extrinsic.yaml

%YAML:1.0

# extrinsic parameters for Dataset UrbanNav-HK-Whampoa-20210521. 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
 rows: 4
   cols: 4
   dt: d
   data:   [0.99958975976322017672, 0.017170804625958683,
              -0.022923255549840760448, -0.0851835233537896739,
               0.0231465893493554992, -0.01292276982900426,
              0.99964855695461152696, 0.1257734831824673213,
             0.016868538110887141801, -0.99976905607667321087,
           -0.013314913952324877203, 0.075888549707280005484,0.0, 0.0, 0.0, 1.0]

RIGHT_CAMERA_T_IMU:!!opencv-matrix
   rows: 4
   cols: 4
   dt: d
   data:   [ 9.9971618725690459e-01, 9.9454436695301657e-03,
       -2.1647934930009227e-02, 2.1160626565556342e-01,
       2.1740820070310918e-02, -9.3282535133940581e-03,
       9.9972012104841623e-01, 1.5171555107814688e-01,
       9.7407227241143209e-03, -9.9990703159674099e-01,
       -9.5418281375148073e-03, -1.9140752384352994e-01, 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
LEFT_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]