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extrinsic.yaml
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extrinsic.yaml
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%YAML:1.0
# extrinsic parameters for Dataset UrbanNav-HK-CHTunnel-20210518. Be noted that the body is fixed at the IMU frame
################## Extrinsic parameter between IMU and Camera##################
################## camera is ZED2, a stereo camera##################
LEFT_CAMERA_T_IMU:!!opencv-matrix (Left camera to IMU)
rows: 4
cols: 4
dt: d
data: [ 9.9885234402635936e-01, 1.3591158885981787e-03,
4.7876378696062108e-02, -8.4994249456545504e-02,
-4.7864188349269129e-02, -7.9091258538426246e-03,
9.9882253939420773e-01, 6.6169337079143220e-01,
1.7361758877140372e-03, -9.9996779874765440e-01,
-7.8349959194297103e-03, -3.0104266183335913e+00, 0., 0., 0., 1. ]
RIGHT_CAMERA_T_IMU:!!opencv-matrix (Right camera to IMU)
rows: 4
cols: 4
dt: d
data: [ 9.9872871452749812e-01, 1.5287637777597791e-03,
5.0384696680271013e-02, 7.5332297629590136e-02,
-5.0367177375936031e-02, -9.8967686259809895e-03,
9.9868173179143760e-01, 6.8331281093016005e-01,
2.0253941424080261e-03, -9.9994985716888607e-01,
-9.8071874914416046e-03, -3.0079627649520204e+00, 0., 0., 0., 1. ]
################## Extrinsic parameter from Center Lidar to IMU##################
CENTER_LiDAR_T_IMU: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ 1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0.28,
0, 0, 0, 1]
################## Extrinsic parameter from Left Lidar to Center Lidar##################
# for ros: rosrun tf static_transform_publisher -0.267094 -0.000706537 -0.224038 1.57928 0.0331277 -0.97384 /velodyne /laser_link 10
LEFT_LiDAR_T_CENTER_LiDAR: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ -0.00848239, -0.561875, -0.827179, -0.267094,
0.999415, -0.0321631, 0.0115987, -0.000706537,
-0.0331216, -0.826597, 0.561819, -0.224038,
0, 0, 0, 1]
################## Extrinsic parameter from Right Lidar to Center Lidar##################
# for ros: rosrun tf static_transform_publisher 0.323744 -0.00124153 -0.200876 3.08919 2.17349 3.12012 /velodyne /velodyne_right 10
RIGHT_LiDAR_T_CENTER_LiDAR: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ 0.566085, 0.0347042, 0.823616, 0.323744,
-0.0296934, 0.999323, -0.0216991, -0.00124153,
-0.823812, -0.0121725, 0.566732, -0.200876,
0, 0, 0, 1]
################## Extrinsic parameter from GNSS antennas to IMU ##################
# only translation part are measured manually (±0.1), y-axis forward, x-axis right and z-axis up
ANTENNA_T_IMU: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ 1, 0, 0, 0,
0, 1, 0, 0.86,
0, 0, 1, -0.31,
0, 0, 0, 1]
################## Extrinsic parameter between IMU and Grount Truth (SPAN-CPT)##################
body_T_SPAN: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ 1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0.14,
0, 0, 0, 1]