basalt/data/odysseyplus_kb4_calib.json

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{
"value0": {
"T_imu_cam": [
{
"px": -0.08394275605678558,
"py": -0.0025952591095119715,
"pz": 0.0026445253752171993,
"qx": -0.17704728245735168,
"qy": -0.19861078262329102,
"qz": 0.035641565918922424,
"qw": 0.9632952809333801
},
{
"px": 0.021131351590156555,
"py": -0.002306802896782756,
"pz": 0.0023415968753397465,
"qx": -0.18363775312900543,
"qy": 0.19827023148536682,
"qz": -0.03922446444630623,
"qw": 0.961991548538208
}
],
"intrinsics": [
{
"camera_type": "kb4",
"intrinsics": {
"fx": 268.195975920864,
"fy": 268.0574654154223,
"cx": 323.31709283956959,
"cy": 245.75222869648526,
"k1": 0.0786766526301811,
"k2": -0.030847669265979546,
"k3": 0.20850845540314143,
"k4": -0.1196923005962833
}
},
{
"camera_type": "kb4",
"intrinsics": {
"fx": 269.40740366226648,
"fy": 269.8023515180134,
"cx": 322.776132065183,
"cy": 251.10164045580167,
"k1": 0.06239234153858448,
"k2": -0.010654168469050596,
"k3": 0.19636276150943167,
"k4": -0.11784770077286101
}
}
],
"resolution": [
[
640,
480
],
[
640,
480
]
],
"// about calib_accel/gyro_bias": "Bias values (first three elements) are negated, in basalt they get substracted, but in azure-kinect they are added",
"// - ": "Also the mixing matrix has I3x3 substracted, i.e. diagonal are one unit smaller",
"// about calib_accel_bias": "See https://gitlab.com/VladyslavUsenko/basalt-headers/-/issues/8 to understand why accel only uses 6 elements of the mixing matrix",
"calib_accel_bias": [
0.18563582003116608,
-0.057621683925390244,
0.13435612618923187,
-0.001865983009338379,
0.00030630044057033956,
-0.0001675997773418203,
0.0009244680404663,
0.000295753387035802,
-0.0022075772285461426
],
"calib_gyro_bias": [
-0.016492774710059166,
0.01642640121281147,
0.0045625129714608192,
0.0000957250595093,
-0.00082384591223672032,
-0.0015064212493598461,
-0.00082343036774545908,
-0.00041097402572631836,
-4.7357993935293052e-6,
-0.0015050634974613786,
-4.7339185584860388e-6,
-0.0008063316345214844
],
"imu_update_rate": 250.0,
"accel_noise_std": [
0.010700000450015068,
0.010700000450015068,
0.010700000450015068
],
"gyro_noise_std": [
0.00095000001601874828,
0.00095000001601874828,
0.00095000001601874828
],
"accel_bias_std": [
0.0999999988824129,
0.0999999988824129,
0.0999999988824129
],
"gyro_bias_std": [
0.009999999873689375,
0.009999999873689375,
0.009999999873689375
],
"cam_time_offset_ns": 0,
"vignette": []
}
}