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sensor_parameters.txt
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Camera intrinsics (Given by the monufacturer)
camera_model: pinhole
resolution: [832, 468]
distortion_model: radtan
distortion_coeffs: [0.0, 0.0, 0.0, 0.0] #stereo images are rectified
intrinsics: [342.6859130859375, 342.6859130859375, 407.89288330078125, 221.7885284423828] #fx, fy, cx, cy
Camera extrinsics (given by the manufacturer)
Transformation from left camera to zed-imu -Camera: (x right, y down, z forward)
-IMU: (x forward, y left, z up)
T_imu_left = [0.008566743072747, 0.002937311261940, 0.999958988714200, 0.001803529095233,
-0.999961868128753, 0.001961224964540, 0.008560264215503, 0.023016674964885,
-0.001935776313654, -0.999993527115831, 0.002953683950084, -0.000169568352851,
0 0 0 1.000000000000000]
Transformation from right camera to zed-imu (given by the manufacturer)
-Camera: (x right, y down, z forward)
-IMU: (x forward, y left, z up)
T_imu_right = [0.008566743072747, 0.002937311261940, 0.999958988714200, 0.001803529095233,
-0.999961868128753, 0.001961224964540, 0.008560264215503, -0.097,
-0.001935776313654, -0.999993527115831, 0.002953683950084, -0.000169568352851,
0 0 0 1.000000000000000]
—-------------------------------------------------------------------------------------------------------------------------------.
Transformation: ZED IMU to left camera frame (Estimated with Kalibr)
Tl_zedimu = [[0.0065875914509268, -0.999975075272878, -0.0025401716237316574, 0.021837546533426105],
[0.007325492345560569, 0.0025884168230478344, -0.9999698181746515, -0.00013976422421995026],
[0.9999514692227673, 0.006568784617606072, 0.007342361192197805, -0.03020015048558636],
[0.0, 0.0, 0.0, 1.0]]
Transformation: Right camera to left camera frame (Estimated with Kalibr)
Tlr = [[ 0.99999938 -0.00056601 0.00095437 0.11998532]
[ 0.00056632 0.99999979 -0.00032854 0.00006777]
[-0.00095419 0.00032908 0.99999949 0.00053095]
[ 0. 0. 0. 1. ]]
Transformation: Robot IMU to left camera frame (estimated with Kalibr)
Tl_robotIMU = [-0.118051884740142 -0.991715886014659 -0.050629575699013 0.060000000000000
0.044898991662278 0.045603162098676 -0.997950115063029 0.240000000000000
0.991991851305751 -0.120083108857007 0.039143504061662 -0.180000000000000
0 0 0 1.000000000000000]
Left camera Intrinsics (estimated with Kalibr)
camera_model: pinhole
distortion_coeffs: [-0.0383452724587935, 0.02922888315428903, -0.0007489923534277707, 0.0008975582858627489]
distortion_model: radtan
intrinsics: [342.40289471922307, 342.2051085739647, 408.7539842660669, 220.34050006996137]
resolution: [832, 468]
Right camera Intrinsics (estimated with Kalibr)
camera_model: pinhole
distortion_coeffs: [-0.021846512757741837, 0.012088244854970483, -0.000993061451300265, 0.0006769219379766521]
distortion_model: radtan
intrinsics: [341.4068727680278, 341.2915373466846, 409.16655099378204, 220.30732440642393]
resolution: [832, 468]
zed-Imu calibration parameters (Given by the manufacturer) //Note that one may need to multiply these values by 10-20 times to get usable sensor values.
accelerometer_noise_density = 0.00144514 m/s2/sqrt(Hhz)
accelerometer_random_walk = 0.00003447 m/s3/sqrt(Hz)
gyroscope_noise_density = 0.00016381 rad/s/sqrt(Hz)
gyroscope_random_walk = 0.00000698 rad/s2/sqrt(Hz)
rate: 200 Hz
Robot-IMU calibration parameters (Estimated with Kalibr tool)
accelerometer_noise_density = 0.40572120 m/s2/sqrt(Hz)
accelerometer_random_walk = 0.00117599 m/s3/sqrt(Hz)
gyroscope_noise_density = 0.00106726 rad/s/sqrt(Hz)
gyroscope_random_walk = 0.00000768 rad/s2/sqrt(Hz)
rate: 86 Hz
Wheel odometry parameters:
Distance from left to right wheels: 0.26 m
Distance from wheels at the same side: 0.29 m
Wheel radius: 0.086 m
Translation of GPS with respect to Left camera [m]:
[x, y, z] = [0.06, -0.01, -0.37]