115 lines
2.9 KiB
JSON
115 lines
2.9 KiB
JSON
|
{
|
||
|
|
"value0": {
|
||
|
|
"T_imu_cam": [
|
||
|
|
{
|
||
|
|
"px": -0.12166834891308945,
|
||
|
|
"py": -0.07181103455017918,
|
||
|
|
"pz": -0.011911760520876827,
|
||
|
|
"qx": 0.999206844251353,
|
||
|
|
"qy": -0.008523559718599975,
|
||
|
|
"qz": -0.038897421992888748,
|
||
|
|
"qw": 0.00014796379001732346
|
||
|
|
},
|
||
|
|
{
|
||
|
|
"px": 0.01420381850378786,
|
||
|
|
"py": -0.07210250697028055,
|
||
|
|
"pz": -0.0115618286902715,
|
||
|
|
"qx": 0.9990931516177515,
|
||
|
|
"qy": -0.011906493530393766,
|
||
|
|
"qz": 0.03990451825243117,
|
||
|
|
"qw": 0.008873512571741
|
||
|
|
}
|
||
|
|
],
|
||
|
|
"intrinsics": [
|
||
|
|
{
|
||
|
|
"camera_type": "kb4",
|
||
|
|
"intrinsics": {
|
||
|
|
"fx": 418.49831165830809,
|
||
|
|
"fy": 418.89088723613158,
|
||
|
|
"cx": 469.2418843236255,
|
||
|
|
"cy": 479.63486194465886,
|
||
|
|
"k1": 0.19769780115944078,
|
||
|
|
"k2": 0.01770447140547479,
|
||
|
|
"k3": -0.1941912666695437,
|
||
|
|
"k4": 0.07699772953439047
|
||
|
|
}
|
||
|
|
},
|
||
|
|
{
|
||
|
|
"camera_type": "kb4",
|
||
|
|
"intrinsics": {
|
||
|
|
"fx": 420.04660823900977,
|
||
|
|
"fy": 420.6075474664242,
|
||
|
|
"cx": 469.11670321129739,
|
||
|
|
"cy": 484.8160126942177,
|
||
|
|
"k1": 0.20197322375661307,
|
||
|
|
"k2": 0.0025001727944286178,
|
||
|
|
"k3": -0.16895761281263989,
|
||
|
|
"k4": 0.06397378938478488
|
||
|
|
}
|
||
|
|
}
|
||
|
|
],
|
||
|
|
"resolution": [
|
||
|
|
[
|
||
|
|
960,
|
||
|
|
960
|
||
|
|
],
|
||
|
|
[
|
||
|
|
960,
|
||
|
|
960
|
||
|
|
]
|
||
|
|
],
|
||
|
|
"calib_accel_bias": [
|
||
|
|
-0.0032706502644328728,
|
||
|
|
0.04876764062017021,
|
||
|
|
0.26584577729679628,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0
|
||
|
|
],
|
||
|
|
"calib_gyro_bias": [
|
||
|
|
-0.007320807811266818,
|
||
|
|
-0.002073589257968562,
|
||
|
|
-0.006261471706304642,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0
|
||
|
|
],
|
||
|
|
"imu_update_rate": 1000.684,
|
||
|
|
"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,
|
||
|
|
"view_offset": [
|
||
|
|
0.0,
|
||
|
|
0.0
|
||
|
|
],
|
||
|
|
"vignette": []
|
||
|
|
}
|
||
|
|
}
|