103 lines
2.2 KiB
JSON
103 lines
2.2 KiB
JSON
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{
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"value0": {
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"T_imu_cam": [
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{
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"px": 0.0,
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"py": 0.0,
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"qw": 1.0
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},
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{
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"px": 0.0,
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"py": 0.0,
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"pz": 0.0,
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"qw": 1.0
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}
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],
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"intrinsics": [
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{
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"camera_type": "pinhole",
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"intrinsics": {
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"fx": 483.3537296445295,
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"fy": 483.3819156970576,
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"cx": 319.9132654259872,
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"cy": 239.03272694059255
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}
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},
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{
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"camera_type": "pinhole",
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"intrinsics": {
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"fx": 483.3537296445295,
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"fy": 483.3819156970576,
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"cx": 319.9132654259872,
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"cy": 239.03272694059255
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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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],
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[
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640,
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480
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]
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],
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"calib_accel_bias": [
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0.0,
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0.0,
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0.0,
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0.0,
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0.0,
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0.0
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],
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"calib_gyro_bias": [
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0.0,
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0.0,
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0.0,
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0.0,
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0.0,
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0.0,
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0.0,
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0.0,
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0.0,
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0.0
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],
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"imu_update_rate": 416.0,
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"accel_noise_std": [
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0.016,
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0.016,
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0.016
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],
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"gyro_noise_std": [
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0.000282,
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0.000282,
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0.000282
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],
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"accel_bias_std": [
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0.001,
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0.001,
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0.001
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],
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"gyro_bias_std": [
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0.0001,
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0.0001,
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0.0001
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],
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"cam_time_offset_ns": 0,
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"vignette": []
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}
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}
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