44 lines
1.4 KiB
YAML
44 lines
1.4 KiB
YAML
# Camera extrinsics — base_link to camera_optical_frame transforms
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# Generated from mechanical mount geometry:
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# mount_radius = 0.05m, mount_height = 0.30m
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# Camera yaw: front=0deg, right=-90deg, rear=180deg, left=90deg
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#
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# Quaternion convention: [qx, qy, qz, qw] (xyzw)
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# Rotation: camera_optical_frame -> base_link
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# camera_optical: z=forward(out), x=right, y=down
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# base_link: x=forward, y=left, z=up (ROS REP-103)
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#
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# Regenerate with:
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# python3 calibrate_extrinsics.py --mode mechanical \
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# --mount-radius 0.05 --mount-height 0.30 \
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# --output jetson/calibration/extrinsics.yaml
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_description: Camera extrinsics - base_link to camera_optical_frame transforms
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_mount_radius_m: 0.05
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_mount_height_m: 0.30
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cameras:
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front:
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parent_frame: base_link
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child_frame: camera_front_optical_frame
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translation: [0.05, 0.0, 0.30]
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rotation_quat_xyzw: [0.5, -0.5, 0.5, -0.5]
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right:
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parent_frame: base_link
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child_frame: camera_right_optical_frame
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translation: [0.0, 0.05, 0.30]
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rotation_quat_xyzw: [-0.707107, 0.0, 0.0, 0.707107]
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rear:
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parent_frame: base_link
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child_frame: camera_rear_optical_frame
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translation: [-0.05, 0.0, 0.30]
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rotation_quat_xyzw: [-0.5, -0.5, 0.5, 0.5]
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left:
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parent_frame: base_link
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child_frame: camera_left_optical_frame
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translation: [0.0, -0.05, 0.30]
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rotation_quat_xyzw: [0.0, -0.707107, 0.707107, 0.0]
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