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* Draw boundary on top of all detections * Update launch * Add bag name to video * Update params for better evaluation * Fix OBB bug * Update params * Tune transform
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# These parameters are dependant on the sensor location | ||
# Note: For converting angles use https://www.andre-gaschler.com/rotationconverter/ | ||
perception_node: | ||
ros__parameters: | ||
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# Transformation from sensor to world frame | ||
lidar2world_transform: | ||
# [x,y,z] in meters | ||
translation: [0.0, 0.0, 3.25] | ||
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# [w,x,y,z] normalized quaternion | ||
quaternion: [0.999769, 0.0, -0.021498, 0.0] | ||
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# The crop box isolates a region of interest in the pointcloud | ||
# all point outside this box are removed | ||
# Use the roi_visulaizer.py tool to find a new crop_box params if needed | ||
crop_box_transform: | ||
# [x,y,z] in meters | ||
translation: [35.0, -0.5, 1.75] | ||
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# [w,x,y,z] normalized quaternion | ||
quaternion: [0.9025852843498606, 0.0, 0.0, 0.43051109680829514] | ||
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# [x, y, z] in meters | ||
size: [16.0, 75.0, 3.5] | ||
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# Use the same `lidar2world_transform` for both nodes | ||
projection_node: | ||
ros__parameters: | ||
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# Matrix from intrinsic camera calibration | ||
# This day's data was recorded at 1920x1080 | ||
camera_matrix: [1199.821557, 0.0, 960.562236, 0.0, 1198.033465, 551.675808, 0.0, 0.0, 1.0] | ||
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# Transformation from sensor to world frame | ||
lidar2world_transform: | ||
# [x,y,z] in meters | ||
translation: [0.0, 0.0, 3.25] | ||
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# [w,x,y,z] normalized quaternion | ||
quaternion: [0.999769, 0.0, -0.021498, 0.0] | ||
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# Transform from Lidar to camera frame | ||
lidar2cam_extrinsic: | ||
rotation: [-0.0174524, 0.9998477, 0.0000000,-0.0000000, -0.0000000, -1.0000000,-0.9998477, -0.0174524, 0.0000000 ] | ||
translation: [0.00, 0.0508, 0.0502] | ||
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# Transform from lidar data from to lidar sensor frame | ||
# See https://github.com/ros-drivers/ros2_ouster_drivers/issues/87 | ||
# The translation part may already be accounted for internally in the driver | ||
lidarData2lidarSensor_extrinsic: | ||
rotation: [-1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 1.0] | ||
translation: [0.0, 0.0, 0.03618] | ||
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