add static calibration file

Author: xpc

docs/static_extrinsic_calibration.yaml

@@ -0,0 +1,65 @@
+back_camera:
+  extrinsic:
+    transform:
+      rotation: {w: 0.713789231075861, x: 0.7003585531940812, y: -0.001595758695393934,
+        z: -0.0005330311533742299}
+      translation: {x: -0.0004217634029916384, y: -0.21683144949675118, z: -1.0553445472201475}
+  intrinsic:
+    D: [-0.1619, 0.0113, -0.00028815, -7.9827e-05, 0.0067]
+    K: [933.4667, 0, 896.4692, 0, 934.6754, 507.3557, 0, 0, 1]
+front_camera:
+  extrinsic:
+    transform:
+      rotation: {w: 0.016213200031258722, x: 0.0030578899383849464, y: 0.7114721800418571,
+        z: -0.7025205466606356}
+      translation: {x: 0.0002585796504896516, y: -0.03907777167811011, z: -0.0440125762408362}
+  intrinsic:
+    D: [-0.5894, 0.66, 0.0011, -0.001, -1.0088]
+    K: [1970.0131, 0, 970.0002, 0, 1970.0091, 483.2988, 0, 0, 1]
+front_gt:
+  extrinsic:
+    transform:
+      rotation: {w: 0.021475754959146356, x: -0.002060907279494794, y: 0.01134678181520767,
+        z: 0.9997028534282365}
+      translation: {x: -0.000451117754, y: -0.605646431446, z: -0.301525235176}
+front_left_camera:
+  extrinsic:
+    transform:
+      rotation: {w: 0.33540022607039827, x: 0.3277491469609924, y: -0.6283486651480494,
+        z: 0.6206973014480826}
+      translation: {x: -0.25842240863267835, y: -0.3070654284505582, z: -0.9244245686318884}
+  intrinsic:
+    D: [-0.165, 0.0099, -0.00075376, 5.3699e-05, 0.01]
+    K: [929.8429, 0, 972.1794, 0, 930.0592, 508.0057, 0, 0, 1]
+front_right_camera:
+  extrinsic:
+    transform:
+      rotation: {w: 0.3537633879725252, x: 0.34931795852655334, y: 0.6120314641083645,
+        z: -0.6150170047424814}
+      translation: {x: 0.2546935700219631, y: -0.24929449717803095, z: -0.8686597280810242}
+  intrinsic:
+    D: [-0.1614, -0.0027, -0.00029662, -0.00028927, 0.0181]
+    K: [930.0407, 0, 965.0525, 0, 930.0324, 463.4161, 0, 0, 1]
+left_camera:
+  extrinsic:
+    transform:
+      rotation: {w: 0.5050391917998245, x: 0.49253073152800625, y: -0.4989265501075421,
+        z: 0.503409565706149}
+      translation: {x: 0.23864835336611942, y: -0.2801448284013492, z: -0.5376795959387791}
+  intrinsic:
+    D: [-0.1582, -0.0266, -0.00015221, 0.00059011, 0.0449]
+    K: [930.4514, 0, 991.6883, 0, 930.0891, 541.6057, 0, 0, 1]
+main_pandar64:
+  extrinsic:
+    transform:
+      rotation: {w: 1.0, x: 0.0, y: 0.0, z: 0.0}
+      translation: {x: 0.0, y: 0.0, z: 0.0}
+right_camera:
+  extrinsic:
+    transform:
+      rotation: {w: 0.5087448402081216, x: 0.4947520981649951, y: 0.4977829953071897,
+        z: -0.49860920419297333}
+      translation: {x: -0.23097163411257893, y: -0.30843497058841024, z: -0.6850441215571058}
+  intrinsic:
+    D: [-0.1648, 0.0191, 0.0027, -8.5282e-07, -9.6983e-05]
+    K: [922.5465, 0, 945.057, 0, 922.4229, 517.575, 0, 0, 1]

tutorials/pointcloud_world_to_ego/pointcloud_world_to_ego.ipynb

@@ -17,7 +17,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 2,
+   "execution_count": null,
    "metadata": {
     "ExecuteTime": {
      "end_time": "2020-05-14T14:52:19.627445Z",
@@ -27,16 +27,7 @@
      "is_executing": false
     }
    },
-   "outputs": [
-    {
-     "data": {
-      "text/plain": "<pandaset.sequence.Sequence at 0x113766390>"
-     },
-     "metadata": {},
-     "output_type": "execute_result",
-     "execution_count": 2
-    }
-   ],
+   "outputs": [],
    "source": [
     "import pandaset\n",
     "import os\n",
@@ -58,7 +49,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": null,
    "metadata": {
     "ExecuteTime": {
      "start_time": "2020-05-14T14:52:38.946Z"
@@ -67,19 +58,7 @@
      "is_executing": false
     }
    },
-   "outputs": [
-    {
-     "traceback": [
-      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
-      "\u001b[0;31mAttributeError\u001b[0m                            Traceback (most recent call last)",
-      "\u001b[0;32m<ipython-input-3-9b6faf9dd473>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m\u001b[0m\n\u001b[1;32m      5\u001b[0m \u001b[0;31m# get Pandar64 points\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m      6\u001b[0m \u001b[0mseq002\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mlidar\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mset_sensor\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;36m0\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m----> 7\u001b[0;31m \u001b[0mpandar64_points\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mseq002\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mlidar\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0mseq_idx\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mto_numpy\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m      8\u001b[0m \u001b[0mprint\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m\"Pandar64 has points: \"\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mpandar64_points\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mshape\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m      9\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n",
-      "\u001b[0;31mAttributeError\u001b[0m: 'list' object has no attribute 'to_numpy'"
-     ],
-     "ename": "AttributeError",
-     "evalue": "'list' object has no attribute 'to_numpy'",
-     "output_type": "error"
-    }
-   ],
+   "outputs": [],
    "source": [
     "import open3d as o3d\n",
     "\n",
@@ -124,7 +103,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 11,
+   "execution_count": null,
    "metadata": {
     "pycharm": {
      "is_executing": false
@@ -158,9 +137,9 @@
  ],
  "metadata": {
   "kernelspec": {
-   "display_name": "Python 3",
+   "display_name": "python3.7",
    "language": "python",
-   "name": "python3"
+   "name": "python3.7"
   },
   "language_info": {
    "codemirror_mode": {
@@ -172,15 +151,15 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.7.7"
+   "version": "3.7.6"
   },
   "pycharm": {
    "stem_cell": {
     "cell_type": "raw",
-    "source": [],
     "metadata": {
      "collapsed": false
-    }
+    },
+    "source": []
    }
   },
   "toc": {
@@ -228,4 +207,4 @@
  },
  "nbformat": 4,
  "nbformat_minor": 2
-}
+}