basalt/data/euroc_rt8_calib.json

{
    "value0": {
        "T_imu_cam": [
            {
                "px": -0.016774788924641534,
                "py": -0.068938940687127,
                "pz": 0.005139123188382424,
                "qx": -0.007239825785317818,
                "qy": 0.007541278561558601,
                "qz": 0.7017845426564943,
                "qw": 0.7123125505904486
            },
            {
                "px": -0.01507436282032619,
                "py": 0.0412627204046637,
                "pz": 0.00316287258752953,
                "qx": -0.0023360576185881625,
                "qy": 0.013000769689092388,
                "qz": 0.7024677108343111,
                "qw": 0.7115930283929829
            }
        ],
        "intrinsics": [
            {
                "camera_type": "pinhole-radtan8",
                "intrinsics": {
                    "fx": 460.76484651566468,
                    "fy": 459.4051018049483,
                    "cx": 365.8937161309615,
                    "cy": 249.33499869752445,
                    "k1": -0.28340811,
                    "k2": 0.07395907,
                    "p1": 0.00019359,
                    "p2": 1.76187114e-05,
                    "k3": 0,
                    "k4": 0,
                    "k5": 0,
                    "k6": 0,
                    "rpmax": -1
                }
            },
            {
                "camera_type": "pinhole-radtan8",
                "intrinsics": {
                    "fx": 459.55216904505178,
                    "fy": 458.17181312352059,
                    "cx": 379.4066773637502,
                    "cy": 255.98301446219285,
                    "k1": -0.28368365,
                    "k2": 0.07451284,
                    "p1": -0.00010473,
                    "p2": -3.55590700e-05,
                    "k3": 0,
                    "k4": 0,
                    "k5": 0,
                    "k6": 0,
                    "rpmax": -1
                }
            }
        ],
        "resolution": [
            [
                752,
                480
            ],
            [
                752,
                480
            ]
        ],
        "vignette": [
            {
                "value0": 0,
                "value1": 50000000000,
                "value2": [
                    [
                         1.0
                    ],
                    [
                         1.0
                    ],
                    [
                         1.0
                    ],
                    [
                         1.0
                    ],
                    [
                         1.0
                    ],
                    [
                         0.977014799737916
                    ],
                    [
                         0.963099657065011
                    ],
                    [
                         0.922192868484681
                    ],
                    [
                         0.854947649264748
                    ],
                    [
                         0.775979681731632
                    ],
                    [
                         0.722888431826212
                    ],
                    [
                         0.0686113338332548
                    ],
                    [
                         0.0686113338332548
                    ],
                    [
                         0.0686113338332548
                    ],
                    [
                         0.0686113338332548
                    ]
                ]
            },
            {
                "value0": 0,
                "value1": 50000000000,
                "value2": [
                    [
                         1.0
                    ],
                    [
                         1.0
                    ],
                    [
                         1.0
                    ],
                    [
                         1.0
                    ],
                    [
                         1.0
                    ],
                    [
                         0.977014799737916
                    ],
                    [
                         0.963099657065011
                    ],
                    [
                         0.922192868484681
                    ],
                    [
                         0.854947649264748
                    ],
                    [
                         0.775979681731632
                    ],
                    [
                         0.722888431826212
                    ],
                    [
                         0.0686113338332548
                    ],
                    [
                         0.0686113338332548
                    ],
                    [
                         0.0686113338332548
                    ],
                    [
                         0.0686113338332548
                    ]
                ]
            }
        ],
        "calib_accel_bias": [
          -0.003025405479279035,
          0.1200005286487319,
          0.06708820471592454,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
      ],
      "calib_gyro_bias": [
          -0.002186848441668376,
          0.020427823167917037,
          0.07668367023977922,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
      ],
        "imu_update_rate": 200.0,
        "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
        ],
        "T_mocap_world": {
            "px": 0.0,
            "py": 0.0,
            "pz": 0.0,
            "qx": 0.0,
            "qy": 0.0,
            "qz": 0.0,
            "qw": 1.0
        },
        "T_imu_marker": {
            "px": 0.0,
            "py": 0.0,
            "pz": 0.0,
            "qx": 0.0,
            "qy": 0.0,
            "qz": 0.0,
            "qw": 1.0
        },
        "mocap_time_offset_ns": 0,
        "mocap_to_imu_offset_ns": 140763258159875,
        "cam_time_offset_ns": 0
    }
}