basalt/data/odysseyplus_rt8_calib.json

{
    "value0": {
        "T_imu_cam": [
            {
                "px": -0.08394275605678558,
                "py": -0.0025952591095119715,
                "pz": 0.0026445253752171993,
                "qx": -0.17704726835670878,
                "qy": -0.19861076922141732,
                "qz": 0.03564156642768224,
                "qw": 0.9632952306248018
            },
            {
                "px": 0.02113135496007891,
                "py": -0.0023068031820524327,
                "pz": 0.002341595642298417,
                "qx": -0.1836377420226455,
                "qy": 0.1982701960061761,
                "qz": -0.03922445856481098,
                "qw": 0.9619914477874183
            }
        ],
        "intrinsics": [
            {
                "camera_type": "pinhole-radtan8",
                "intrinsics": {
                    "fx": 269.0600776672363,
                    "fy": 269.1679859161377,
                    "cx": 324.3333053588867,
                    "cy": 245.22674560546875,
                    "k1": 0.6257319450378418,
                    "k2": 0.4661203622817993,
                    "p1": -0.00018502399325370789,
                    "p2": -4.288297350285575e-05,
                    "k3": 0.004179582931101322,
                    "k4": 0.8943193554878235,
                    "k5": 0.5425397753715515,
                    "k6": 0.06621214747428894,
                    "rpmax": 2.794111490249634
                }
            },
            {
                "camera_type": "pinhole-radtan8",
                "intrinsics": {
                    "fx": 270.1171684265137,
                    "fy": 270.2496528625488,
                    "cx": 323.54679107666016,
                    "cy": 250.34966468811035,
                    "k1": 0.5571827292442322,
                    "k2": 0.22437196969985962,
                    "p1": 0.00011782468209275976,
                    "p2": 0.0001220563062815927,
                    "k3": 0.006815604865550995,
                    "k4": 0.8331726789474487,
                    "k5": 0.2617427110671997,
                    "k6": 0.04350586235523224,
                    "rpmax": 2.789998769760132
                }
            }
        ],
        "resolution": [
            [
                640,
                480
            ],
            [
                640,
                480
            ]
        ],
        "calib_accel_bias": [
            0.18563582003116608,
            -0.057621683925390244,
            0.13435612618923187,
            -0.001865983009338379,
            0.00030630044057033956,
            -0.0001675997773418203,
            0.0009244680404663086,
            0.000295753387035802,
            -0.0022075772285461426
        ],
        "calib_gyro_bias": [
            -0.016492774710059166,
            0.01642640121281147,
            0.004562512971460819,
            9.572505950927734e-05,
            -0.0008238459122367203,
            -0.0015064212493598461,
            -0.0008234303677454591,
            -0.00041097402572631836,
            -4.735799393529305e-06,
            -0.0015050634974613786,
            -4.733918558486039e-06,
            -0.0008063316345214844
        ],
        "imu_update_rate": 250,
        "accel_noise_std": [
            0.010700000450015068,
            0.010700000450015068,
            0.010700000450015068
        ],
        "gyro_noise_std": [
            0.0009500000160187483,
            0.0009500000160187483,
            0.0009500000160187483
        ],
        "accel_bias_std": [
            0.0999999988824129,
            0.0999999988824129,
            0.0999999988824129
        ],
        "gyro_bias_std": [
            0.009999999873689375,
            0.009999999873689375,
            0.009999999873689375
        ],
        "cam_time_offset_ns": 0,
        "vignette": []
    }
}