105 lines
3.0 KiB
JSON
105 lines
3.0 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": -0.030220000073313714,
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"py": 0.007400000002235174,
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"pz": 0.016019999980926515,
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"qx": 0.0,
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"qy": 0.0,
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"qz": 0.0,
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"qw": 1.0
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},
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{
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"px": 0.06471150368452072,
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"py": 0.007400000002235174,
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"pz": 0.016019999980926515,
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"qx": 0.0,
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"qy": 0.0,
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"qz": 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": 323.3847961425781,
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"fy": 323.3847961425781,
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"cx": 319.67333984375,
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"cy": 180.1387939453125
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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": 323.3847961425781,
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"fy": 323.3847961425781,
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"cx": 319.67333984375,
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"cy": 180.1387939453125
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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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360
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],
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[
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640,
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360
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]
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],
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"// calib_accel_bias": "only upper half of the matrix and biases are used see basalt-headers#8",
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"calib_accel_bias": [
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0.10898448526859284,
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0.7374877333641052,
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0.24475505948066712,
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0.023085594177246095,
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0.0083669014275074,
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-0.03306877985596657,
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0.027165532112121583,
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-0.016091132536530496,
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0.014829397201538086
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],
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"//calib_gyro_bias": ["data[0][3] (Bias X)", "data[1][3] (Bias Y)", "data[2][3] (Bias Z)", "data[0][0] (Scale X - 1.0)", "data[1][0]", "data[2][0]", "data[0][1]", "data[1][1] (Scale Y - 1.0)", "data[2][1]", "data[0][2]", "data[1][2]", "data[2][2] (Scale Z - 1.0)"],
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"calib_gyro_bias": [
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-0.00002512480568839237,
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0.00003993872815044597,
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0.00002252501144539565,
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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": 250.0,
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"accel_noise_std": [
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0.008182447828798795,
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0.008182447828798795,
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0.008182447828798795
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],
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"gyro_noise_std": [
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0.002268927090244338,
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0.002268927090244338,
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0.002268927090244338
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],
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"accel_bias_std": [
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0.009999999873689375,
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0.009999999873689375,
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0.009999999873689375
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],
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"gyro_bias_std": [
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0.0007071067802939111,
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0.0007071067802939111,
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0.0007071067802939111
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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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