104 lines
2.2 KiB
JSON
104 lines
2.2 KiB
JSON
|
{
|
||
|
|
"value0": {
|
||
|
|
"T_imu_cam": [
|
||
|
|
{
|
||
|
|
"px": 0.0,
|
||
|
|
"py": 0.0,
|
||
|
|
"pz": 0.0,
|
||
|
|
"qx": 0.0,
|
||
|
|
"qy": 0.0,
|
||
|
|
"qz": 0.0,
|
||
|
|
"qw": 1.0
|
||
|
|
},
|
||
|
|
{
|
||
|
|
"px": 0.0,
|
||
|
|
"py": 0.0,
|
||
|
|
"pz": 0.0,
|
||
|
|
"qx": 0.0,
|
||
|
|
"qy": 0.0,
|
||
|
|
"qz": 0.0,
|
||
|
|
"qw": 1.0
|
||
|
|
}
|
||
|
|
],
|
||
|
|
"intrinsics": [
|
||
|
|
{
|
||
|
|
"camera_type": "pinhole",
|
||
|
|
"intrinsics": {
|
||
|
|
"fx": 483.3537296445295,
|
||
|
|
"fy": 483.3819156970576,
|
||
|
|
"cx": 319.9132654259872,
|
||
|
|
"cy": 239.03272694059255
|
||
|
|
}
|
||
|
|
},
|
||
|
|
{
|
||
|
|
"camera_type": "pinhole",
|
||
|
|
"intrinsics": {
|
||
|
|
"fx": 483.3537296445295,
|
||
|
|
"fy": 483.3819156970576,
|
||
|
|
"cx": 319.9132654259872,
|
||
|
|
"cy": 239.03272694059255
|
||
|
|
}
|
||
|
|
}
|
||
|
|
],
|
||
|
|
"resolution": [
|
||
|
|
[
|
||
|
|
640,
|
||
|
|
480
|
||
|
|
],
|
||
|
|
[
|
||
|
|
640,
|
||
|
|
480
|
||
|
|
]
|
||
|
|
],
|
||
|
|
"calib_accel_bias": [
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0
|
||
|
|
],
|
||
|
|
"calib_gyro_bias": [
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0
|
||
|
|
],
|
||
|
|
"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": []
|
||
|
|
}
|
||
|
|
}
|