123 lines
4.2 KiB
JSON
123 lines
4.2 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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{
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"camera_type": "pinhole-radtan8",
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"intrinsics": {
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"fx": 269.0600776672363,
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"p2": -4.2882973502855748e-5,
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{
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"camera_type": "pinhole-radtan8",
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"intrinsics": {
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"fx": 270.1171684265137,
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"cx": 323.54679107666016,
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"k1": 0.55718272924423218,
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"k2": 0.22437196969985962,
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"p1": 0.00011782468209275976,
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"p2": 0.0001220563062815927,
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"k3": 0.0068156048655509949,
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"k4": 0.83317267894744873,
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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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"// about calib_accel/gyro_bias": "Bias values (first three elements) are negated, in basalt they get substracted, but in azure-kinect they are added",
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"// - ": "Also the mixing matrix has I3x3 substracted, i.e. diagonal are one unit smaller",
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"// about calib_accel_bias": "See https://gitlab.com/VladyslavUsenko/basalt-headers/-/issues/8 to understand why accel only uses 6 elements of the mixing matrix",
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"calib_accel_bias": [
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0.18563582003116608,
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-0.057621683925390244,
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0.13435612618923187,
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0.00030630044057033956,
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-0.0001675997773418203,
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0.0009244680404663,
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0.000295753387035802,
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-0.0022075772285461426
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],
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"calib_gyro_bias": [
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-0.016492774710059166,
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0.01642640121281147,
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0.0045625129714608192,
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0.0000957250595093,
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-0.0015064212493598461,
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-0.00082343036774545908,
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-0.00041097402572631836,
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-4.7357993935293052e-6,
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-0.0015050634974613786,
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-4.7339185584860388e-6,
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-0.0008063316345214844
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],
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"imu_update_rate": 250.0,
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"accel_noise_std": [
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0.010700000450015068,
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0.010700000450015068,
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0.010700000450015068
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],
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"gyro_noise_std": [
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0.00095000001601874828,
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0.00095000001601874828,
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0.00095000001601874828
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],
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"accel_bias_std": [
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0.0999999988824129,
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0.0999999988824129,
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0.0999999988824129
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],
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"gyro_bias_std": [
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0.009999999873689375,
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0.009999999873689375
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],
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"cam_time_offset_ns": 0,
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"view_offset": 247,
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"vignette": []
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}
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}
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