admin/linkerhand_retarget_ros2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

重构O6验证过

Browse Source
This commit is contained in:
lxp
2026-09-16 14:05:08 +08:00
parent 467651fc47
commit 7a04780b52
268 changed files with 26640 additions and 789 deletions
Download Patch File Download Diff File Expand all files Collapse all files
config/o6_camera_intrinsics_20260915/hikrobot_DB2163739.yaml
+55
View File
@@ -0,0 +1,55 @@
image_width: 1624
image_height: 1240
camera_name: hikrobot_top_DB2163739
camera_matrix:
rows: 3
cols: 3
data:
- 3608.7915725635876
- 0.0
- 814.529414176388
- 0.0
- 3602.9474866035775
- 596.7866652774017
- 0.0
- 0.0
- 1.0
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data:
- -0.05774549441026762
- -0.5653814259405426
- -0.0034831870836035525
- -0.0007572304719307008
- 0.0
rectification_matrix:
rows: 3
cols: 3
data:
- 1.0
- 0.0
- 0.0
- 0.0
- 1.0
- 0.0
- 0.0
- 0.0
- 1.0
projection_matrix:
rows: 3
cols: 4
data:
- 3590.9833984375
- 0.0
- 813.6314052451635
- 0.0
- 0.0
- 3591.4892578125
- 595.0547132430074
- 0.0
- 0.0
- 0.0
- 1.0
- 0.0
config/o6_camera_intrinsics_20260915/hikrobot_DB2163742.yaml
+55
View File
@@ -0,0 +1,55 @@
image_width: 1624
image_height: 1240
camera_name: hikrobot_front_DB2163742
camera_matrix:
rows: 3
cols: 3
data:
- 3520.83963745858
- 0.0
- 971.8024440668337
- 0.0
- 3503.4665942352735
- 636.2092891200001
- 0.0
- 0.0
- 1.0
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data:
- -0.06456607194260039
- -0.3209716179987898
- 0.0016533290649511723
- 0.014394085090833234
- 0.0
rectification_matrix:
rows: 3
cols: 3
data:
- 1.0
- 0.0
- 0.0
- 0.0
- 1.0
- 0.0
- 0.0
- 0.0
- 1.0
projection_matrix:
rows: 3
cols: 4
data:
- 3485.41357421875
- 0.0
- 980.9585478080553
- 0.0
- 0.0
- 3500.062255859375
- 636.4474700149367
- 0.0
- 0.0
- 0.0
- 1.0
- 0.0
config/o6_camera_intrinsics_20260915/hikrobot_DB2163749.yaml
+55
View File
@@ -0,0 +1,55 @@
image_width: 1624
image_height: 1240
camera_name: hikrobot_side_DB2163749
camera_matrix:
rows: 3
cols: 3
data:
- 3564.4557723541934
- 0.0
- 633.5422135270659
- 0.0
- 3549.8257661608695
- 614.1194434338138
- 0.0
- 0.0
- 1.0
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data:
- -0.023159717917942222
- -0.6611401590594669
- 0.0010272016326466154
- -0.014523561130335804
- 0.0
rectification_matrix:
rows: 3
cols: 3
data:
- 1.0
- 0.0
- 0.0
- 0.0
- 1.0
- 0.0
- 0.0
- 0.0
- 1.0
projection_matrix:
rows: 3
cols: 4
data:
- 3531.000244140625
- 0.0
- 623.4124604711214
- 0.0
- 0.0
- 3551.248291015625
- 614.0312247691472
- 0.0
- 0.0
- 0.0
- 1.0
- 0.0
config/o6_three_camera_extrinsics_20260915_192517.yaml
+60
View File
@@ -0,0 +1,60 @@
schema_version: 1
reference_view: front
cameras:
front:
serial_number: DB2163742
width: 1624
height: 1240
intrinsics_sha256: 3cdecb8fcede41561019882a48a342d7265a44855cf0282ec96ec7f69a9b1ee5
side:
serial_number: DB2163749
width: 1624
height: 1240
intrinsics_sha256: dbe0cdc73460dc1e51c0e3967395d14b4415a71cee952597e0717ad0babd3449
top:
serial_number: DB2163739
width: 1624
height: 1240
intrinsics_sha256: 315d5cd6f28964ad57ff67088222fff3d9679cce076acc3f05a22b76038e5352
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:
- -0.8459732881345877
- -0.000555404488719817
- 0.9729938257334647
quaternion_xyzw:
- -0.04404064417946292
- 0.6703485002266404
- -0.01659275028535042
- 0.7405524900654377
top:
translation_xyz_m:
- -0.10806018719194868
- -0.5842672050520756
- 1.0419844264616385
quaternion_xyzw:
- 0.7284460604085318
- -0.016210595429770967
- 0.019511507802845565
- -0.6846333724953536
quality:
passed: true
reprojection_rms_px: 0.46496404895142424
maximum_rotation_repeatability_deg: 0.019287272875226844
maximum_translation_repeatability_m: 0.0002246640979668814
front_side_captures: 15
front_top_captures: 15
front_side_candidates: 15
front_top_candidates: 15
front_side_rejected: 0
front_top_rejected: 0