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monado-slam-datasets / M_monado_datasets /MI_valve_index /extras /calibration.json

mateosss's picture

Sanitize calibration and add time alignment, raw calib, and factory json for MI

f91e566 9 months ago

raw history blame contribute delete

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	{
	"value0": {
	"T_imu_cam": [
	{
	"px": 0.06917789156550716,
	"py": 0.12085668743462545,
	"pz": 0.012667308040189403,
	"qx": -0.027421566937007797,
	"qy": -0.02686199643159372,
	"qz": -0.701091058937852,
	"qw": 0.712037792460365
	},
	{
	"px": 0.06906817063497312,
	"py": -0.012925461789829002,
	"pz": 0.013021838608092437,
	"qx": 0.02073643582501064,
	"qy": 0.033116560404689177,
	"qz": -0.6986668218185062,
	"qw": 0.7143794270177898
	}
	],
	"intrinsics": [
	{
	"camera_type": "kb4",
	"intrinsics": {
	"fx": 420.52740656467929,
	"fy": 420.668449021409,
	"cx": 469.48259744072745,
	"cy": 479.1369038467134,
	"k1": 0.19293820423427944,
	"k2": 0.04211519667505778,
	"k3": -0.2331148927645627,
	"k4": 0.09541027202996667
	}
	},
	{
	"camera_type": "kb4",
	"intrinsics": {
	"fx": 421.23561386503078,
	"fy": 421.4668948188076,
	"cx": 467.746800268133,
	"cy": 484.4807401358835,
	"k1": 0.19017898170828449,
	"k2": 0.0546719732148914,
	"k3": -0.2491419411107316,
	"k4": 0.10310283081793621
	}
	}
	],
	"resolution": [
	[
	960,
	960
	],
	[
	960,
	960
	]
	],
	"calib_accel_bias": [
	0.0,
	0.0,
	0.0,
	0.0,
	0.0,
	0.0,
	0.0,
	0.0,
	0.0
	],
	"calib_gyro_bias": [
	0.0,
	0.0,
	0.0,
	0.0,
	0.0,
	0.0,
	0.0,
	0.0,
	0.0,
	0.0,
	0.0,
	0.0
	],
	"imu_update_rate": 1000.0,
	"accel_noise_std": [
	0.016,
	0.016,
	0.016
	],
	"gyro_noise_std": [
	0.000282,
	0.000282,
	0.000282
	],
	"accel_bias_std": [
	0.001,
	0.001,
	0.001
	],
	"gyro_bias_std": [
	0.0001,
	0.0001,
	0.0001
	],
	"cam_time_offset_ns": 0,
	"vignette": []
	}
	}