camera_OAK_H110SA.md

OAK+H110SA

在OAK相机 基础上增加两个H110SA的针孔相机

组装相机

在oak_camera_4lut.usd基础上, 添加两个针孔相机, 使用Isaacsim UI界面添加, 结果保存成oak_camera_4lut_2H110SA.usd

bake参数到usd

./app/python.sh tools/cameras/oak_bake_camera_intrinsics.py \
    --usd assets/cameras/oak_camera_4lut_2H110SA.usd \
    --yaml docs/oak_camera/calibration/fisheye_cams.yaml \
    --texture_dir assets/cameras/oak_camera_texture \
    --resolution CAM_Front=1920x1200 \
    --resolution CAM_Back=1920x1200

（maskRadius 与 verticalAperture 由 bake 脚本自动处理，见 camera_OAK.md）

打印相机参数

./app/python.sh tools/cameras/print_cameraRig.py --usd assets/cameras/oak_camera_4lut_2H110SA.usd

验证相机

采集数据

./app/python.sh gen_data.py \
--seed 0 \
--scene_usd_url /home/fufa/projects2026/SimDataGen/asset_extern/TaoBao03/108_Bazaar/Demo.usd \
--camera_usd_url /home/fufa/projects2026/SimDataGen/assets/cameras/oak_camera_4lut_2H110SA.usd \
--output_dir /home/fufa/projects2026/SimDataGen/workdir/108_Bazaar_oak_camera_4lut_2H110SA \
--occupancy_resolution 0.25 \
--num_points 60 \
--num_paths 1 \
--max_angle_deviation 4 \
--erode_iterations 2 \
--obstacle_dilate_iterations 1 \
--obstacle_envelope_iterations 10 \
--step_size_xy 0.25 \
--step_size_z 0.25 \
--max_dz_per_step 0.25 \
--min_path_extent 1 \
--min_path_compact_window 10 \
--max_path_generation_attempts 10000

投影验证

./app/python.sh project_cloud.py --data_dir workdir/108_Bazaar_oak_camera_4lut_2H110SA --show_num 60

mask验证

./app/python.sh tools/check_data/overlay_mask_verify.py --base workdir/108_Bazaar_oak_camera_4lut_2H110SA