basalt/data/odysseyplus_kb4_calib.json

{
    "value0": {
        "T_imu_cam": [
            {
                "px": -0.08394275605678558,
                "py": -0.0025952591095119715,
                "pz": 0.0026445253752171993,
                "qx": -0.17704728245735168,
                "qy": -0.19861078262329102,
                "qz": 0.035641565918922424,
                "qw": 0.9632952809333801
            },
            {
                "px": 0.021131351590156555,
                "py": -0.002306802896782756,
                "pz": 0.0023415968753397465,
                "qx": -0.18363775312900543,
                "qy": 0.19827023148536682,
                "qz": -0.03922446444630623,
                "qw": 0.961991548538208
            }
        ],
        "intrinsics": [
            {
                "camera_type": "kb4",
                "intrinsics": {
                    "fx": 268.195975920864,
                    "fy": 268.0574654154223,
                    "cx": 323.31709283956959,
                    "cy": 245.75222869648526,
                    "k1": 0.0786766526301811,
                    "k2": -0.030847669265979546,
                    "k3": 0.20850845540314143,
                    "k4": -0.1196923005962833
                }
            },
            {
                "camera_type": "kb4",
                "intrinsics": {
                    "fx": 269.40740366226648,
                    "fy": 269.8023515180134,
                    "cx": 322.776132065183,
                    "cy": 251.10164045580167,
                    "k1": 0.06239234153858448,
                    "k2": -0.010654168469050596,
                    "k3": 0.19636276150943167,
                    "k4": -0.11784770077286101
                }
            }
        ],
        "resolution": [
            [
                640,
                480
            ],
            [
                640,
                480
            ]
        ],
        "// about calib_accel/gyro_bias": "Bias values (first three elements) are negated, in basalt they get substracted, but in azure-kinect they are added",
        "// -                          ": "Also the mixing matrix has I3x3 substracted, i.e. diagonal are one unit smaller",
        "// 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",
        "calib_accel_bias": [
            0.18563582003116608,
            -0.057621683925390244,
            0.13435612618923187,
            -0.001865983009338379,
            0.00030630044057033956,
            -0.0001675997773418203,
            0.0009244680404663,
            0.000295753387035802,
            -0.0022075772285461426
        ],
        "calib_gyro_bias": [
            -0.016492774710059166,
            0.01642640121281147,
            0.0045625129714608192,
            0.0000957250595093,
            -0.00082384591223672032,
            -0.0015064212493598461,
            -0.00082343036774545908,
            -0.00041097402572631836,
            -4.7357993935293052e-6,
            -0.0015050634974613786,
            -4.7339185584860388e-6,
            -0.0008063316345214844
        ],
        "imu_update_rate": 250.0,
        "accel_noise_std": [
            0.010700000450015068,
            0.010700000450015068,
            0.010700000450015068
        ],
        "gyro_noise_std": [
            0.00095000001601874828,
            0.00095000001601874828,
            0.00095000001601874828
        ],
        "accel_bias_std": [
            0.0999999988824129,
            0.0999999988824129,
            0.0999999988824129
        ],
        "gyro_bias_std": [
            0.009999999873689375,
            0.009999999873689375,
            0.009999999873689375
        ],
        "cam_time_offset_ns": 0,
        "view_offset": [
            248.7971689190779,
            -5.785840906463989
        ],
        "vignette": []
    }
}