Visual Sensors

Front & Rear Cameras

• Overview Illustration

  

• Model : OAK-D Pro Wide

  • Product Link

    • https://shop.luxonis.com/products/oak-d-pro-w?variant=43715946447071

  • For detailed intrinsic and extrinsic parameters

    • https://docs.luxonis.com/hardware/platform/depth/calibration

  • FOV

    • Stereo
      • 150° / 127° / 79.5° (DFOV / HFOV / VFOV)

  • RGB Camera

    • IMX378
      • 120° / 95° / 93° (DFOV / HFOV / VFOV)
    • OV9782
      • 150° / 127° / 79.5° (DFOV / HFOV / VFOV)

• Base to Camera TF (Transformation) Matrices

  Camera	RGB TF	Depth TF
  Front Camera	[ 0.0000 0.0000 1.0000 0.388031 ] [ -1.0000 0.0000 0.0000 0.000000 ] [ 0.0000 -1.0000 0.0000 0.037764 ] [ 0.0000 0.0000 0.0000 1.000000 ]	[ 0.0000 -1.0000 0.0000 0.388031 ] [ 0.0000 0.0000 -1.0000 -0.037500 ] [ 1.0000 0.0000 0.0000 0.037764 ] [ 0.0000 0.0000 0.0000 1.000000 ]
  Rear Camera	[ 0.0000 0.0000 -1.0000 -0.388031 ] [ 1.0000 0.0000 0.0000 0.000000 ] [ 0.0000 -1.0000 0.0000 0.037764 ] [ 0.0000 0.0000 0.0000 1.000000 ]	[ 0.0000 0.0000 -1.0000 -0.388031 ] [ 1.0000 0.0000 0.0000 0.037500 ] [ 0.0000 -1.0000 0.0000 0.037764 ] [ 0.0000 0.0000 0.0000 1.000000 ]

Ground-view camera

• Overview Illustration

  

• Model

  • Intel Realsense D430
  • Product Link
    • https://www.intel.com/content/www/us/en/products/sku/98320/intel-realsense-depth-module-d430/specifications.html

• Base to Camera TF (Transformation) Matrices

  Camera	Depth TF
  Camera 0	[ -0.939693 0.000000 0.342020 0.364620 ] [ 0.000000 1.000000 0.000000 0.000000 ] [ -0.342020 0.000000 -0.939693 -0.026630 ] [ 0.000000 0.000000 0.000000 1.000000 ]
  Camera 1	[ -0.970296 0.000000 -0.241922 0.260530 ] [ 0.000000 1.000000 0.000000 0.000000 ] [ 0.241922 0.000000 -0.970296 -0.047590 ] [ 0.000000 0.000000 0.000000 1.000000 ]
  Camera 2	[ -1.000000 0.000000 0.000000 -0.195150 ] [ 0.000000 1.000000 0.000000 0.006500 ] [ 0.000000 0.000000 -1.000000 -0.048320 ] [ 0.000000 0.000000 0.000000 1.000000 ]
  Camera 3	[ 0.861341 -0.0909518 -0.499820000 -0.352993 ] [ -0.105042 -0.9944680 -5.69736e-05 -1.1e-050 ] [ -0.497050 0.0525513 -0.866129000 -0.020514 ] [ 0.000000 0.0000000 0.000000000 1.000000 ]

LiDAR (OS1-32)

• Overview Illustration

  

• Model

  • Product Link
    • https://ouster.com/ko/products/hardware/os1-lidar-sensor

• Base to LiDAR(OS1-32) TF (Transformation) Matrices

  	Base to LiDAR TF
  LiDAR	[ 0.000000 0.000000 0.000000 -0.312600 ] [ 0.000000 1.000000 0.000000 -0.000033 ] [ 0.000000 0.000000 1.000000 -0.136850 ] [ 0.000000 0.000000 0.000000 1.000000 ]

LiDAR (MID-360)

• Overview Illustration

  

• Model

  • Product Link
    • https://www.livoxtech.com/mid-360

• Base to LiDAR(Mid-360) TF (Transformation) Matrices

  	Base to LiDAR TF
  LiDAR-Front	[ 0.81920 0.00000 0.57358 0.37282 ] [ 0.00000 1.00000 0.00000 0.00000 ] [ -0.57358 0.00000 0.81915 0.12777 ] [ 0.0000 0.00000 0.00000 1.00000 ]
  LiDAR-Rear	[ 0.81920 0.00000 -0.57358 -0.34100 ] [ 0.00000 1.00000 0.00000 0.00000 ] [ 0.57358 0.00000 0.81915 0.16963 ] [ 0.00000 0.00000 0.00000 1.00000 ]