O30标定urdf

2026-09-20 11:32:52 +08:00
parent a8eaa4c367
commit 1d866f7a51
223 changed files with 17027 additions and 2301 deletions
@@ -0,0 +1,60 @@
+schema_version: 1
+reference_view: front
+cameras:
+  front:
+    serial_number: DB2163742
+    width: 1624
+    height: 1240
+    intrinsics_sha256: 5752443dfe64fb47440151d793544ec3a996891b03fa387459a7ac8c2328dc07
+  side:
+    serial_number: DB2163749
+    width: 1624
+    height: 1240
+    intrinsics_sha256: 25ca0a3f68ccfd1f85d1bdeb9149052bad00c4d4b1f5a88a438a4a143e07e655
+  top:
+    serial_number: DB2163739
+    width: 1624
+    height: 1240
+    intrinsics_sha256: 11cca902dc5493c92d1191cda4d25a30facbb5947428e7141c3ebfe078500446
+front_from_view:
+  front:
+    translation_xyz_m:
+    - 0.0
+    - 0.0
+    - 0.0
+    quaternion_xyzw:
+    - 0.0
+    - 0.0
+    - 0.0
+    - 1.0
+  side:
+    translation_xyz_m:
+    - -0.8438350117109596
+    - 0.0030839597011880146
+    - 1.058604518460327
+    quaternion_xyzw:
+    - -0.04630065903711772
+    - 0.6864139609264401
+    - -0.015210755676403294
+    - 0.7255761546038824
+  top:
+    translation_xyz_m:
+    - 0.008505305967195427
+    - -0.5708652170072022
+    - 1.1230571120977015
+    quaternion_xyzw:
+    - 0.7264186042657113
+    - 0.05091741831973884
+    - 0.0330385816024251
+    - -0.6845669288053643
+quality:
+  passed: true
+  reprojection_rms_px: 0.9332749561975657
+  maximum_rotation_repeatability_deg: 0.05294934187781907
+  maximum_translation_repeatability_m: 0.0004960858291558162
+  front_side_captures: 15
+  front_top_captures: 15
+  front_side_candidates: 15
+  front_top_candidates: 15
+  front_side_rejected: 0
+  front_top_rejected: 0
@@ -0,0 +1,60 @@
+schema_version: 1
+reference_view: front
+cameras:
+  front:
+    serial_number: DB2163742
+    width: 1624
+    height: 1240
+    intrinsics_sha256: 5752443dfe64fb47440151d793544ec3a996891b03fa387459a7ac8c2328dc07
+  side:
+    serial_number: DB2163749
+    width: 1624
+    height: 1240
+    intrinsics_sha256: 25ca0a3f68ccfd1f85d1bdeb9149052bad00c4d4b1f5a88a438a4a143e07e655
+  top:
+    serial_number: DB2163739
+    width: 1624
+    height: 1240
+    intrinsics_sha256: 11cca902dc5493c92d1191cda4d25a30facbb5947428e7141c3ebfe078500446
+front_from_view:
+  front:
+    translation_xyz_m:
+    - 0.0
+    - 0.0
+    - 0.0
+    quaternion_xyzw:
+    - 0.0
+    - 0.0
+    - 0.0
+    - 1.0
+  side:
+    translation_xyz_m:
+    - -0.807055290135415
+    - 0.007757362896197391
+    - 1.109645424653359
+    quaternion_xyzw:
+    - -0.038239828751376485
+    - 0.7081714897073992
+    - -0.008111842845009399
+    - 0.7049574842983983
+  top:
+    translation_xyz_m:
+    - 0.04396900884358515
+    - -0.5702983486721814
+    - 1.106333731407498
+    quaternion_xyzw:
+    - 0.7207445525815062
+    - 0.025265750150805705
+    - 0.010996906531907304
+    - -0.6926528710978753
+quality:
+  passed: true
+  reprojection_rms_px: 0.8851530873841623
+  maximum_rotation_repeatability_deg: 0.02169207759215767
+  maximum_translation_repeatability_m: 0.00023144069642531324
+  front_side_captures: 15
+  front_top_captures: 15
+  front_side_candidates: 15
+  front_top_candidates: 15
+  front_side_rejected: 0
+  front_top_rejected: 0