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Add optional kb4 calibration for MO and MG devices

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The calibration is obtained by running the "calibrated" calibration datasets
that were adjusted by the original rt8 calibration, so be aware that it can have
some degree of bias. After camera calibration I only allowed the optimization of
IMU pose and camera intrinsics during IMU calibration. I did this with MOC01-2
and MOC10-11 and kept the second one since it gave the best ATE scores on
some datasets. Furthermore I set the IMU scale biases to zero and the IMU update
rate to 1000.0 manually. ATE results on MOO06 after this were comparable to the
rt8 calibration (~3% better). For the Reverb G2 I used the MGC15-MGC20 sequences.

Files changed (2) hide show
  1. M_monado_datasets/MG_reverb_g2/extras/calibration.kb4.json +163 -0
  2. M_monado_datasets/MO_odyssey_plus/extras/calibration.kb4.json +111 -0
M_monado_datasets/MG_reverb_g2/extras/calibration.kb4.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ {
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+ "value0": {
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+ "comments": "Calibrated over postprocessed dataset, so only cam-imu poses and cam intrinsics were optimized. Current error: 246755 num_points 243001 mean_error 1.01545 reprojection_error 66536.5 mean reprojection 0.273812 opt_time 514ms.",
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+ "T_imu_cam": [
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+ {
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+ ],
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+ "intrinsics": [
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+ "camera_type": "kb4",
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+ "cy": 229.1840515489695,
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+ "k2": -0.03103032519111291,
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+ "k3": 0.21761591799757783,
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+ "k4": -0.12578545205590586
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+ }
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+ },
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+ {
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+ "camera_type": "kb4",
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+ "intrinsics": {
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+ "fx": 268.8394814458395,
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+ "fy": 268.84629644420229,
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+ "cx": 323.9062256755635,
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+ "cy": 236.5703052123074,
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+ {
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+ "camera_type": "kb4",
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+ "camera_type": "kb4",
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+ "fy": 269.61259675615107,
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+ "cx": 320.31028884237989,
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M_monado_datasets/MO_odyssey_plus/extras/calibration.kb4.json ADDED
@@ -0,0 +1,111 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ {
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+ "comment": "Current error: 159825 num_points 191607 mean_error 0.83413 reprojection_error 31762.2 mean reprojection 0.165768 opt_time 341ms.",
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