, p2, k3=0.0] -> cam_d0..d3 (k3 생략) cam_model: Pinhole cam_width: 1440 cam_height: 1080 scale: 1.0 - cam_fx: 1194.054103 - cam_fy: 1193.734257 - cam_cx: 731.768445 - cam_cy: 554.579899 - cam_d0: -0.104538 - cam_d1: 0.094169 - cam_d2: -0.000219 - cam_d3: 0.002476 - # --- 이전 (2026-07-29 18:44) --- - # cam_fx: 1199.340963 - # cam_fy: 1202.587584 - # cam_cx: 743.375449 - # cam_cy: 557.776165 - # cam_d0: -0.103276 - # cam_d1: 0.093289 - # cam_d2: -0.000926 - # cam_d3: 0.003536 + cam_fx: 1224.916886 + cam_fy: 1224.832639 + cam_cx: 725.118164 + cam_cy: 535.523447 + cam_d0: -0.076763 + cam_d1: 0.072682 + cam_d2: -0.002419 + cam_d3: 0.002109 + # --- 이전 (2026-08-04) --- + # cam_fx: 1194.054103 + # cam_fy: 1193.734257 + # cam_cx: 731.768445 + # cam_cy: 554.579899 + # cam_d0: -0.104538 + # cam_d1: 0.094169 + # cam_d2: -0.000219 + # cam_d3: 0.002476 cam_1: - # cam2 (DB0174264, 4mm lens), ROS camera_calibration 2026-08-04, 3-camera rig mount + # cam2 (DB0174264, 4mm lens), ROS camera_calibration 2026-08-27, 3-camera rig mount # (camera2_ws/src/hik_camera_ros2_driver/config/camera_info_cam2.yaml) cam_model: Pinhole cam_width: 1440 cam_height: 1080 scale: 1.0 - cam_fx: 1193.023682 - cam_fy: 1194.022942 - cam_cx: 716.099838 - cam_cy: 571.401918 - cam_d0: -0.102107 - cam_d1: 0.089022 - cam_d2: 0.003037 - cam_d3: 0.002550 - # --- 이전 (2026-07-29 18:44) --- - # cam_fx: 1199.655517 - # cam_fy: 1203.544082 - # cam_cx: 700.154366 - # cam_cy: 570.801288 - # cam_d0: -0.106583 - # cam_d1: 0.094309 - # cam_d2: -0.001065 - # cam_d3: -0.000934 + cam_fx: 1175.884129 + cam_fy: 1176.476788 + cam_cx: 700.828862 + cam_cy: 595.203149 + cam_d0: -0.112603 + cam_d1: 0.080548 + cam_d2: 0.005849 + cam_d3: -0.000873 + # --- 이전 (2026-08-04) --- + # cam_fx: 1193.023682 + # cam_fy: 1194.022942 + # cam_cx: 716.099838 + # cam_cy: 571.401918 + # cam_d0: -0.102107 + # cam_d1: 0.089022 + # cam_d2: 0.003037 + # cam_d3: 0.002550 diff --git a/src/FAST-LIVO2/config/camera_triplecam_cam1_cam2_cam3.yaml b/src/FAST-LIVO2/config/camera_triplecam_cam1_cam2_cam3.yaml index a2ae54a..ed245b1 100644 --- a/src/FAST-LIVO2/config/camera_triplecam_cam1_cam2_cam3.yaml +++ b/src/FAST-LIVO2/config/camera_triplecam_cam1_cam2_cam3.yaml @@ -6,28 +6,41 @@ # can read each camera's intrinsics under its own "cam_." prefix. Camera # indices must match the order of entries in extrin_triplecam_cam1_cam2_cam3.yaml. # -# Intrinsics below: 2026-08-04 재캘리브레이션 — current for all three. +# Intrinsics below: 2026-08-27 재캘리브레이션 — current for all three. +# 출처: camera2_ws/src/hik_camera_ros2_driver/config/camera_info_cam{1,2,3}.yaml +# (ROS camera_calibration, 3-camera rig mount, Documents/intrinsic calibration.odt) +# cam_fx/fy/cx/cy = camera_matrix(raw K), cam_d0..d3 = distortion_coefficients[0..3] +# (plumb_bob k1,k2,p1,p2; k3=0 생략). # 참고: cam3는 2026-08-04에 광축 기준 반시계 180도 회전 재장착됨. 아래 값은 회전 이후 # 상태로 재촬영한 것이라 그대로 유효함 (camera2_ws/.../camera_info_cam3.yaml 참고). # Extrinsics (Rcl/Pcl in extrin_triplecam_cam1_cam2_cam3.yaml) also updated to match -# (direct_visual_lidar_calibration, 2026-08-04, dvlc_data/{cam1,cam2,cam3}_preprocessed). +# (direct_visual_lidar_calibration, 2026-08-27, dvlc_data/{cam1,cam2,cam3}_preprocessed). /**: ros__parameters: cam_num: 3 cam_0: - # cam1 (DA9492688, 4mm lens), ROS camera_calibration 2026-08-04 + # cam1 (DA9492688, 4mm lens), ROS camera_calibration 2026-08-27 cam_model: Pinhole cam_width: 1440 cam_height: 1080 scale: 1.0 - cam_fx: 1194.054103 - cam_fy: 1193.734257 - cam_cx: 731.768445 - cam_cy: 554.579899 - cam_d0: -0.104538 - cam_d1: 0.094169 - cam_d2: -0.000219 - cam_d3: 0.002476 + cam_fx: 1224.916886 + cam_fy: 1224.832639 + cam_cx: 725.118164 + cam_cy: 535.523447 + cam_d0: -0.076763 + cam_d1: 0.072682 + cam_d2: -0.002419 + cam_d3: 0.002109 + # --- 이전 (2026-08-04, 폐기) --- + # cam_fx: 1194.054103 + # cam_fy: 1193.734257 + # cam_cx: 731.768445 + # cam_cy: 554.579899 + # cam_d0: -0.104538 + # cam_d1: 0.094169 + # cam_d2: -0.000219 + # cam_d3: 0.002476 # --- 이전 (2026-07-29 18:44) --- # cam_fx: 1199.340963 # cam_fy: 1202.587584 @@ -38,19 +51,28 @@ # cam_d2: -0.000926 # cam_d3: 0.003536 cam_1: - # cam2 (DB0174264, 4mm lens), ROS camera_calibration 2026-08-04 + # cam2 (DB0174264, 4mm lens), ROS camera_calibration 2026-08-27 cam_model: Pinhole cam_width: 1440 cam_height: 1080 scale: 1.0 - cam_fx: 1193.023682 - cam_fy: 1194.022942 - cam_cx: 716.099838 - cam_cy: 571.401918 - cam_d0: -0.102107 - cam_d1: 0.089022 - cam_d2: 0.003037 - cam_d3: 0.002550 + cam_fx: 1175.884129 + cam_fy: 1176.476788 + cam_cx: 700.828862 + cam_cy: 595.203149 + cam_d0: -0.112603 + cam_d1: 0.080548 + cam_d2: 0.005849 + cam_d3: -0.000873 + # --- 이전 (2026-08-04, 폐기) --- + # cam_fx: 1193.023682 + # cam_fy: 1194.022942 + # cam_cx: 716.099838 + # cam_cy: 571.401918 + # cam_d0: -0.102107 + # cam_d1: 0.089022 + # cam_d2: 0.003037 + # cam_d3: 0.002550 # --- 이전 (2026-07-29 18:44) --- # cam_fx: 1199.655517 # cam_fy: 1203.544082 @@ -61,19 +83,28 @@ # cam_d2: -0.001065 # cam_d3: -0.000934 cam_2: - # cam3 (DB0159632, 4mm lens, 2026-08-04 광축 180도 회전 재장착), ROS camera_calibration 2026-08-04 + # cam3 (DB0159632, 4mm lens, 2026-08-04 광축 180도 회전 재장착), ROS camera_calibration 2026-08-27 cam_model: Pinhole cam_width: 1440 cam_height: 1080 scale: 1.0 - cam_fx: 1195.670418 - cam_fy: 1194.671092 - cam_cx: 708.482568 - cam_cy: 536.506534 - cam_d0: -0.108922 - cam_d1: 0.102295 - cam_d2: -0.000250 - cam_d3: -0.000830 + cam_fx: 1169.607328 + cam_fy: 1164.630822 + cam_cx: 682.502192 + cam_cy: 534.780361 + cam_d0: -0.117446 + cam_d1: 0.091034 + cam_d2: 0.001009 + cam_d3: -0.006132 + # --- 이전 (2026-08-04, 폐기) --- + # cam_fx: 1195.670418 + # cam_fy: 1194.671092 + # cam_cx: 708.482568 + # cam_cy: 536.506534 + # cam_d0: -0.108922 + # cam_d1: 0.102295 + # cam_d2: -0.000250 + # cam_d3: -0.000830 # --- 이전 (2026-07-29 18:44, 회전 전) --- # cam_fx: 1193.562151 # cam_fy: 1197.422324 diff --git a/src/FAST-LIVO2/config/extrin_cam1.yaml b/src/FAST-LIVO2/config/extrin_cam1.yaml index 9473836..d49cbb9 100644 --- a/src/FAST-LIVO2/config/extrin_cam1.yaml +++ b/src/FAST-LIVO2/config/extrin_cam1.yaml @@ -2,13 +2,19 @@ ros__parameters: extrin_calib: # Camera 1 (DA9492688, 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/cam1_preprocessed/calib.json ("results.T_lidar_camera") + # 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 = 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° diff --git a/src/FAST-LIVO2/config/extrin_cam2.yaml b/src/FAST-LIVO2/config/extrin_cam2.yaml index 6bb6ffd..235ca04 100644 --- a/src/FAST-LIVO2/config/extrin_cam2.yaml +++ b/src/FAST-LIVO2/config/extrin_cam2.yaml @@ -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° diff --git a/src/FAST-LIVO2/config/extrin_cam3.yaml b/src/FAST-LIVO2/config/extrin_cam3.yaml index d04ea13..b4e7de5 100644 --- a/src/FAST-LIVO2/config/extrin_cam3.yaml +++ b/src/FAST-LIVO2/config/extrin_cam3.yaml @@ -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] diff --git a/src/FAST-LIVO2/config/extrin_dualcam_cam1_cam2.yaml b/src/FAST-LIVO2/config/extrin_dualcam_cam1_cam2.yaml index 09d344c..3af4228 100644 --- a/src/FAST-LIVO2/config/extrin_dualcam_cam1_cam2.yaml +++ b/src/FAST-LIVO2/config/extrin_dualcam_cam1_cam2.yaml @@ -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] diff --git a/src/FAST-LIVO2/config/extrin_triplecam_cam1_cam2_cam3.yaml b/src/FAST-LIVO2/config/extrin_triplecam_cam1_cam2_cam3.yaml index 5c48612..16e21f7 100644 --- a/src/FAST-LIVO2/config/extrin_triplecam_cam1_cam2_cam3.yaml +++ b/src/FAST-LIVO2/config/extrin_triplecam_cam1_cam2_cam3.yaml @@ -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]