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Datasets:
r3m3c3
/
off_test

Tags:
robotics
event-camera
multimodal
computer-vision
depth-estimation
lidar
License:
Dataset card Files
xet
 Community
1
r3m3c3 commited on
Commit
3f87a59
·
verified ·
1 Parent(s): d24433e

Sim dataset (1710 sim trajectories) (part 2)

Browse files
Files changed (38) hide show
  1. calibration/trajectory_hera_001462.yaml +103 -0
  2. calibration/trajectory_hera_001463.yaml +103 -0
  3. calibration/trajectory_hera_001464.yaml +103 -0
  4. calibration/trajectory_hera_001465.yaml +103 -0
  5. calibration/trajectory_hera_001466.yaml +103 -0
  6. calibration/trajectory_hera_001467.yaml +103 -0
  7. calibration/trajectory_hera_001468.yaml +103 -0
  8. calibration/trajectory_hera_001469.yaml +103 -0
  9. calibration/trajectory_hera_001470.yaml +103 -0
  10. calibration/trajectory_hera_001471.yaml +103 -0
  11. calibration/trajectory_hera_001472.yaml +103 -0
  12. calibration/trajectory_hera_001473.yaml +103 -0
  13. calibration/trajectory_hera_001474.yaml +103 -0
  14. calibration/trajectory_hera_001475.yaml +103 -0
  15. calibration/trajectory_hera_001476.yaml +103 -0
  16. calibration/trajectory_hera_001477.yaml +103 -0
  17. calibration/trajectory_hera_001478.yaml +103 -0
  18. calibration/trajectory_hera_001479.yaml +103 -0
  19. calibration/trajectory_hera_001480.yaml +103 -0
  20. calibration/trajectory_hera_001481.yaml +103 -0
  21. calibration/trajectory_hera_001482.yaml +103 -0
  22. calibration/trajectory_hera_001483.yaml +103 -0
  23. calibration/trajectory_hera_001484.yaml +103 -0
  24. calibration/trajectory_hera_001485.yaml +103 -0
  25. calibration/trajectory_hera_001486.yaml +103 -0
  26. calibration/trajectory_hera_001487.yaml +103 -0
  27. calibration/trajectory_hera_001488.yaml +103 -0
  28. calibration/trajectory_hera_001489.yaml +103 -0
  29. calibration/trajectory_hera_001490.yaml +103 -0
  30. calibration/trajectory_hera_001491.yaml +103 -0
  31. calibration/trajectory_hera_001492.yaml +103 -0
  32. calibration/trajectory_hera_001493.yaml +103 -0
  33. calibration/trajectory_hera_001494.yaml +103 -0
  34. calibration/trajectory_hera_001495.yaml +103 -0
  35. calibration/trajectory_hera_001496.yaml +103 -0
  36. calibration/trajectory_hera_001497.yaml +103 -0
  37. calibration/trajectory_hera_001498.yaml +103 -0
  38. calibration/trajectory_hera_001499.yaml +103 -0
calibration/trajectory_hera_001462.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
+ source: simulation
3
+ width: 320
4
+ height: 240
5
+ distortion_model: none
6
+ D: &id001
7
+ - 0.0
8
+ - 0.0
9
+ - 0.0
10
+ - 0.0
11
+ - 0.0
12
+ K: &id002
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+ - 227.27272727272725
14
+ - 0.0
15
+ - 160.0
16
+ - 0.0
17
+ - 227.27272727272725
18
+ - 120.0
19
+ - 0.0
20
+ - 0.0
21
+ - 1.0
22
+ focal_length_mm: 5.0
23
+ horizontal_aperture_mm: 7.04
24
+ T_base_sensor: &id003
25
+ parent: robot base (satellite_mockup)
26
+ translation_m:
27
+ - 0.17
28
+ - 0.0
29
+ - 0.17
30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
+ focal_length_mm: 5.0
45
+ horizontal_aperture_mm: 7.04
46
+ T_base_sensor: *id003
47
+ unit: cm
48
+ scale_m: 0.01
49
+ clipping_range_m:
50
+ - 0.01
51
+ - 1000000.0
52
+ semantic:
53
+ source: simulation
54
+ width: 320
55
+ height: 240
56
+ distortion_model: none
57
+ D: *id001
58
+ K: *id002
59
+ focal_length_mm: 5.0
60
+ horizontal_aperture_mm: 7.04
61
+ T_base_sensor: *id003
62
+ events:
63
+ source: simulation
64
+ width: 320
65
+ height: 240
66
+ distortion_model: none
67
+ D: *id001
68
+ K: *id002
69
+ focal_length_mm: 5.0
70
+ horizontal_aperture_mm: 7.04
71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_inspection
74
+ preset_params:
75
+ pos_thres: 0.15
76
+ neg_thres: 0.15
77
+ sigma_thres: 0.02
78
+ cutoff_hz: 0.0
79
+ leak_rate_hz: 0.01
80
+ shot_noise_rate_hz: 0.2
81
+ refractory_period_s: 0.0005
82
+ hot_pixel_frac: 1.0e-05
83
+ lidar:
84
+ source: simulation
85
+ channels: 32
86
+ vertical_fov_deg:
87
+ - -30.0
88
+ - 30.0
89
+ horizontal_fov_deg:
90
+ - -60.0
91
+ - 60.0
92
+ horizontal_res_deg: 0.5
93
+ max_distance_m: 120.0
94
+ T_base_sensor:
95
+ parent: robot base (satellite_mockup)
96
+ translation_m:
97
+ - 0.17
98
+ - 0.0
99
+ - 0.17
100
+ rotation_xyzw: *id004
101
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001463.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
+ source: simulation
3
+ width: 320
4
+ height: 240
5
+ distortion_model: none
6
+ D: &id001
7
+ - 0.0
8
+ - 0.0
9
+ - 0.0
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+ - 0.0
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+ - 0.0
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+ K: &id002
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+ - 227.27272727272725
14
+ - 0.0
15
+ - 160.0
16
+ - 0.0
17
+ - 227.27272727272725
18
+ - 120.0
19
+ - 0.0
20
+ - 0.0
21
+ - 1.0
22
+ focal_length_mm: 5.0
23
+ horizontal_aperture_mm: 7.04
24
+ T_base_sensor: &id003
25
+ parent: robot base (satellite_mockup)
26
+ translation_m:
27
+ - 0.17
28
+ - 0.0
29
+ - 0.17
30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
+ focal_length_mm: 5.0
45
+ horizontal_aperture_mm: 7.04
46
+ T_base_sensor: *id003
47
+ unit: cm
48
+ scale_m: 0.01
49
+ clipping_range_m:
50
+ - 0.01
51
+ - 1000000.0
52
+ semantic:
53
+ source: simulation
54
+ width: 320
55
+ height: 240
56
+ distortion_model: none
57
+ D: *id001
58
+ K: *id002
59
+ focal_length_mm: 5.0
60
+ horizontal_aperture_mm: 7.04
61
+ T_base_sensor: *id003
62
+ events:
63
+ source: simulation
64
+ width: 320
65
+ height: 240
66
+ distortion_model: none
67
+ D: *id001
68
+ K: *id002
69
+ focal_length_mm: 5.0
70
+ horizontal_aperture_mm: 7.04
71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_inspection
74
+ preset_params:
75
+ pos_thres: 0.15
76
+ neg_thres: 0.15
77
+ sigma_thres: 0.02
78
+ cutoff_hz: 0.0
79
+ leak_rate_hz: 0.01
80
+ shot_noise_rate_hz: 0.2
81
+ refractory_period_s: 0.0005
82
+ hot_pixel_frac: 1.0e-05
83
+ lidar:
84
+ source: simulation
85
+ channels: 32
86
+ vertical_fov_deg:
87
+ - -30.0
88
+ - 30.0
89
+ horizontal_fov_deg:
90
+ - -60.0
91
+ - 60.0
92
+ horizontal_res_deg: 0.5
93
+ max_distance_m: 120.0
94
+ T_base_sensor:
95
+ parent: robot base (satellite_mockup)
96
+ translation_m:
97
+ - 0.17
98
+ - 0.0
99
+ - 0.17
100
+ rotation_xyzw: *id004
101
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001464.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
+ source: simulation
3
+ width: 320
4
+ height: 240
5
+ distortion_model: none
6
+ D: &id001
7
+ - 0.0
8
+ - 0.0
9
+ - 0.0
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+ - 0.0
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+ - 0.0
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+ K: &id002
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+ - 227.27272727272725
14
+ - 0.0
15
+ - 160.0
16
+ - 0.0
17
+ - 227.27272727272725
18
+ - 120.0
19
+ - 0.0
20
+ - 0.0
21
+ - 1.0
22
+ focal_length_mm: 5.0
23
+ horizontal_aperture_mm: 7.04
24
+ T_base_sensor: &id003
25
+ parent: robot base (satellite_mockup)
26
+ translation_m:
27
+ - 0.17
28
+ - 0.0
29
+ - 0.17
30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
+ focal_length_mm: 5.0
45
+ horizontal_aperture_mm: 7.04
46
+ T_base_sensor: *id003
47
+ unit: cm
48
+ scale_m: 0.01
49
+ clipping_range_m:
50
+ - 0.01
51
+ - 1000000.0
52
+ semantic:
53
+ source: simulation
54
+ width: 320
55
+ height: 240
56
+ distortion_model: none
57
+ D: *id001
58
+ K: *id002
59
+ focal_length_mm: 5.0
60
+ horizontal_aperture_mm: 7.04
61
+ T_base_sensor: *id003
62
+ events:
63
+ source: simulation
64
+ width: 320
65
+ height: 240
66
+ distortion_model: none
67
+ D: *id001
68
+ K: *id002
69
+ focal_length_mm: 5.0
70
+ horizontal_aperture_mm: 7.04
71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_inspection
74
+ preset_params:
75
+ pos_thres: 0.15
76
+ neg_thres: 0.15
77
+ sigma_thres: 0.02
78
+ cutoff_hz: 0.0
79
+ leak_rate_hz: 0.01
80
+ shot_noise_rate_hz: 0.2
81
+ refractory_period_s: 0.0005
82
+ hot_pixel_frac: 1.0e-05
83
+ lidar:
84
+ source: simulation
85
+ channels: 32
86
+ vertical_fov_deg:
87
+ - -30.0
88
+ - 30.0
89
+ horizontal_fov_deg:
90
+ - -60.0
91
+ - 60.0
92
+ horizontal_res_deg: 0.5
93
+ max_distance_m: 120.0
94
+ T_base_sensor:
95
+ parent: robot base (satellite_mockup)
96
+ translation_m:
97
+ - 0.17
98
+ - 0.0
99
+ - 0.17
100
+ rotation_xyzw: *id004
101
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001465.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
+ source: simulation
3
+ width: 320
4
+ height: 240
5
+ distortion_model: none
6
+ D: &id001
7
+ - 0.0
8
+ - 0.0
9
+ - 0.0
10
+ - 0.0
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+ - 0.0
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+ K: &id002
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+ - 227.27272727272725
14
+ - 0.0
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+ - 160.0
16
+ - 0.0
17
+ - 227.27272727272725
18
+ - 120.0
19
+ - 0.0
20
+ - 0.0
21
+ - 1.0
22
+ focal_length_mm: 5.0
23
+ horizontal_aperture_mm: 7.04
24
+ T_base_sensor: &id003
25
+ parent: robot base (satellite_mockup)
26
+ translation_m:
27
+ - 0.17
28
+ - 0.0
29
+ - 0.17
30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
+ focal_length_mm: 5.0
45
+ horizontal_aperture_mm: 7.04
46
+ T_base_sensor: *id003
47
+ unit: cm
48
+ scale_m: 0.01
49
+ clipping_range_m:
50
+ - 0.01
51
+ - 1000000.0
52
+ semantic:
53
+ source: simulation
54
+ width: 320
55
+ height: 240
56
+ distortion_model: none
57
+ D: *id001
58
+ K: *id002
59
+ focal_length_mm: 5.0
60
+ horizontal_aperture_mm: 7.04
61
+ T_base_sensor: *id003
62
+ events:
63
+ source: simulation
64
+ width: 320
65
+ height: 240
66
+ distortion_model: none
67
+ D: *id001
68
+ K: *id002
69
+ focal_length_mm: 5.0
70
+ horizontal_aperture_mm: 7.04
71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_inspection
74
+ preset_params:
75
+ pos_thres: 0.15
76
+ neg_thres: 0.15
77
+ sigma_thres: 0.02
78
+ cutoff_hz: 0.0
79
+ leak_rate_hz: 0.01
80
+ shot_noise_rate_hz: 0.2
81
+ refractory_period_s: 0.0005
82
+ hot_pixel_frac: 1.0e-05
83
+ lidar:
84
+ source: simulation
85
+ channels: 32
86
+ vertical_fov_deg:
87
+ - -30.0
88
+ - 30.0
89
+ horizontal_fov_deg:
90
+ - -60.0
91
+ - 60.0
92
+ horizontal_res_deg: 0.5
93
+ max_distance_m: 250.0
94
+ T_base_sensor:
95
+ parent: robot base (satellite_mockup)
96
+ translation_m:
97
+ - 0.17
98
+ - 0.0
99
+ - 0.17
100
+ rotation_xyzw: *id004
101
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001466.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
+ source: simulation
3
+ width: 320
4
+ height: 240
5
+ distortion_model: none
6
+ D: &id001
7
+ - 0.0
8
+ - 0.0
9
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10
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11
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19
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20
+ - 0.0
21
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+ focal_length_mm: 5.0
23
+ horizontal_aperture_mm: 7.04
24
+ T_base_sensor: &id003
25
+ parent: robot base (satellite_mockup)
26
+ translation_m:
27
+ - 0.17
28
+ - 0.0
29
+ - 0.17
30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
+ focal_length_mm: 5.0
45
+ horizontal_aperture_mm: 7.04
46
+ T_base_sensor: *id003
47
+ unit: cm
48
+ scale_m: 0.01
49
+ clipping_range_m:
50
+ - 0.01
51
+ - 1000000.0
52
+ semantic:
53
+ source: simulation
54
+ width: 320
55
+ height: 240
56
+ distortion_model: none
57
+ D: *id001
58
+ K: *id002
59
+ focal_length_mm: 5.0
60
+ horizontal_aperture_mm: 7.04
61
+ T_base_sensor: *id003
62
+ events:
63
+ source: simulation
64
+ width: 320
65
+ height: 240
66
+ distortion_model: none
67
+ D: *id001
68
+ K: *id002
69
+ focal_length_mm: 5.0
70
+ horizontal_aperture_mm: 7.04
71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_inspection
74
+ preset_params:
75
+ pos_thres: 0.15
76
+ neg_thres: 0.15
77
+ sigma_thres: 0.02
78
+ cutoff_hz: 0.0
79
+ leak_rate_hz: 0.01
80
+ shot_noise_rate_hz: 0.2
81
+ refractory_period_s: 0.0005
82
+ hot_pixel_frac: 1.0e-05
83
+ lidar:
84
+ source: simulation
85
+ channels: 32
86
+ vertical_fov_deg:
87
+ - -30.0
88
+ - 30.0
89
+ horizontal_fov_deg:
90
+ - -60.0
91
+ - 60.0
92
+ horizontal_res_deg: 0.5
93
+ max_distance_m: 250.0
94
+ T_base_sensor:
95
+ parent: robot base (satellite_mockup)
96
+ translation_m:
97
+ - 0.17
98
+ - 0.0
99
+ - 0.17
100
+ rotation_xyzw: *id004
101
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001467.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
+ source: simulation
3
+ width: 320
4
+ height: 240
5
+ distortion_model: none
6
+ D: &id001
7
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8
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9
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10
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11
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12
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13
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14
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15
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16
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17
+ - 227.27272727272725
18
+ - 120.0
19
+ - 0.0
20
+ - 0.0
21
+ - 1.0
22
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23
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24
+ T_base_sensor: &id003
25
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26
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27
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28
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29
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30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
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43
+ K: *id002
44
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45
+ horizontal_aperture_mm: 7.04
46
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47
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48
+ scale_m: 0.01
49
+ clipping_range_m:
50
+ - 0.01
51
+ - 1000000.0
52
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53
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54
+ width: 320
55
+ height: 240
56
+ distortion_model: none
57
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58
+ K: *id002
59
+ focal_length_mm: 5.0
60
+ horizontal_aperture_mm: 7.04
61
+ T_base_sensor: *id003
62
+ events:
63
+ source: simulation
64
+ width: 320
65
+ height: 240
66
+ distortion_model: none
67
+ D: *id001
68
+ K: *id002
69
+ focal_length_mm: 5.0
70
+ horizontal_aperture_mm: 7.04
71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_inspection
74
+ preset_params:
75
+ pos_thres: 0.15
76
+ neg_thres: 0.15
77
+ sigma_thres: 0.02
78
+ cutoff_hz: 0.0
79
+ leak_rate_hz: 0.01
80
+ shot_noise_rate_hz: 0.2
81
+ refractory_period_s: 0.0005
82
+ hot_pixel_frac: 1.0e-05
83
+ lidar:
84
+ source: simulation
85
+ channels: 32
86
+ vertical_fov_deg:
87
+ - -30.0
88
+ - 30.0
89
+ horizontal_fov_deg:
90
+ - -60.0
91
+ - 60.0
92
+ horizontal_res_deg: 0.5
93
+ max_distance_m: 250.0
94
+ T_base_sensor:
95
+ parent: robot base (satellite_mockup)
96
+ translation_m:
97
+ - 0.17
98
+ - 0.0
99
+ - 0.17
100
+ rotation_xyzw: *id004
101
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001468.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
+ source: simulation
3
+ width: 320
4
+ height: 240
5
+ distortion_model: none
6
+ D: &id001
7
+ - 0.0
8
+ - 0.0
9
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10
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11
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12
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13
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14
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15
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16
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17
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18
+ - 120.0
19
+ - 0.0
20
+ - 0.0
21
+ - 1.0
22
+ focal_length_mm: 5.0
23
+ horizontal_aperture_mm: 7.04
24
+ T_base_sensor: &id003
25
+ parent: robot base (base_link)
26
+ translation_m:
27
+ - 0.21
28
+ - 0.0
29
+ - 0.76
30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
+ focal_length_mm: 5.0
45
+ horizontal_aperture_mm: 7.04
46
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47
+ unit: mm
48
+ scale_m: 0.001
49
+ clipping_range_m:
50
+ - 0.01
51
+ - 1000000.0
52
+ semantic:
53
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54
+ width: 320
55
+ height: 240
56
+ distortion_model: none
57
+ D: *id001
58
+ K: *id002
59
+ focal_length_mm: 5.0
60
+ horizontal_aperture_mm: 7.04
61
+ T_base_sensor: *id003
62
+ events:
63
+ source: simulation
64
+ width: 320
65
+ height: 240
66
+ distortion_model: none
67
+ D: *id001
68
+ K: *id002
69
+ focal_length_mm: 5.0
70
+ horizontal_aperture_mm: 7.04
71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_inspection
74
+ preset_params:
75
+ pos_thres: 0.15
76
+ neg_thres: 0.15
77
+ sigma_thres: 0.02
78
+ cutoff_hz: 0.0
79
+ leak_rate_hz: 0.01
80
+ shot_noise_rate_hz: 0.2
81
+ refractory_period_s: 0.0005
82
+ hot_pixel_frac: 1.0e-05
83
+ lidar:
84
+ source: simulation
85
+ channels: 16
86
+ vertical_fov_deg:
87
+ - -15.0
88
+ - 15.0
89
+ horizontal_fov_deg:
90
+ - -180.0
91
+ - 180.0
92
+ horizontal_res_deg: 1.0
93
+ max_distance_m: 10.0
94
+ T_base_sensor:
95
+ parent: robot base (base_link)
96
+ translation_m:
97
+ - 0.21
98
+ - 0.0
99
+ - 0.76
100
+ rotation_xyzw: *id004
101
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001469.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
+ source: simulation
3
+ width: 320
4
+ height: 240
5
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6
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7
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8
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9
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10
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11
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12
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13
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14
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15
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16
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17
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18
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19
+ - 0.0
20
+ - 0.0
21
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22
+ focal_length_mm: 5.0
23
+ horizontal_aperture_mm: 7.04
24
+ T_base_sensor: &id003
25
+ parent: robot base (base_link)
26
+ translation_m:
27
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28
+ - 0.0
29
+ - 0.76
30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
+ focal_length_mm: 5.0
45
+ horizontal_aperture_mm: 7.04
46
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47
+ unit: mm
48
+ scale_m: 0.001
49
+ clipping_range_m:
50
+ - 0.01
51
+ - 1000000.0
52
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53
+ source: simulation
54
+ width: 320
55
+ height: 240
56
+ distortion_model: none
57
+ D: *id001
58
+ K: *id002
59
+ focal_length_mm: 5.0
60
+ horizontal_aperture_mm: 7.04
61
+ T_base_sensor: *id003
62
+ events:
63
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64
+ width: 320
65
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66
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67
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68
+ K: *id002
69
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70
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71
+ T_base_sensor: *id003
72
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73
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74
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75
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76
+ neg_thres: 0.15
77
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78
+ cutoff_hz: 0.0
79
+ leak_rate_hz: 0.01
80
+ shot_noise_rate_hz: 0.2
81
+ refractory_period_s: 0.0005
82
+ hot_pixel_frac: 1.0e-05
83
+ lidar:
84
+ source: simulation
85
+ channels: 16
86
+ vertical_fov_deg:
87
+ - -15.0
88
+ - 15.0
89
+ horizontal_fov_deg:
90
+ - -180.0
91
+ - 180.0
92
+ horizontal_res_deg: 1.0
93
+ max_distance_m: 10.0
94
+ T_base_sensor:
95
+ parent: robot base (base_link)
96
+ translation_m:
97
+ - 0.21
98
+ - 0.0
99
+ - 0.76
100
+ rotation_xyzw: *id004
101
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001470.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
+ source: simulation
3
+ width: 320
4
+ height: 240
5
+ distortion_model: none
6
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7
+ - 0.0
8
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9
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10
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11
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12
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13
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14
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15
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16
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17
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18
+ - 120.0
19
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20
+ - 0.0
21
+ - 1.0
22
+ focal_length_mm: 5.0
23
+ horizontal_aperture_mm: 7.04
24
+ T_base_sensor: &id003
25
+ parent: robot base (base_link)
26
+ translation_m:
27
+ - 0.21
28
+ - 0.0
29
+ - 0.76
30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
+ focal_length_mm: 5.0
45
+ horizontal_aperture_mm: 7.04
46
+ T_base_sensor: *id003
47
+ unit: mm
48
+ scale_m: 0.001
49
+ clipping_range_m:
50
+ - 0.01
51
+ - 1000000.0
52
+ semantic:
53
+ source: simulation
54
+ width: 320
55
+ height: 240
56
+ distortion_model: none
57
+ D: *id001
58
+ K: *id002
59
+ focal_length_mm: 5.0
60
+ horizontal_aperture_mm: 7.04
61
+ T_base_sensor: *id003
62
+ events:
63
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64
+ width: 320
65
+ height: 240
66
+ distortion_model: none
67
+ D: *id001
68
+ K: *id002
69
+ focal_length_mm: 5.0
70
+ horizontal_aperture_mm: 7.04
71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_inspection
74
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75
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76
+ neg_thres: 0.15
77
+ sigma_thres: 0.02
78
+ cutoff_hz: 0.0
79
+ leak_rate_hz: 0.01
80
+ shot_noise_rate_hz: 0.2
81
+ refractory_period_s: 0.0005
82
+ hot_pixel_frac: 1.0e-05
83
+ lidar:
84
+ source: simulation
85
+ channels: 16
86
+ vertical_fov_deg:
87
+ - -15.0
88
+ - 15.0
89
+ horizontal_fov_deg:
90
+ - -180.0
91
+ - 180.0
92
+ horizontal_res_deg: 1.0
93
+ max_distance_m: 10.0
94
+ T_base_sensor:
95
+ parent: robot base (base_link)
96
+ translation_m:
97
+ - 0.21
98
+ - 0.0
99
+ - 0.76
100
+ rotation_xyzw: *id004
101
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001471.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
+ source: simulation
3
+ width: 320
4
+ height: 240
5
+ distortion_model: none
6
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7
+ - 0.0
8
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9
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10
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11
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12
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13
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14
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15
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16
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17
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18
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19
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20
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21
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22
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23
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24
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25
+ parent: robot base (satellite_mockup)
26
+ translation_m:
27
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28
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29
+ - 0.17
30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
+ focal_length_mm: 5.0
45
+ horizontal_aperture_mm: 7.04
46
+ T_base_sensor: *id003
47
+ unit: mm
48
+ scale_m: 0.001
49
+ clipping_range_m:
50
+ - 0.01
51
+ - 1000000.0
52
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53
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54
+ width: 320
55
+ height: 240
56
+ distortion_model: none
57
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58
+ K: *id002
59
+ focal_length_mm: 5.0
60
+ horizontal_aperture_mm: 7.04
61
+ T_base_sensor: *id003
62
+ events:
63
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64
+ width: 320
65
+ height: 240
66
+ distortion_model: none
67
+ D: *id001
68
+ K: *id002
69
+ focal_length_mm: 5.0
70
+ horizontal_aperture_mm: 7.04
71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_inspection
74
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75
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76
+ neg_thres: 0.15
77
+ sigma_thres: 0.02
78
+ cutoff_hz: 0.0
79
+ leak_rate_hz: 0.01
80
+ shot_noise_rate_hz: 0.2
81
+ refractory_period_s: 0.0005
82
+ hot_pixel_frac: 1.0e-05
83
+ lidar:
84
+ source: simulation
85
+ channels: 32
86
+ vertical_fov_deg:
87
+ - -30.0
88
+ - 30.0
89
+ horizontal_fov_deg:
90
+ - -60.0
91
+ - 60.0
92
+ horizontal_res_deg: 0.5
93
+ max_distance_m: 60.0
94
+ T_base_sensor:
95
+ parent: robot base (satellite_mockup)
96
+ translation_m:
97
+ - 0.17
98
+ - 0.0
99
+ - 0.17
100
+ rotation_xyzw: *id004
101
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001472.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
+ source: simulation
3
+ width: 320
4
+ height: 240
5
+ distortion_model: none
6
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7
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8
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9
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10
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11
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12
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13
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14
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15
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16
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17
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18
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19
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20
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21
+ - 1.0
22
+ focal_length_mm: 5.0
23
+ horizontal_aperture_mm: 7.04
24
+ T_base_sensor: &id003
25
+ parent: robot base (satellite_mockup)
26
+ translation_m:
27
+ - 0.17
28
+ - 0.0
29
+ - 0.17
30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
+ focal_length_mm: 5.0
45
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46
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47
+ unit: mm
48
+ scale_m: 0.001
49
+ clipping_range_m:
50
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51
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52
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53
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54
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55
+ height: 240
56
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57
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58
+ K: *id002
59
+ focal_length_mm: 5.0
60
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61
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62
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63
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64
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65
+ height: 240
66
+ distortion_model: none
67
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68
+ K: *id002
69
+ focal_length_mm: 5.0
70
+ horizontal_aperture_mm: 7.04
71
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72
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73
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74
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75
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76
+ neg_thres: 0.15
77
+ sigma_thres: 0.02
78
+ cutoff_hz: 0.0
79
+ leak_rate_hz: 0.01
80
+ shot_noise_rate_hz: 0.2
81
+ refractory_period_s: 0.0005
82
+ hot_pixel_frac: 1.0e-05
83
+ lidar:
84
+ source: simulation
85
+ channels: 32
86
+ vertical_fov_deg:
87
+ - -30.0
88
+ - 30.0
89
+ horizontal_fov_deg:
90
+ - -60.0
91
+ - 60.0
92
+ horizontal_res_deg: 0.5
93
+ max_distance_m: 60.0
94
+ T_base_sensor:
95
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96
+ translation_m:
97
+ - 0.17
98
+ - 0.0
99
+ - 0.17
100
+ rotation_xyzw: *id004
101
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001473.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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2
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3
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4
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7
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8
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20
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21
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23
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26
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29
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30
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31
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32
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33
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34
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35
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36
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37
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38
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39
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40
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41
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42
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43
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44
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45
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46
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47
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48
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54
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55
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56
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58
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60
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61
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62
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64
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65
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66
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67
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68
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69
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83
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85
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87
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88
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89
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91
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92
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93
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94
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95
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96
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97
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98
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99
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100
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101
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102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001474.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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30
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31
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33
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34
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35
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36
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37
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38
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39
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40
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41
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42
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43
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44
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61
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62
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65
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66
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81
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82
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83
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85
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86
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87
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88
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89
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91
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92
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93
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94
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95
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96
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97
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98
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99
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100
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101
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102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001475.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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30
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31
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32
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33
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34
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35
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36
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37
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38
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39
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40
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41
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42
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43
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44
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54
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55
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56
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58
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59
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60
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61
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62
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65
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68
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69
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82
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83
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85
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86
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88
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89
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91
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92
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93
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94
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95
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96
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97
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98
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99
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100
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101
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001476.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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30
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31
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32
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33
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34
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37
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38
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39
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40
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41
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42
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43
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44
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45
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46
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58
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59
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60
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61
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80
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81
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82
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83
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85
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89
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91
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92
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93
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94
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96
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98
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99
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100
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101
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102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001477.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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30
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31
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32
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33
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34
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37
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39
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40
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41
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42
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43
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44
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46
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47
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54
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56
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58
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59
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60
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61
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62
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64
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65
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66
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68
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69
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85
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89
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91
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92
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99
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100
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101
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102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001478.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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31
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33
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34
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37
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39
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40
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41
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42
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44
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45
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59
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93
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99
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100
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102
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103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001479.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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30
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32
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34
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37
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39
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40
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41
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42
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66
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93
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99
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100
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101
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102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001480.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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37
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38
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39
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40
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41
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42
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89
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91
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92
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93
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94
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96
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97
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98
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99
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100
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101
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102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001481.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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30
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31
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37
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39
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40
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41
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60
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61
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89
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91
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92
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93
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97
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98
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99
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100
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101
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102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001482.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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37
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39
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40
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41
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60
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80
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82
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85
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91
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92
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93
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98
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99
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100
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101
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102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001483.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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39
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40
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41
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59
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60
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61
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62
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66
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69
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102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001484.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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39
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40
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66
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67
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68
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69
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70
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71
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73
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79
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80
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81
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82
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83
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85
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87
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88
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89
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91
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92
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93
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94
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95
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96
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97
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98
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99
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100
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101
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102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001485.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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21
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25
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29
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30
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31
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32
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33
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34
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35
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36
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37
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38
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39
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40
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41
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42
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43
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44
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45
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46
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47
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54
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56
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58
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59
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60
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61
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62
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63
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64
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65
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66
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68
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69
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81
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82
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83
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85
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88
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89
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91
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92
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93
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94
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95
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96
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97
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98
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99
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100
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101
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102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001486.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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29
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30
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31
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32
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33
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34
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35
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36
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37
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38
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39
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40
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41
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42
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43
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44
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45
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54
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60
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61
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62
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64
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65
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68
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69
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80
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81
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82
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83
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85
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86
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87
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88
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89
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91
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92
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93
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94
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95
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96
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97
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98
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99
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100
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101
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102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001487.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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30
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31
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32
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33
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34
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35
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36
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37
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38
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39
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40
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41
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42
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43
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44
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45
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46
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47
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49
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54
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55
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56
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57
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58
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59
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60
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61
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62
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64
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65
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66
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68
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69
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79
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80
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81
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82
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83
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85
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86
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87
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88
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89
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91
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92
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93
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94
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95
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96
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97
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98
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99
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100
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101
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102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001488.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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30
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31
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32
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33
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34
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35
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36
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37
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38
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39
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40
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41
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42
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43
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44
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45
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46
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47
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48
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54
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55
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56
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57
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58
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59
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60
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61
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62
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64
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65
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66
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68
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69
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79
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80
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81
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82
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83
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85
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86
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87
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88
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89
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91
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92
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93
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94
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96
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97
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99
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100
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101
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102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001489.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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30
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31
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32
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33
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34
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35
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36
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37
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38
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39
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40
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41
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42
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43
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44
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45
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46
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47
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48
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49
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51
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54
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55
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56
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57
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58
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59
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60
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61
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62
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64
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65
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66
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67
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68
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69
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70
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71
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77
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79
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80
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81
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82
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83
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85
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86
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87
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88
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89
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91
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92
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93
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94
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97
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98
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99
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100
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101
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102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001490.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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30
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32
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33
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34
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37
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38
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39
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40
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41
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42
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43
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44
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48
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52
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53
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54
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55
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56
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57
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58
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59
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60
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61
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62
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63
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64
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65
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66
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67
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68
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69
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70
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71
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72
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73
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74
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77
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78
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79
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80
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81
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82
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83
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84
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85
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86
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87
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88
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89
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91
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92
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93
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94
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95
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96
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97
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98
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99
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100
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101
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102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001491.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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3
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18
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19
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20
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21
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22
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23
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24
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25
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26
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28
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29
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30
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31
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32
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33
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34
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35
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36
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37
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38
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39
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40
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41
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42
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43
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44
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45
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46
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48
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54
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55
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56
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58
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59
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60
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61
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62
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63
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64
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65
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66
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67
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68
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69
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71
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79
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80
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81
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82
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83
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84
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85
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86
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87
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88
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89
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91
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92
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93
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94
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95
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96
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97
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98
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99
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100
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101
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102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001492.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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21
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23
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24
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25
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30
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31
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32
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33
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34
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35
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36
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37
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38
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39
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40
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41
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42
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43
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44
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45
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46
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54
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56
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58
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59
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60
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61
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62
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64
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65
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66
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69
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79
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80
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81
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82
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83
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85
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86
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87
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88
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89
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90
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91
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92
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93
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94
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95
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96
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97
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98
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99
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100
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101
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001493.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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24
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25
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26
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29
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30
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31
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32
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33
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34
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35
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36
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37
+ depth:
38
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39
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40
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41
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42
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43
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44
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45
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46
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47
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49
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51
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52
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54
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55
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56
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57
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58
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59
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60
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61
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62
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64
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65
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66
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68
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69
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79
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80
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81
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82
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83
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84
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85
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86
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87
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88
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89
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90
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91
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92
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93
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94
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95
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96
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97
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98
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99
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100
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101
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001494.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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2
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3
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30
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31
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32
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33
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34
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35
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36
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37
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38
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39
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40
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41
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42
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43
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44
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45
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46
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47
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48
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49
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51
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52
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54
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55
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56
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57
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58
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59
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60
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61
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62
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63
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64
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65
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66
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67
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68
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69
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70
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71
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72
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73
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77
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79
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80
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81
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82
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83
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85
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86
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87
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88
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89
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90
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91
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92
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93
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94
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95
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96
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97
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98
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99
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100
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101
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102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001495.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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2
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3
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30
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31
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32
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33
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34
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35
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36
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37
+ depth:
38
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39
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40
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41
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42
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43
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44
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45
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46
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47
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48
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49
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50
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51
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52
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53
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54
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55
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56
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57
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58
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59
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60
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61
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62
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63
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64
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65
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66
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67
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68
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69
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70
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71
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72
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73
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77
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79
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80
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81
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82
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83
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84
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85
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86
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87
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88
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89
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91
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92
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93
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94
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96
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97
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98
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99
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100
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101
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102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001496.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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26
+ translation_m:
27
+ - 0.21
28
+ - 0.0
29
+ - 0.76
30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
+ focal_length_mm: 5.0
45
+ horizontal_aperture_mm: 7.04
46
+ T_base_sensor: *id003
47
+ unit: mm
48
+ scale_m: 0.001
49
+ clipping_range_m:
50
+ - 0.01
51
+ - 1000000.0
52
+ semantic:
53
+ source: simulation
54
+ width: 320
55
+ height: 240
56
+ distortion_model: none
57
+ D: *id001
58
+ K: *id002
59
+ focal_length_mm: 5.0
60
+ horizontal_aperture_mm: 7.04
61
+ T_base_sensor: *id003
62
+ events:
63
+ source: simulation
64
+ width: 320
65
+ height: 240
66
+ distortion_model: none
67
+ D: *id001
68
+ K: *id002
69
+ focal_length_mm: 5.0
70
+ horizontal_aperture_mm: 7.04
71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_inspection
74
+ preset_params:
75
+ pos_thres: 0.15
76
+ neg_thres: 0.15
77
+ sigma_thres: 0.02
78
+ cutoff_hz: 0.0
79
+ leak_rate_hz: 0.01
80
+ shot_noise_rate_hz: 0.2
81
+ refractory_period_s: 0.0005
82
+ hot_pixel_frac: 1.0e-05
83
+ lidar:
84
+ source: simulation
85
+ channels: 16
86
+ vertical_fov_deg:
87
+ - -15.0
88
+ - 15.0
89
+ horizontal_fov_deg:
90
+ - -180.0
91
+ - 180.0
92
+ horizontal_res_deg: 1.0
93
+ max_distance_m: 10.0
94
+ T_base_sensor:
95
+ parent: robot base (base_link)
96
+ translation_m:
97
+ - 0.21
98
+ - 0.0
99
+ - 0.76
100
+ rotation_xyzw: *id004
101
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001497.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
+ source: simulation
3
+ width: 320
4
+ height: 240
5
+ distortion_model: none
6
+ D: &id001
7
+ - 0.0
8
+ - 0.0
9
+ - 0.0
10
+ - 0.0
11
+ - 0.0
12
+ K: &id002
13
+ - 227.27272727272725
14
+ - 0.0
15
+ - 160.0
16
+ - 0.0
17
+ - 227.27272727272725
18
+ - 120.0
19
+ - 0.0
20
+ - 0.0
21
+ - 1.0
22
+ focal_length_mm: 5.0
23
+ horizontal_aperture_mm: 7.04
24
+ T_base_sensor: &id003
25
+ parent: robot base (base_link)
26
+ translation_m:
27
+ - 0.21
28
+ - 0.0
29
+ - 0.76
30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
+ focal_length_mm: 5.0
45
+ horizontal_aperture_mm: 7.04
46
+ T_base_sensor: *id003
47
+ unit: mm
48
+ scale_m: 0.001
49
+ clipping_range_m:
50
+ - 0.01
51
+ - 1000000.0
52
+ semantic:
53
+ source: simulation
54
+ width: 320
55
+ height: 240
56
+ distortion_model: none
57
+ D: *id001
58
+ K: *id002
59
+ focal_length_mm: 5.0
60
+ horizontal_aperture_mm: 7.04
61
+ T_base_sensor: *id003
62
+ events:
63
+ source: simulation
64
+ width: 320
65
+ height: 240
66
+ distortion_model: none
67
+ D: *id001
68
+ K: *id002
69
+ focal_length_mm: 5.0
70
+ horizontal_aperture_mm: 7.04
71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_inspection
74
+ preset_params:
75
+ pos_thres: 0.15
76
+ neg_thres: 0.15
77
+ sigma_thres: 0.02
78
+ cutoff_hz: 0.0
79
+ leak_rate_hz: 0.01
80
+ shot_noise_rate_hz: 0.2
81
+ refractory_period_s: 0.0005
82
+ hot_pixel_frac: 1.0e-05
83
+ lidar:
84
+ source: simulation
85
+ channels: 16
86
+ vertical_fov_deg:
87
+ - -15.0
88
+ - 15.0
89
+ horizontal_fov_deg:
90
+ - -180.0
91
+ - 180.0
92
+ horizontal_res_deg: 1.0
93
+ max_distance_m: 10.0
94
+ T_base_sensor:
95
+ parent: robot base (base_link)
96
+ translation_m:
97
+ - 0.21
98
+ - 0.0
99
+ - 0.76
100
+ rotation_xyzw: *id004
101
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001498.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
+ source: simulation
3
+ width: 320
4
+ height: 240
5
+ distortion_model: none
6
+ D: &id001
7
+ - 0.0
8
+ - 0.0
9
+ - 0.0
10
+ - 0.0
11
+ - 0.0
12
+ K: &id002
13
+ - 227.27272727272725
14
+ - 0.0
15
+ - 160.0
16
+ - 0.0
17
+ - 227.27272727272725
18
+ - 120.0
19
+ - 0.0
20
+ - 0.0
21
+ - 1.0
22
+ focal_length_mm: 5.0
23
+ horizontal_aperture_mm: 7.04
24
+ T_base_sensor: &id003
25
+ parent: robot base (satellite_mockup)
26
+ translation_m:
27
+ - 0.17
28
+ - 0.0
29
+ - 0.17
30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
+ focal_length_mm: 5.0
45
+ horizontal_aperture_mm: 7.04
46
+ T_base_sensor: *id003
47
+ unit: mm
48
+ scale_m: 0.001
49
+ clipping_range_m:
50
+ - 0.01
51
+ - 1000000.0
52
+ semantic:
53
+ source: simulation
54
+ width: 320
55
+ height: 240
56
+ distortion_model: none
57
+ D: *id001
58
+ K: *id002
59
+ focal_length_mm: 5.0
60
+ horizontal_aperture_mm: 7.04
61
+ T_base_sensor: *id003
62
+ events:
63
+ source: simulation
64
+ width: 320
65
+ height: 240
66
+ distortion_model: none
67
+ D: *id001
68
+ K: *id002
69
+ focal_length_mm: 5.0
70
+ horizontal_aperture_mm: 7.04
71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_inspection
74
+ preset_params:
75
+ pos_thres: 0.15
76
+ neg_thres: 0.15
77
+ sigma_thres: 0.02
78
+ cutoff_hz: 0.0
79
+ leak_rate_hz: 0.01
80
+ shot_noise_rate_hz: 0.2
81
+ refractory_period_s: 0.0005
82
+ hot_pixel_frac: 1.0e-05
83
+ lidar:
84
+ source: simulation
85
+ channels: 32
86
+ vertical_fov_deg:
87
+ - -30.0
88
+ - 30.0
89
+ horizontal_fov_deg:
90
+ - -60.0
91
+ - 60.0
92
+ horizontal_res_deg: 0.5
93
+ max_distance_m: 60.0
94
+ T_base_sensor:
95
+ parent: robot base (satellite_mockup)
96
+ translation_m:
97
+ - 0.17
98
+ - 0.0
99
+ - 0.17
100
+ rotation_xyzw: *id004
101
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_001499.yaml ADDED
@@ -0,0 +1,103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
+ source: simulation
3
+ width: 320
4
+ height: 240
5
+ distortion_model: none
6
+ D: &id001
7
+ - 0.0
8
+ - 0.0
9
+ - 0.0
10
+ - 0.0
11
+ - 0.0
12
+ K: &id002
13
+ - 227.27272727272725
14
+ - 0.0
15
+ - 160.0
16
+ - 0.0
17
+ - 227.27272727272725
18
+ - 120.0
19
+ - 0.0
20
+ - 0.0
21
+ - 1.0
22
+ focal_length_mm: 5.0
23
+ horizontal_aperture_mm: 7.04
24
+ T_base_sensor: &id003
25
+ parent: robot base (satellite_mockup)
26
+ translation_m:
27
+ - 0.17
28
+ - 0.0
29
+ - 0.17
30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
+ focal_length_mm: 5.0
45
+ horizontal_aperture_mm: 7.04
46
+ T_base_sensor: *id003
47
+ unit: mm
48
+ scale_m: 0.001
49
+ clipping_range_m:
50
+ - 0.01
51
+ - 1000000.0
52
+ semantic:
53
+ source: simulation
54
+ width: 320
55
+ height: 240
56
+ distortion_model: none
57
+ D: *id001
58
+ K: *id002
59
+ focal_length_mm: 5.0
60
+ horizontal_aperture_mm: 7.04
61
+ T_base_sensor: *id003
62
+ events:
63
+ source: simulation
64
+ width: 320
65
+ height: 240
66
+ distortion_model: none
67
+ D: *id001
68
+ K: *id002
69
+ focal_length_mm: 5.0
70
+ horizontal_aperture_mm: 7.04
71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_inspection
74
+ preset_params:
75
+ pos_thres: 0.15
76
+ neg_thres: 0.15
77
+ sigma_thres: 0.02
78
+ cutoff_hz: 0.0
79
+ leak_rate_hz: 0.01
80
+ shot_noise_rate_hz: 0.2
81
+ refractory_period_s: 0.0005
82
+ hot_pixel_frac: 1.0e-05
83
+ lidar:
84
+ source: simulation
85
+ channels: 32
86
+ vertical_fov_deg:
87
+ - -30.0
88
+ - 30.0
89
+ horizontal_fov_deg:
90
+ - -60.0
91
+ - 60.0
92
+ horizontal_res_deg: 0.5
93
+ max_distance_m: 60.0
94
+ T_base_sensor:
95
+ parent: robot base (satellite_mockup)
96
+ translation_m:
97
+ - 0.17
98
+ - 0.0
99
+ - 0.17
100
+ rotation_xyzw: *id004
101
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
102
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
103
+ event_camera_sensor: event_camera_inspect