SensorsCalibration
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PJLab-ADG
Definition of parameter json?
{
"center_camera-intrinsic": { # what's the naming schema?
"sensor_name": "center_camera",
"target_sensor_name": "center_camera",
"device_type": "camera",
"param_type": "intrinsic",
"param": {
"img_dist_w": 1920,
"img_dist_h": 1200,
"cam_K": {
"rows": 3, # what is this?
"cols": 3, # what is this?
"type": 6, # what is this?
"continuous": true, # what is this?
"data": [
[
2117.31,
0,
924.681
],
[
0,
2113.29,
656.457
],
[
0,
0,
1.0
]
]
},
"cam_dist": { # how to define camera model? i.e. how to define camera model other than pin hole?
"rows": 1, # what is this?
"cols": 5, # what is this?
"type": 6, # what is this?
"continuous": true, # what is this?
"data": [ # (k1,k2,p1,p2[,k3[,k4,k5,k6[,s1,s2,s3,s4[,τx,τy]]]])?
[
-0.102933,
-0.040925,
0.00057951,
-0.00419933,
0.429959
]
]
}
}
}
}
{
"top_center_lidar-to-center_camera-extrinsic": { # what's the naming schema?
"sensor_name": "top_center_lidar",
"target_sensor_name": "center_camera",
"device_type": "relational", # what is this?
"param_type": "extrinsic",
"param": {
"time_lag": 0,
"sensor_calib": {
"rows": 4,
"cols": 4,
"type": 6,
"continuous": true,
"data": [
[
0.00382471,
-0.999992,
-0.00070554,
-0.0125114
],
[
-0.0132276,
0.000654817,
-0.999912,
-0.379526
],
[
0.999905,
0.00383377,
-0.0132251,
-0.551037
],
[
0,
0,
0,
1
]
]
}
}
}
}
{ "center_camera-intrinsic": { # what's the naming schema? "sensor_name": "center_camera", "target_sensor_name": "center_camera", "device_type": "camera", "param_type": "intrinsic", "param": { "img_dist_w": 1920, "img_dist_h": 1200, "cam_K": { "rows": 3, # what is this? "cols": 3, # what is this? "type": 6, # what is this? "continuous": true, # what is this? "data": [ [ 2117.31, 0, 924.681 ], [ 0, 2113.29, 656.457 ], [ 0, 0, 1.0 ] ] }, "cam_dist": { # how to define camera model? i.e. how to define camera model other than pin hole? "rows": 1, # what is this? "cols": 5, # what is this? "type": 6, # what is this? "continuous": true, # what is this? "data": [ # (k1,k2,p1,p2[,k3[,k4,k5,k6[,s1,s2,s3,s4[,τx,τy]]]])? [ -0.102933, -0.040925, 0.00057951, -0.00419933, 0.429959 ] ] } } } }{ "top_center_lidar-to-center_camera-extrinsic": { # what's the naming schema? "sensor_name": "top_center_lidar", "target_sensor_name": "center_camera", "device_type": "relational", # what is this? "param_type": "extrinsic", "param": { "time_lag": 0, "sensor_calib": { "rows": 4, "cols": 4, "type": 6, "continuous": true, "data": [ [ 0.00382471, -0.999992, -0.00070554, -0.0125114 ], [ -0.0132276, 0.000654817, -0.999912, -0.379526 ], [ 0.999905, 0.00383377, -0.0132251, -0.551037 ], [ 0, 0, 0, 1 ] ] } } } }
This template can be modified according to your needs, many parameters are not used here
My question was the definition of the param. Please see questions marked inside. Thanks!