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Support radial fisheye colmap distortion. #801
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-- 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. | ||
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-- bumble config | ||
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robot_llp_address = "10.42.0.8" | ||
robot_mlp_address = "10.42.0.9" | ||
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robot_i2c_bus = "/dev/i2c-1" | ||
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robot_imu_drdy_pin = 4 | ||
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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}, | ||
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-- 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) ) | ||
}; | ||
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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 | ||
} | ||
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-- 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} | ||
} | ||
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robot_haz_cam_device = "0005-1207-0034-0713" | ||
robot_perch_cam_device = "0005-1209-0034-1304" | ||
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-- 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)) | ||
} | ||
} | ||
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agent_name = "Bumble" | ||
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heartbeat_queue_size = 20 | ||
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nodes_not_running = {} |
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I think this should read ".....k2*theta2*theta2"
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Good catch, thanks! Fixed