O30urdf标定 fix

2026-09-22 11:03:57 +08:00
parent 6830bc6801
commit 9952dbf4a7
22 changed files with 418 additions and 30 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:
+    - -0.8080948548192018
+    - -0.008581421683932288
+    - 1.0532250983464067
+    quaternion_xyzw:
+    - -0.021327054698668555
+    - 0.6912906965521914
+    - 0.01197673364064859
+    - 0.7221626461189797
+  top:
+    translation_xyz_m:
+    - 0.04741691749425549
+    - -0.5804548270182806
+    - 1.0631239748696568
+    quaternion_xyzw:
+    - -0.7015214400964395
+    - -0.04845091102701706
+    - -0.028754624245378058
+    - 0.710417729149672
+quality:
+  passed: true
+  reprojection_rms_px: 1.0243965778937039
+  maximum_rotation_repeatability_deg: 0.07214266243246935
+  maximum_translation_repeatability_m: 0.0008227910293034463
+  front_side_captures: 15
+  front_top_captures: 15
+  front_side_candidates: 15
+  front_top_candidates: 15
+  front_side_rejected: 0
+  front_top_rejected: 0