Comments (5)
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" ] } },
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You can reference this issue #244 .
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@jaggerwang Hey there! Mind explaining how to convert the data above?
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@ShirleySprite I tried this, but it is not working
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