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Add Odyssey+ MO datasets calibration, previews, and related files

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  1. .gitignore +30 -0
  2. .vscode/ltex.dictionary.en-US.txt +13 -0
  3. M_monado_datasets/MG_reverb_g2/MGC_calibration/README.md +1 -1
  4. M_monado_datasets/MO_odyssey_plus/MOC_calibration/README.md +37 -0
  5. M_monado_datasets/MO_odyssey_plus/MOO_others/README.md +12 -0
  6. M_monado_datasets/MO_odyssey_plus/extras/calibration.factory.json +120 -0
  7. M_monado_datasets/MO_odyssey_plus/extras/calibration.json +121 -0
  8. M_monado_datasets/MO_odyssey_plus/extras/calibration.raw.json +121 -0
  9. M_monado_datasets/MO_odyssey_plus/extras/factory.json +755 -0
  10. M_monado_datasets/MO_odyssey_plus/extras/mocap_calibration.json +25 -0
  11. M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC01_camcalib_1/calibration.json +121 -0
  12. M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC02_imucalib_1/calibration.json +121 -0
  13. M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC02_imucalib_1/mocap_calibration.json +25 -0
  14. M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC04_camcalib_2/calibration.json +121 -0
  15. M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC05_imucalib_2/calibration.json +121 -0
  16. M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC05_imucalib_2/mocap_calibration.json +25 -0
  17. M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC07_camcalib_3/calibration.json +121 -0
  18. M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC08_imucalib_3/calibration.json +121 -0
  19. M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC08_imucalib_3/mocap_calibration.json +25 -0
  20. M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC10_camcalib_4/calibration.json +121 -0
  21. M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC11_imucalib_4/calibration.json +121 -0
  22. M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC11_imucalib_4/mocap_calibration.json +25 -0
  23. M_monado_datasets/MO_odyssey_plus/extras/previews/MOC01_camcalib_1.webm +3 -0
  24. M_monado_datasets/MO_odyssey_plus/extras/previews/MOC02_imucalib_1.webm +3 -0
  25. M_monado_datasets/MO_odyssey_plus/extras/previews/MOC03_magcalib_1.webm +3 -0
  26. M_monado_datasets/MO_odyssey_plus/extras/previews/MOC04_camcalib_2.webm +3 -0
  27. M_monado_datasets/MO_odyssey_plus/extras/previews/MOC05_imucalib_2.webm +3 -0
  28. M_monado_datasets/MO_odyssey_plus/extras/previews/MOC06_magcalib_2.webm +3 -0
  29. M_monado_datasets/MO_odyssey_plus/extras/previews/MOC07_camcalib_3.webm +3 -0
  30. M_monado_datasets/MO_odyssey_plus/extras/previews/MOC08_imucalib_3.webm +3 -0
  31. M_monado_datasets/MO_odyssey_plus/extras/previews/MOC09_magcalib_3.webm +3 -0
  32. M_monado_datasets/MO_odyssey_plus/extras/previews/MOC10_camcalib_4.webm +3 -0
  33. M_monado_datasets/MO_odyssey_plus/extras/previews/MOC11_imucalib_4.webm +3 -0
  34. M_monado_datasets/MO_odyssey_plus/extras/previews/MOC12_magcalib_4.webm +3 -0
  35. M_monado_datasets/MO_odyssey_plus/extras/previews/MOO01_hand_puncher_1.webm +3 -0
  36. M_monado_datasets/MO_odyssey_plus/extras/previews/MOO02_hand_puncher_2.webm +3 -0
  37. M_monado_datasets/MO_odyssey_plus/extras/previews/MOO03_hand_shooter_easy.webm +3 -0
  38. M_monado_datasets/MO_odyssey_plus/extras/previews/MOO04_hand_shooter_hard.webm +3 -0
  39. M_monado_datasets/MO_odyssey_plus/extras/previews/MOO05_inspect_easy.webm +3 -0
  40. M_monado_datasets/MO_odyssey_plus/extras/previews/MOO06_inspect_hard.webm +3 -0
  41. M_monado_datasets/MO_odyssey_plus/extras/previews/MOO07_mapping_easy.webm +3 -0
  42. M_monado_datasets/MO_odyssey_plus/extras/previews/MOO08_mapping_hard.webm +3 -0
  43. M_monado_datasets/MO_odyssey_plus/extras/previews/MOO09_short_1_updown.webm +3 -0
  44. M_monado_datasets/MO_odyssey_plus/extras/previews/MOO10_short_2_panorama.webm +3 -0
  45. M_monado_datasets/MO_odyssey_plus/extras/previews/MOO11_short_3_backandforth.webm +3 -0
  46. M_monado_datasets/MO_odyssey_plus/extras/previews/MOO12_freemovement_long_session.webm +3 -0
  47. M_monado_datasets/MO_odyssey_plus/extras/previews/MOO13_sudden_movements.webm +3 -0
  48. M_monado_datasets/MO_odyssey_plus/extras/previews/MOO14_flickering_light.webm +3 -0
  49. M_monado_datasets/MO_odyssey_plus/extras/previews/MOO15_still.webm +3 -0
  50. M_monado_datasets/MO_odyssey_plus/extras/previews/MOO16_seated_screen.webm +3 -0
.gitignore CHANGED
@@ -92,3 +92,33 @@ M_monado_datasets/MG_reverb_g2/MGO_others/MGO13_sudden_movements
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  M_monado_datasets/MG_reverb_g2/MGO_others/MGO14_flickering_light
93
  M_monado_datasets/MG_reverb_g2/MGO_others/MGO15_low_light
94
  M_monado_datasets/MG_reverb_g2/MGO_others/MGO16_seated_screen
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
92
  M_monado_datasets/MG_reverb_g2/MGO_others/MGO14_flickering_light
93
  M_monado_datasets/MG_reverb_g2/MGO_others/MGO15_low_light
94
  M_monado_datasets/MG_reverb_g2/MGO_others/MGO16_seated_screen
95
+
96
+ M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC01_camcalib_1
97
+ M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC02_imucalib_1
98
+ M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC03_magcalib_1
99
+ M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC04_camcalib_2
100
+ M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC05_imucalib_2
101
+ M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC06_magcalib_2
102
+ M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC07_camcalib_3
103
+ M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC08_imucalib_3
104
+ M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC09_magcalib_3
105
+ M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC10_camcalib_4
106
+ M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC11_imucalib_4
107
+ M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC12_magcalib_4
108
+ M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC13_imustatic
109
+ M_monado_datasets/MO_odyssey_plus/MOO_others/MOO01_hand_puncher_1
110
+ M_monado_datasets/MO_odyssey_plus/MOO_others/MOO02_hand_puncher_2
111
+ M_monado_datasets/MO_odyssey_plus/MOO_others/MOO03_hand_shooter_easy
112
+ M_monado_datasets/MO_odyssey_plus/MOO_others/MOO04_hand_shooter_hard
113
+ M_monado_datasets/MO_odyssey_plus/MOO_others/MOO05_inspect_easy
114
+ M_monado_datasets/MO_odyssey_plus/MOO_others/MOO06_inspect_hard
115
+ M_monado_datasets/MO_odyssey_plus/MOO_others/MOO07_mapping_easy
116
+ M_monado_datasets/MO_odyssey_plus/MOO_others/MOO08_mapping_hard
117
+ M_monado_datasets/MO_odyssey_plus/MOO_others/MOO09_short_1_updown
118
+ M_monado_datasets/MO_odyssey_plus/MOO_others/MOO10_short_2_panorama
119
+ M_monado_datasets/MO_odyssey_plus/MOO_others/MOO11_short_3_backandforth
120
+ M_monado_datasets/MO_odyssey_plus/MOO_others/MOO12_freemovement_long_session
121
+ M_monado_datasets/MO_odyssey_plus/MOO_others/MOO13_sudden_movements
122
+ M_monado_datasets/MO_odyssey_plus/MOO_others/MOO14_flickering_light
123
+ M_monado_datasets/MO_odyssey_plus/MOO_others/MOO15_still
124
+ M_monado_datasets/MO_odyssey_plus/MOO_others/MOO16_seated_screen
.vscode/ltex.dictionary.en-US.txt ADDED
@@ -0,0 +1,13 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Monado
2
+ Collabora
3
+ OpenXR
4
+ EuRoC
5
+ OpenVR
6
+ SteamVR
7
+ xrtslam-metrics
8
+ odometry
9
+ luma
10
+ MoCap
11
+ OptiTrack
12
+ Vicon
13
+ Kalibr
M_monado_datasets/MG_reverb_g2/MGC_calibration/README.md CHANGED
@@ -1,6 +1,6 @@
1
  All `camcalib` and `imucalib` datasets were recorded with a fixed exposure of
2
  3000μs and a gain of 32/255 on the OV7251 sensor looking at aprilgrids with
3
- square side of 30cm. For the magnetometer `magcalib` datasets the exposure/gain
4
  value adjusts automatically per camera as the rest of the datasets.
5
 
6
  1. MGC01-MGC07: Were recorded on 2024-03-16.
 
1
  All `camcalib` and `imucalib` datasets were recorded with a fixed exposure of
2
  3000μs and a gain of 32/255 on the OV7251 sensor looking at aprilgrids with
3
+ square side of 3cm. For the magnetometer `magcalib` datasets the exposure/gain
4
  value adjusts automatically per camera as the rest of the datasets.
5
 
6
  1. MGC01-MGC07: Were recorded on 2024-03-16.
M_monado_datasets/MO_odyssey_plus/MOC_calibration/README.md ADDED
@@ -0,0 +1,37 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ All `camcalib` and `imucalib` datasets were recorded with a fixed exposure of
2
+ 3000μs and a gain of 32/255 on the OV7251 sensor looking at aprilgrids with
3
+ square side of 3cm. For the magnetometer `magcalib` datasets the exposure/gain
4
+ value adjusts automatically per camera like in the MOO datasets. All datasets
5
+ except MOC13 were recording on the same day, and on the same Monado euroc
6
+ recording session.
7
+
8
+ 1. MOC01-MOC06: Were recorded at the beginning of the session
9
+ 2. MOC06-MOC12: Were recorded at the end of the session. The mocap calibration
10
+ of these datasets have a big difference in "pz" compared to the previous
11
+ MOC01-MOC06 ones. I believe this is due to steamvr readjusting the floor
12
+ height at some point during runtime since I don't have reason to believe I
13
+ moved the lighthouses. Furthermore using any of the two mocap versions when
14
+ doing mocap-imu alignment produces datasets with similar ATE after trajectory
15
+ alignment.
16
+ 3. MOC13: Is a 48hs recording of the headset still. It was recorded at a
17
+ different date and only has raw IMU samples for Allan variance analysis. The
18
+ groundtruth data is manually crafted with just two points in the same
19
+ position.
20
+
21
+ The Reverb G2 headset has 4 cameras:
22
+ - 0: front-left
23
+ - 1: front-right
24
+ - 2: side-left
25
+ - 3: side-right
26
+
27
+ [Basalt calibration
28
+ tools](https://gitlab.com/VladyslavUsenko/basalt/-/blob/master/doc/Calibration.md)
29
+ were used for generating the calibration files.
30
+
31
+ Magnetometer timestamps should be hardware alignmed with the other IMU samples
32
+ (imu0). Consider that, at the time of recording, the magnetometer units the
33
+ headset reports was not yet definitely known in the open-source WMR Monado
34
+ driver. What you will find for the units is a guess, and it might change in the
35
+ future if the Monado community figures out the units were wrong. For
36
+ magnetometer calibration you can look up this video guide:
37
+ https://www.youtube.com/watch?v=MinV5V1ioWg
M_monado_datasets/MO_odyssey_plus/MOO_others/README.md ADDED
@@ -0,0 +1,12 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ For unzipping the multipart dataset MOO12 you can either use the `7z` command
2
+
3
+ ```bash
4
+ 7z x MOO12_freemovement_long_session.zip
5
+ ```
6
+
7
+ Or, the `unzip` command, but since it doesn't support multipart files, you will need create an intermediary file with `zip` like this:
8
+
9
+ ```bash
10
+ zip -F MOO12_freemovement_long_session.zip --out MOO12.zip
11
+ unzip MOO12.zip
12
+ ```
M_monado_datasets/MO_odyssey_plus/extras/calibration.factory.json ADDED
@@ -0,0 +1,120 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
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+ "value0": {
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+ "T_imu_cam": [
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+ {
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+ "px": -0.08394275605678558,
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+ "py": -0.0025952591095119715,
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+ "pz": 0.0026445253752171993,
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+ "qx": -0.17704726835670878,
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+ "qy": -0.19861076922141732,
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+ "qz": 0.03564156642768224,
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+ "qw": 0.9632952306248018
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+ },
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+ {
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+ "px": 0.02113135496007891,
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+ "py": -0.0023068031820524327,
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+ "pz": 0.002341595642298417,
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+ "qx": -0.1836377420226455,
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+ "qy": 0.1982701960061761,
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+ "qz": -0.03922445856481098,
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+ "qw": 0.9619914477874183
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+ }
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+ ],
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+ "intrinsics": [
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+ {
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+ "camera_type": "pinhole-radtan8",
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+ "intrinsics": {
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+ "fx": 269.0600776672363,
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+ "fy": 269.1679859161377,
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+ "cx": 324.3333053588867,
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+ "p1": -0.00018502399325370789,
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+ "p2": -4.288297350285575e-05,
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+ "k3": 0.004179582931101322,
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+ "k4": 0.8943193554878235,
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+ "k5": 0.5425397753715515,
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+ "k6": 0.06621214747428894,
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+ "rpmax": 2.794111490249634
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+ }
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+ },
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+ {
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+ "camera_type": "pinhole-radtan8",
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+ "intrinsics": {
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+ "k4": 0.8331726789474487,
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+ "k5": 0.2617427110671997,
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+ "k6": 0.04350586235523224,
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+ "rpmax": 2.789998769760132
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+ }
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+ }
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+ ],
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+ "resolution": [
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+ [
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+ 640,
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+ 480
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+ ],
66
+ [
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+ 640,
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+ 480
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+ ]
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+ ],
71
+ "calib_accel_bias": [
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+ 0.18563582003116608,
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+ -0.057621683925390244,
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+ 0.13435612618923187,
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+ 0.000295753387035802,
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+ -0.0022075772285461426
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+ ],
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+ "calib_gyro_bias": [
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+ -0.016492774710059166,
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+ 9.572505950927734e-05,
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+ -4.733918558486039e-06,
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+ -0.0008063316345214844
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+ ],
96
+ "imu_update_rate": 250,
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+ "accel_noise_std": [
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+ 0.010700000450015068,
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+ 0.010700000450015068,
100
+ 0.010700000450015068
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+ ],
102
+ "gyro_noise_std": [
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+ 0.0009500000160187483,
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+ 0.0009500000160187483,
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+ 0.0009500000160187483
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+ ],
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+ "accel_bias_std": [
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+ 0.0999999988824129,
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+ 0.0999999988824129,
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+ 0.0999999988824129
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+ ],
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+ "gyro_bias_std": [
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+ 0.009999999873689375,
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+ 0.009999999873689375,
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+ 0.009999999873689375
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+ ],
117
+ "cam_time_offset_ns": 0,
118
+ "vignette": []
119
+ }
120
+ }
M_monado_datasets/MO_odyssey_plus/extras/calibration.json ADDED
@@ -0,0 +1,121 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "value0": {
3
+ "comment": "Current error: 155913 num_points 191607 mean_error 0.81371 reprojection_error 23579.9 mean reprojection 0.123064 opt_time 487ms.",
4
+ "T_imu_cam": [
5
+ {
6
+ "px": -0.08323388702651225,
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+ "py": -0.002218366214987864,
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+ "pz": 0.005626638959664241,
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+ "qx": -0.17892326272748997,
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+ "qy": -0.1991388775815655,
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+ "qz": 0.033464261917650759,
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+ "qw": 0.9629176063738844
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+ },
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+ {
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+ "px": 0.022239747333591469,
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+ "py": -0.002331785076783077,
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+ "pz": 0.005312605812652759,
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+ "qz": -0.040602301918976787,
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+ "qw": 0.9617355908050307
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+ }
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+ ],
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+ "intrinsics": [
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+ {
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+ "camera_type": "pinhole-radtan8",
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+ "intrinsics": {
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+ "fx": 269.3157388466649,
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+ "fy": 269.2500852335917,
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+ "cx": 323.6367354444056,
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+ "cy": 245.37262901935368,
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+ "k1": 0.4896735773708656,
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+ "k2": 0.15364417808237319,
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+ "p1": -0.00023052089722471787,
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+ "p2": 0.0003100581060316594,
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+ "k3": 0.00907202623907521,
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+ "k4": 0.760924032106806,
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+ "k5": 0.1699934621377647,
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+ "k6": 0.040322943929294,
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+ "rpmax": 0.0
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+ }
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+ },
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+ {
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+ "camera_type": "pinhole-radtan8",
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+ "intrinsics": {
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+ "fx": 270.65928970849139,
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+ "cx": 323.6443046844411,
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+ "cy": 250.56110650729708,
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+ "p1": 0.00006664706390223596,
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+ "p2": 0.0008408430780571384,
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+ "k3": 0.011001285241218405,
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+ "k4": 0.7946602801800285,
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