Add bumble colmap calibration.

astrobee/config/robots/colmap_bumble.config

@@ -0,0 +1,136 @@
+-- Copyright (c) 2017, United States Government, as represented by the
+-- Administrator of the National Aeronautics and Space Administration.
+--
+-- All rights reserved.
+--
+-- The Astrobee platform is licensed under the Apache License, Version 2.0
+-- (the "License"); you may not use this file except in compliance with the
+-- License. You may obtain a copy of the License at
+--
+--     http://www.apache.org/licenses/LICENSE-2.0
+--
+-- Unless required by applicable law or agreed to in writing, software
+-- distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+-- WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+-- License for the specific language governing permissions and limitations
+-- under the License.
+
+-- bumble config
+
+robot_llp_address = "10.42.0.8"
+robot_mlp_address = "10.42.0.9"
+
+robot_i2c_bus = "/dev/i2c-1"
+
+robot_imu_drdy_pin = 4
+
+robot_geometry = {
+  nav_cam_to_haz_cam_transform = transform(vec3(0.072789474, 0.0010512418, -0.048805003), quat4(-0.00014444836, 0.020741299, 0.99976044, 0.006988339)),
+  nav_cam_to_sci_cam_transform = transform(vec3(-0.035350038, 0.019131216, 0.0083921009), quat4(0.0007718104, -0.0043221056, -0.0069533111, 0.99996619)),
+  haz_cam_depth_to_image_transform = {
+    0.91037857, 8.4134405e-05, 0.0050848035, 0.0020508297,
+    -0.0003594422, 0.9113776, 0.023508033, -0.0011003268,
+    -0.0044235394, -0.018620972, 0.88773717, -0.028333293,
+    0, 0, 0, 1},
+
+-- Engineering positions with idealized orientations
+  perch_cam_transform      = transform(vec3(-0.1331, 0.0509, -0.0166), quat4(0.000, -0.70710678118, 0.000, 0.70710678118)),-- placeholder, not valid!
+  haz_cam_transform        = transform(vec3(0.1328, 0.0362, -0.0826), quat4(-0.500, 0.500, -0.500, 0.500)), -- placeholder, not valid!
+  nav_cam_transform        = transform(vec3(0.1157+0.002, -0.0422, -0.0826), quat4(0.500, 0.500, 0.500, 0.500) ),
+  dock_cam_transform       = transform(vec3(-0.1032-0.0029, -0.0540, -0.0064), quat4(0.500, -0.500, -0.500, 0.500) ),
+  --imu_transform            = transform(vec3(0.0247, 0.0183, 0.0094), quat4(0.000, 0.000, 0.70710678118, 0.70710678118) ),
+  imu_transform            = transform(vec3(0.0386, 0.0247, -0.01016), quat4(0.000, 0.000, 0.70710678118, 0.70710678118) ),
+  -- Not accurate, only for sim purposes
+  sci_cam_transform        = transform(vec3(0.118, 0.0, -0.096), quat4(0.500, 0.500, 0.500, 0.500) )
+};
+
+robot_camera_calibrations = {
+  -- calibrated with colmap from ISAAC15 USL data in July 2024
+  nav_cam = {
+    distortion_coeff = {-0.046076881777018734, -0.0045533546413852235},
+    intrinsic_matrix = {
+      666.6402966821737, 0.0, 633.87549809563473,
+      0.0, 666.6402966821737, 540.87895986772969,
+      0.0, 0.0, 1.0
+    },
+    gain=50,
+    exposure=175
+  },
+  dock_cam = {
+    distortion_coeff = 1.00762,
+    intrinsic_matrix = {
+      753.51021, 0.0, 631.11512,
+      0.0, 751.3611, 508.69621,
+      0.0, 0.0, 1.0
+    },
+    gain=50,
+    exposure=150
+  },
+  perch_cam = {
+    distortion_coeff = {-0.366735, 0.182027, 0.00218105, 0.0114682},
+    intrinsic_matrix = {
+      209.21199, 0.0, 94.688486,
+      0.0, 207.62067, 84.04047,
+      0.0, 0.0, 1.0
+    },
+    gain=100,
+    exposure=150
+  },
+  haz_cam = {
+    distortion_coeff = {-0.259498, -0.08484934, 0.0032980311, -0.00024045673},
+    intrinsic_matrix = {
+      206.19095, 0.0, 112.48999,
+      0.0, 206.19095, 81.216598,
+      0.0, 0.0, 1.0
+    },
+    gain=50,
+    exposure=150
+  },
+  sci_cam = {
+    distortion_coeff = {-0.025598438, 0.048258987, -0.00041380657, 0.0056673533},
+    intrinsic_matrix = {
+      1023.6054, 0.0, 683.97547,
+      0.0, 1023.6054, 511.2185,
+      0.0, 0.0, 1.0
+    },
+    gain=50,
+    exposure=150
+  },
+  nav_cam_to_haz_cam_timestamp_offset = -0.02,
+  nav_cam_to_sci_cam_timestamp_offset = 0.08
+}
+
+-- PMC bus ordering and i2c trims {stbd, port}
+robot_pmc_i2c_addrs = {0x21, 0x20}
+robot_stbd_nozzle_calibration = {
+  {0, 0, 0, 0, 0, 0},
+  {0, 0, 0, 0, 0, 0}
+}
+robot_port_nozzle_calibration = {
+  {0, 0, 0, 0, 0, 0},
+  {5, 0, 5, 5, 0, 0}
+}
+
+robot_haz_cam_device   = "0005-1207-0034-0713"
+robot_perch_cam_device = "0005-1209-0034-1304"
+
+-- Location of the trackers in the body frame
+robot_vive_extrinsics = {
+  {
+    -- port
+    serial = "LHR-08DE963B", pose = transform(
+      vec3(0, -0.1397, -0.1397),
+      quat4(1.0, 0.0, 0.0, 0.0))
+  },{
+    -- starboard
+    serial = "LHR-1FC0DEF4", pose = transform(
+      vec3(0,  0.1397, -0.1397),
+      quat4(0.0, 1.0, 0.0, 0.0))
+  }
+}
+
+agent_name = "Bumble"
+
+heartbeat_queue_size = 20
+
+nodes_not_running = {}