Datasets:
File size: 6,820 Bytes
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"schema_version": 3,
"transform_convention": "T_A_B maps a point in frame B into frame A: p_A = T_A_B * p_B",
"frames": {
"world": {
"name": "W",
"axes": {
"x": "East",
"y": "North",
"z": "Up"
},
"origin_llh_gga": {
"latitude_deg": 30.449400235285786,
"longitude_deg": 114.51175649447971,
"altitude_m": 30.877709330727896
}
},
"vehicle": {
"name": "V",
"axes": {
"x": "forward",
"y": "left",
"z": "up"
},
"origin": "ground level, centre of the four wheels"
},
"uav": {
"name": "U",
"axes": {
"x": "forward",
"y": "left",
"z": "up"
}
}
},
"extrinsics_m": {
"uav_rtk_antenna_in_u": [
0.03,
-0.05,
0.25
],
"car_rtk_antenna_in_v": [
0.01,
-0.22,
0.86
]
},
"transforms": {
"T_W_V": {
"vehicle_pose_0716": [
[
-0.3400029448603845,
-0.9404243709550845,
0.0,
0.19553638681993726
],
[
0.9404243709550845,
-0.3400029448603845,
0.0,
-0.14374656836228367
],
[
0.0,
0.0,
1.0,
-1.124236942068264
],
[
0.0,
0.0,
0.0,
1.0
]
],
"vehicle_pose_0723": [
[
-0.344470843811927,
-0.9387970162732192,
0.0,
0.0
],
[
0.9387970162732192,
-0.344470843811927,
0.0,
0.0
],
[
0.0,
0.0,
1.0,
-1.22
],
[
0.0,
0.0,
0.0,
1.0
]
]
}
},
"sensor_extrinsics": {
"_comment_en": "Per-sensor extrinsics used by the real-time pipeline. Values are identical to the source repository config/extrinsic_calibration.json and document/外参标定结果.txt (paper-form). Kinematic chain: T_W_L = T_W_V * T_V_G1(yaw) * T_G1_G2(pitch) * T_G2_L.",
"_comment_zh": "实时系统使用的传感器外参。数值与源码仓库 config/extrinsic_calibration.json 及 document/外参标定结果.txt（论文公式版）一致。运动学链：T_W_L = T_W_V · T_V_G1(yaw) · T_G1_G2(pitch) · T_G2_L。",
"frames": {
"V": "Vehicle (origin: ground level, centre of four wheels; x=forward, y=left, z=up) / 车辆坐标系（原点：地面四轮中心；x 前、y 左、z 上）",
"H": "RoboSense RS-Helios LiDAR (used for vehicle localization) / Helios 雷达坐标系（用于车辆定位）",
"G1": "Gimbal yaw (pan) joint frame / 云台偏航（pan）关节坐标系",
"G2": "Gimbal pitch (tilt) joint frame / 云台俯仰（tilt）关节坐标系",
"L": "RoboSense RS-M1 LiDAR (tracking sensor) / M1 雷达坐标系（追踪传感器）",
"C": "Hikvision camera / 相机坐标系",
"R": "Vehicle RTK antenna / 车载 RTK 天线"
},
"encoder_to_angle": {
"_comment_en": "Maps servo encoder readings to joint angles (degrees). E_pan, E_tilt are the raw encoder codes.",
"_comment_zh": "舵机编码值到关节角度（度）的映射。E_pan、E_tilt 为原始编码值。",
"pan_deg": "0.0669 * (E_pan - 2062.8)",
"tilt_deg": "-0.071 * (E_tilt - 1936.79)"
},
"T_V_G1": {
"_comment_en": "Pan (yaw) joint pose in Vehicle. Time-varying rotation Rz(yaw). / 偏航关节在车辆坐标系中的位姿，时变旋转 Rz(yaw)。",
"rotation_param": "Rz(yaw)",
"translation": [
0.18,
0.0,
0.85
]
},
"T_G1_G2": {
"_comment_en": "Tilt (pitch) joint pose in G1. Time-varying rotation Ry(pitch). / 俯仰关节在 G1 坐标系中的位姿，时变旋转 Ry(pitch)。",
"rotation_param": "Ry(pitch)",
"translation": [
0.0,
0.0,
0.062
]
},
"T_G2_L": {
"_comment_en": "RS-M1 LiDAR pose in G2. Pure translation, identity rotation. / M1 雷达在 G2 坐标系中的位姿，纯平移，无旋转。",
"matrix_4x4": [
[
1.0,
0.0,
0.0,
0.018
],
[
0.0,
1.0,
0.0,
0.0
],
[
0.0,
0.0,
1.0,
0.072
],
[
0.0,
0.0,
0.0,
1.0
]
]
},
"T_G2_C": {
"_comment_en": "Camera pose in G2. Rotation = ideal axis permutation left-multiplied by Ry(+1.10 deg) fine correction. / 相机在 G2 坐标系中的位姿。旋转在理想轴置换基础上左乘 Ry(+1.10°) 精修。",
"matrix_4x4": [
[
0.0,
-0.0191974424,
0.999815712122,
0.025
],
[
-1.0,
0.0,
0.0,
0.08
],
[
0.0,
-0.999815712122,
-0.0191974424,
0.058
],
[
0.0,
0.0,
0.0,
1.0
]
]
},
"T_V_H": {
"_comment_en": "RS-Helios LiDAR pose in Vehicle. Pure translation, identity rotation. / Helios 雷达在车辆坐标系中的位姿，纯平移，无旋转。",
"matrix_4x4": [
[
1.0,
0.0,
0.0,
-0.17
],
[
0.0,
1.0,
0.0,
0.0
],
[
0.0,
0.0,
1.0,
0.95
],
[
0.0,
0.0,
0.0,
1.0
]
]
},
"T_V_R": {
"_comment_en": "Vehicle RTK antenna pose in Vehicle. Heading aligned with Vehicle. / 车载 RTK 天线在车辆坐标系中的位姿，朝向与车辆一致。",
"matrix_4x4": [
[
1.0,
0.0,
0.0,
0.01
],
[
0.0,
1.0,
0.0,
-0.22
],
[
0.0,
0.0,
1.0,
0.86
],
[
0.0,
0.0,
0.0,
1.0
]
]
},
"camera_intrinsic": {
"_comment_en": "Hikvision MV-CS050-10UC pinhole + radial-tangential distortion. / 海康 MV-CS050-10UC 相机内参 + 径向切向畸变。",
"fx": 2292.4112472233305,
"fy": 2289.1280016360388,
"cx": 1183.4111483043127,
"cy": 1038.7331036789315,
"k1": -0.08272229239611316,
"k2": 0.13203832389665585,
"p1": 0.0003186630393428523,
"p2": -0.0032283162603578613,
"k3": -0.11291916041136751,
"image_width": 2448,
"image_height": 2048
}
}
}
|