basalt/data/x3pro_calib.json

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{
"value0": {
"T_imu_cam": [
{
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"py": 0.0,
"pz": 0.0,
"qx": 0.0,
"qy": 0.0,
"qz": 0.0,
"qw": 1.0
},
{
"px": 0.0,
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"qy": 0.0,
"qz": 0.0,
"qw": 1.0
}
],
"intrinsics": [
{
"camera_type": "pinhole",
"intrinsics": {
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"fy": 483.3819156970576,
"cx": 319.9132654259872,
"cy": 239.03272694059255
}
},
{
"camera_type": "pinhole",
"intrinsics": {
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"fy": 483.3819156970576,
"cx": 319.9132654259872,
"cy": 239.03272694059255
}
}
],
"resolution": [
[
640,
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],
[
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]
],
"calib_accel_bias": [
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0.0,
0.0,
0.0
],
"calib_gyro_bias": [
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],
"imu_update_rate": 416.0,
"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
],
"cam_time_offset_ns": 0,
"view_offset": 300,
"vignette": []
}
}