how to convert this calibration file?

[aubeena007]

################################################################################ Notes

• Coordinate system: X = driving direction, Y = left direction, Z = Upwards
• XY plane is the top of the rails with Z=0. This fixes three of the six DoF (degrees of freedom) of the reference coordinate system.

################################################################################ CAMERA data_folder: ir_left position: [0.0788369, 0.426123, 3.523] rotation_quaternion (w,x,y,z): [0.996027, -0.000591278, 0.0222156, 0.0862389] rotation matrix: [0.984138642741182, -0.1718187119796004, 0.04415271313537852; 0.171766169581505, 0.9851250110146101, 0.005009556942691675; -0.04435667763529644, 0.002653843841579718, 0.9990122332894742] angle axis rotation: [-0.00118412, 0.0444902, 0.172707] homogeneous transform: [0.984138642741182, -0.1718187119796004, 0.04415271313537852, 0.07883686949160869; 0.171766169581505, 0.9851250110146101, 0.005009556942691675, 0.4261232192792224; -0.04435667763529644, 0.002653843841579718, 0.9990122332894742, 3.523; 0, 0, 0, 1] measured_position: [0, 0, 0] camera_matrix: [3535.294117647, 0, 319.5; 0, 3535.294117647, 239.5; 0, 0, 1] dist_coeffs: [0, 0, 0, 0, 0]

################################################################################ CAMERA data_folder: ir_center position: [0.0961069, 0.25265, 3.5225] rotation_quaternion (w,x,y,z): [0.999709, 0.00411229, 0.0227947, 0.00666547] rotation matrix: [0.9988719430073834, -0.01313958855431502, 0.0456310495745843; 0.0135145432523949, 0.9998773211011482, -0.007918324839901441; -0.04552140807723332, 0.008526075311323874, 0.9989269780351573] angle axis rotation: [0.00822539, 0.0455939, 0.0133322] homogeneous transform: [0.9988719430073834, -0.01313958855431502, 0.0456310495745843, 0.09610688748423474; 0.0135145432523949, 0.9998773211011482, -0.007918324839901441, 0.2526498885376692; -0.04552140807723332, 0.008526075311323874, 0.9989269780351573, 3.522499999999999; 0, 0, 0, 1] measured_position: [0, 0, 0] camera_matrix: [3535.294117647, 0, 319.5; 0, 3535.294117647, 239.5; 0, 0, 1] dist_coeffs: [0, 0, 0, 0, 0]

################################################################################ CAMERA data_folder: ir_right position: [0.0828754, 0.0801291, 3.5235] rotation_quaternion (w,x,y,z): [0.99716, 0.00074111, 0.0222082, -0.0719592] rotation matrix: [0.9886573221435483, 0.1435426798446681, 0.0441836896938154; -0.1434768448618926, 0.9896426359875975, -0.004674186987738497; -0.04439700846256057, -0.001718167201129793, 0.9990124891817141] angle axis rotation: [0.00148362, 0.0444586, -0.144055] homogeneous transform: [0.9886573221435483, 0.1435426798446681, 0.0441836896938154, 0.08287538600086802; -0.1434768448618926, 0.9896426359875975, -0.004674186987738497, 0.0801290858254784; -0.04439700846256057, -0.001718167201129793, 0.9990124891817141, 3.523499999999999; 0, 0, 0, 1] measured_position: [0, 0, 0] camera_matrix: [3535.294117647, 0, 319.5; 0, 3535.294117647, 239.5; 0, 0, 1] dist_coeffs: [0, 0, 0, 0, 0]

################################################################################ CAMERA data_folder: rgb_highres_left position: [0.0559156, 0.20323, 2.07979] rotation_quaternion (w,x,y,z): [0.981614, -0.00288816, -0.00186774, 0.190846] rotation matrix: [0.9271485473493668, -0.3746636170289103, -0.004769195191337372; 0.3746851944165804, 0.9271388413122352, 0.004957218495839745; 0.002564416691634481, -0.006383024754788097, 0.9999763401011104] angle axis rotation: [-0.00581199, -0.00375855, 0.384049] homogeneous transform: [0.9271485473493668, -0.3746636170289103, -0.004769195191337372, 0.05591560352572743; 0.3746851944165804, 0.9271388413122352, 0.004957218495839745, 0.203229646692153; 0.002564416691634481, -0.006383024754788097, 0.9999763401011104, 2.079787150472212; 0, 0, 0, 1] measured_position: [0.086166, 0.214634, 2.0785] camera_matrix: [7265.09513308939, 0, 2099.699693520321; 0, 7265.09513308939, 1443.142658090831; 0, 0, 1] dist_coeffs: [-0.0878118, 0.0196239, 0, 0, 0.902557] combined homogenous transform: [0.9271485473493668, -0.3746636170289103, -0.004769195191337372, 0.05591560352572743; 0.3746851944165804, 0.9271388413122352, 0.004957218495839745, 0.203229646692153; 0.002564416691634481, -0.006383024754788097, 0.9999763401011104, 2.079787150472212; 0, 0, 0, 1]

################################################################################ CAMERA data_folder: rgb_highres_center position: [0.044216, 0.00122755, 2.07848] rotation_quaternion (w,x,y,z): [0.99999, -0.00102792, -0.000853255, 0.0042645] rotation matrix: [0.9999621719218765, -0.008527168633861885, -0.001715261021946117; 0.00853067694888426, 0.999961514770642, 0.002048542993746481; 0.001697726738170886, -0.00206309783896331, 0.9999964306692448] angle axis rotation: [-0.00205585, -0.00170652, 0.00852904] homogeneous transform: [0.9999621719218765, -0.008527168633861885, -0.001715261021946117, 0.04421604784634205; 0.00853067694888426, 0.999961514770642, 0.002048542993746481, 0.00122754853356305; 0.001697726738170886, -0.00206309783896331, 0.9999964306692448, 2.078480448887938; 0, 0, 0, 1] measured_position: [0.0914991, 0.000642412, 2.0785] camera_matrix: [7267.95450880415, 0, 2056.049238502414; 0, 7267.95450880415, 1486.862908875167; 0, 0, 1] dist_coeffs: [-0.0764891, -0.188057, 0, 0, 1.78279] combined homogenous transform: [0.9999621719218765, -0.008527168633861885, -0.001715261021946117, 0.04421604784634205; 0.00853067694888426, 0.999961514770642, 0.002048542993746481, 0.00122754853356305; 0.001697726738170886, -0.00206309783896331, 0.9999964306692448, 2.078480448887938; 0, 0, 0, 1]

################################################################################ CAMERA data_folder: rgb_highres_right position: [0.0446595, -0.198137, 2.07807] rotation_quaternion (w,x,y,z): [0.981743, 0.0141233, 0.0014345, -0.189682] rotation matrix: [0.9280376522261472, 0.372477728469156, -0.002541229040898315; -0.3723966894366944, 0.9276428352266736, -0.02827500573313209; -0.00817445699547013, 0.02718661521918767, 0.9995969518789826] angle axis rotation: [0.0284197, 0.00288658, -0.381689] homogeneous transform: [0.9280376522261472, 0.372477728469156, -0.002541229040898315, 0.04465949163230119; -0.3723966894366944, 0.9276428352266736, -0.02827500573313209, -0.1981373107218908; -0.00817445699547013, 0.02718661521918767, 0.9995969518789826, 2.078072097109307; 0, 0, 0, 1] measured_position: [0.0883353, -0.215363, 2.078] camera_matrix: [7265.854580654392, 0, 2093.506452810741; 0, 7265.854580654392, 1482.255759518024; 0, 0, 1] dist_coeffs: [-0.0655375, -0.329857, 0, 0, 2.48002] combined homogenous transform: [0.9280376522261472, 0.372477728469156, -0.002541229040898315, 0.04465949163230119; -0.3723966894366944, 0.9276428352266736, -0.02827500573313209, -0.1981373107218908; -0.00817445699547013, 0.02718661521918767, 0.9995969518789826, 2.078072097109307; 0, 0, 0, 1]

################################################################################ CAMERA data_folder: rgb_left position: [0.0529804, -0.104374, 3.50403] rotation_quaternion (w,x,y,z): [0.977521, -0.0108971, 0.0530686, 0.203761] rotation matrix: [0.9113306193756673, -0.3995171079359454, 0.09931053647453862; 0.3972039298751632, 0.9167256823008546, 0.04293089216122715; -0.1081921451866488, 0.0003222988220563764, 0.9941299491733363] angle axis rotation: [-0.021959, 0.10694, 0.410603] homogeneous transform: [0.9113306193756673, -0.3995171079359454, 0.09931053647453862, 0.05298038583357811; 0.3972039298751632, 0.9167256823008546, 0.04293089216122715, -0.1043738398525789; -0.1081921451866488, 0.0003222988220563764, 0.9941299491733363, 3.504031915764986; 0, 0, 0, 1] measured_position: [0.0851408, -0.0903676, 3.499] camera_matrix: [4622.041473915607, 0, 1233.380196060109; 0, 4622.041473915607, 843.3909933480334; 0, 0, 1] dist_coeffs: [-0.0868757, 0.53867, 0, 0, 1.69009] combined homogenous transform: [0.9113306193756673, -0.3995171079359454, 0.09931053647453862, 0.05298038583357811; 0.3972039298751632, 0.9167256823008546, 0.04293089216122715, -0.1043738398525789; -0.1081921451866488, 0.0003222988220563764, 0.9941299491733363, 3.504031915764986; 0, 0, 0, 1]

################################################################################ CAMERA data_folder: rgb_center position: [0.0539935, -0.285891, 3.50629] rotation_quaternion (w,x,y,z): [0.998699, 0.00136084, 0.0508077, 0.00420149] rotation matrix: [0.994801848338136, -0.008253767163616355, 0.1014946199098106; 0.008530331054488222, 0.9999609911792882, -0.002291194412618652; -0.101471749739171, 0.00314506714465518, 0.9948334496575426] angle axis rotation: [0.00272285, 0.10166, 0.00840663] homogeneous transform: [0.994801848338136, -0.008253767163616355, 0.1014946199098106, 0.05399349045425253; 0.008530331054488222, 0.9999609911792882, -0.002291194412618652, -0.2858909428211028; -0.101471749739171, 0.00314506714465518, 0.9948334496575426, 3.506285581367224; 0, 0, 0, 1] measured_position: [0.0904466, -0.28686, 3.5015] camera_matrix: [4609.471892628096, 0, 1257.158605934; 0, 4609.471892628096, 820.0498076210201; 0, 0, 1] dist_coeffs: [-0.0914603, 0.605326, 0, 0, 0.417134] combined homogenous transform: [0.994801848338136, -0.008253767163616355, 0.1014946199098106, 0.05399349045425253; 0.008530331054488222, 0.9999609911792882, -0.002291194412618652, -0.2858909428211028; -0.101471749739171, 0.00314506714465518, 0.9948334496575426, 3.506285581367224; 0, 0, 0, 1]

################################################################################ CAMERA data_folder: rgb_right position: [0.069267, -0.473245, 3.50347] rotation_quaternion (w,x,y,z): [0.978878, 0.0199065, 0.0472423, -0.197916] rotation matrix: [0.9171949079165774, 0.3893517584999271, 0.08460915461648204; -0.3855900509340331, 0.9208660346223098, -0.05767199406707697; -0.1003683890106395, 0.02027201104966326, 0.9947438022201555] angle axis rotation: [0.0400957, 0.0951554, -0.398643] homogeneous transform: [0.9171949079165774, 0.3893517584999271, 0.08460915461648204, 0.06926700034254044; -0.3855900509340331, 0.9208660346223098, -0.05767199406707697, -0.4732449698305176; -0.1003683890106395, 0.02027201104966326, 0.9947438022201555, 3.503470643147001; 0, 0, 0, 1] measured_position: [0.0922524, -0.483357, 3.5] camera_matrix: [4613.465257442901, 0, 1230.818284106724; 0, 4613.465257442901, 783.2495217495479; 0, 0, 1] dist_coeffs: [-0.0888195, 0.52648, 0, 0, 1.27408] combined homogenous transform: [0.9171949079165774, 0.3893517584999271, 0.08460915461648204, 0.06926700034254044; -0.3855900509340331, 0.9208660346223098, -0.05767199406707697, -0.4732449698305176; -0.1003683890106395, 0.02027201104966326, 0.9947438022201555, 3.503470643147001; 0, 0, 0, 1]

################################################################################ LIDAR merged from 6 Devices data_folder: lidar position: [0, 0, 0] rotation_quaternion (w,x,y,z): [1, 0, 0, 0]

################################################################################ RADAR Rotation around Z in degrees: -0.331005 data_folder: radar position: [-0.00750583, 0.324989, 1.564] rotation_quaternion (w,x,y,z): [0.999996, 0, 0, -0.00288856] rotation matrix: [0.9999833124708311, 0.00577709095168683, 0; -0.00577709095168683, 0.9999833124708311, -0; -0, 0, 1] angle axis rotation: [0, 0, -0.00577712] homogeneous transform: [0.9999833124708311, 0.00577709095168683, 0, -0.007505827484708065; -0.00577709095168683, 0.9999833124708311, -0, 0.3249887114254094; -0, 0, 1, 1.563999999999999; 0, 0, 0, 1] ################################################################################

[aubeena007]

also i have this information too

"streams": { "ir_center": { "type": "camera", "uri": "ir_center", "stream_properties": { "intrinsics_pinhole": { "camera_matrix": [ 3535.294117647, 0.0, 319.5, 0.0, 0.0, 3535.294117647, 239.5, 0.0, 0.0, 0.0, 1.0, 0.0 ], "distortion_coeffs": [0.0, 0.0, 0.0, 0.0, 0.0], "width_px": 640, "height_px": 480 } } }, "ir_left": { "type": "camera", "uri": "ir_left", "stream_properties": { "intrinsics_pinhole": { "camera_matrix": [ 3535.294117647, 0.0, 319.5, 0.0, 0.0, 3535.294117647, 239.5, 0.0, 0.0, 0.0, 1.0, 0.0 ], "distortion_coeffs": [0.0, 0.0, 0.0, 0.0, 0.0], "width_px": 640, "height_px": 480 } } }, "ir_right": { "type": "camera", "uri": "ir_right", "stream_properties": { "intrinsics_pinhole": { "camera_matrix": [ 3535.294117647, 0.0, 319.5, 0.0, 0.0, 3535.294117647, 239.5, 0.0, 0.0, 0.0, 1.0, 0.0 ], "distortion_coeffs": [0.0, 0.0, 0.0, 0.0, 0.0], "width_px": 640, "height_px": 480 } } }, "lidar": { "type": "lidar", "uri": "lidar" }, "radar": { "type": "radar", "uri": "radar", "stream_properties": { "intrinsics_radar": { "resolution_px_per_m": 2.857, "width_px": 2856, "height_px": 1428 } } }, "rgb_center": { "type": "camera", "uri": "rgb_center", "stream_properties": { "intrinsics_pinhole": { "camera_matrix": [ 4609.471892628096, 0.0, 1257.158605934, 0.0, 0.0, 4609.471892628096, 820.0498076210201, 0.0, 0.0, 0.0, 1.0, 0.0 ], "distortion_coeffs": [-0.0914603, 0.605326, 0.0, 0.0, 0.417134], "width_px": 2464, "height_px": 1600 } } }, "rgb_highres_center": { "type": "camera", "uri": "rgb_highres_center", "stream_properties": { "intrinsics_pinhole": { "camera_matrix": [ 7267.95450880415, 0.0, 2056.049238502414, 0.0, 0.0, 7267.95450880415, 1232.862908875167, 0.0, 0.0, 0.0, 1.0, 0.0 ], "distortion_coeffs": [-0.0764891, -0.188057, 0.0, 0.0, 1.78279], "width_px": 4112, "height_px": 2504 } } }, "rgb_highres_left": { "type": "camera", "uri": "rgb_highres_left", "stream_properties": { "intrinsics_pinhole": { "camera_matrix": [ 7265.09513308939, 0.0, 2099.699693520321, 0.0, 0.0, 7265.09513308939, 1217.709330768128, 0.0, 0.0, 0.0, 1.0, 0.0 ], "distortion_coeffs": [-0.0878118, 0.0196239, 0.0, 0.0, 0.902557], "width_px": 4112, "height_px": 2504 } } }, "rgb_highres_right": { "type": "camera", "uri": "rgb_highres_right", "stream_properties": { "intrinsics_pinhole": { "camera_matrix": [ 7265.854580654392, 0.0, 2093.506452810741, 0.0, 0.0, 7265.854580654392, 1228.255759518024, 0.0, 0.0, 0.0, 1.0, 0.0 ], "distortion_coeffs": [-0.0655375, -0.329857, 0.0, 0.0, 2.48002], "width_px": 4112, "height_px": 2504 } } }, "rgb_left": { "type": "camera", "uri": "rgb_left", "stream_properties": { "intrinsics_pinhole": { "camera_matrix": [ 4622.041473915607, 0.0, 1233.380196060109, 0.0, 0.0, 4622.041473915607, 843.3909933480334, 0.0, 0.0, 0.0, 1.0, 0.0 ], "distortion_coeffs": [-0.0868757, 0.53867, 0.0, 0.0, 1.69009], "width_px": 2464, "height_px": 1600 } } }, "rgb_right": { "type": "camera", "uri": "rgb_right", "stream_properties": { "intrinsics_pinhole": { "camera_matrix": [ 4613.465257442901, 0.0, 1230.818284106724, 0.0, 0.0, 4613.465257442901, 783.2495217495479, 0.0, 0.0, 0.0, 1.0, 0.0 ], "distortion_coeffs": [-0.0888195, 0.52648, 0.0, 0.0, 1.27408], "width_px": 2464, "height_px": 1600 } } } }, "coordinate_systems": { "ir_center": { "type": "sensor", "parent": "base", "pose_wrt_parent": { "translation": [0.0933424, 0.225241, 3.5171], "quaternion": [0.00329686, 0.0243397, 0.00187897, 0.999697] } }, "ir_left": { "type": "sensor", "parent": "base", "pose_wrt_parent": { "translation": [0.0907818, 0.398344, 3.5168], "quaternion": [-2.43881e-5, 0.0254277, 0.0822105, 0.996291] } }, "ir_right": { "type": "sensor", "parent": "base", "pose_wrt_parent": { "translation": [0.0910011, 0.0528333, 3.5176], "quaternion": [-0.000112887, 0.025241, -0.0733026, 0.99699] } }, "lidar": { "type": "sensor", "parent": "base", "pose_wrt_parent": { "translation": [0.0, 0.0, 0.0], "quaternion": [0.0, 0.0, 0.0, 1.0] } }, "radar": { "type": "sensor", "parent": "base", "pose_wrt_parent": { "translation": [-0.0029401, 0.329699, 1.5638], "quaternion": [0.0, 0.0, 0.0107221, 0.999943] } }, "rgb_center": { "type": "sensor", "parent": "base", "pose_wrt_parent": { "translation": [0.0669458, -0.000911152, 2.05432], "quaternion": [0.00193374, -0.00293566, 0.00271082, 0.99999] } }, "rgb_highres_center": { "type": "sensor", "parent": "base", "pose_wrt_parent": { "translation": [0.0801578, -0.332862, 3.50982], "quaternion": [-0.00313306, 0.0562995, 0.00482918, 0.998397] } }, "rgb_highres_left": { "type": "sensor", "parent": "base", "pose_wrt_parent": { "translation": [0.0609096, -0.136682, 3.51522], "quaternion": [-0.0121052, 0.0606543, 0.188524, 0.980119] } }, "rgb_highres_right": { "type": "sensor", "parent": "base", "pose_wrt_parent": { "translation": [0.0510683, -0.525541, 3.51628], "quaternion": [0.0217394, 0.0639103, -0.182324, 0.980918] } }, "rgb_left": { "type": "sensor", "parent": "base", "pose_wrt_parent": { "translation": [0.0298925, 0.186612, 2.05637], "quaternion": [0.00228435, -0.0104673, 0.173904, 0.984704] } }, "rgb_right": { "type": "sensor", "parent": "base", "pose_wrt_parent": { "translation": [0.051346, -0.196979, 2.05803], "quaternion": [0.00740182, -0.0113748, -0.184053, 0.982823] } }, "base": { "type": "local", "parent": "", "children": [ "ir_center", "ir_left", "ir_right", "lidar", "radar", "rgb_center", "rgb_highres_center", "rgb_highres_left", "rgb_highres_right", "rgb_left", "rgb_right" ] } },

[jaggerwang]

You can reference this issue #244 .

[aubeena007]

@jaggerwang Hey there! Mind explaining how to convert the data above?

[ShirleySprite]

[aubeena007]

@ShirleySprite I tried this, but it is not working