Add example calibration for Index headset

data/index_calib.json

@@ -0,0 +1,114 @@
+{
+    "value0": {
+        "T_imu_cam": [
+            {
+                "px": -0.12166834891308945,
+                "py": -0.07181103455017918,
+                "pz": -0.011911760520876827,
+                "qx": 0.999206844251353,
+                "qy": -0.008523559718599975,
+                "qz": -0.038897421992888748,
+                "qw": 0.00014796379001732346
+            },
+            {
+                "px": 0.01420381850378786,
+                "py": -0.07210250697028055,
+                "pz": -0.0115618286902715,
+                "qx": 0.9990931516177515,
+                "qy": -0.011906493530393766,
+                "qz": 0.03990451825243117,
+                "qw": 0.008873512571741
+            }
+        ],
+        "intrinsics": [
+            {
+                "camera_type": "kb4",
+                "intrinsics": {
+                    "fx": 418.49831165830809,
+                    "fy": 418.89088723613158,
+                    "cx": 469.2418843236255,
+                    "cy": 479.63486194465886,
+                    "k1": 0.19769780115944078,
+                    "k2": 0.01770447140547479,
+                    "k3": -0.1941912666695437,
+                    "k4": 0.07699772953439047
+                }
+            },
+            {
+                "camera_type": "kb4",
+                "intrinsics": {
+                    "fx": 420.04660823900977,
+                    "fy": 420.6075474664242,
+                    "cx": 469.11670321129739,
+                    "cy": 484.8160126942177,
+                    "k1": 0.20197322375661307,
+                    "k2": 0.0025001727944286178,
+                    "k3": -0.16895761281263989,
+                    "k4": 0.06397378938478488
+                }
+            }
+        ],
+        "resolution": [
+            [
+                960,
+                960
+            ],
+            [
+                960,
+                960
+            ]
+        ],
+        "calib_accel_bias": [
+            -0.0032706502644328728,
+            0.04876764062017021,
+            0.26584577729679628,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "calib_gyro_bias": [
+            -0.007320807811266818,
+            -0.002073589257968562,
+            -0.006261471706304642,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "imu_update_rate": 1000.684,
+        "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": [
+            0.0,
+            0.0
+        ],
+        "vignette": []
+    }
+}

data/monado/index.toml

@@ -0,0 +1,19 @@
+# Options for the Basalt SLAM Tracker
+
+# Show GUI
+show-gui=1
+
+# Ground-truth camera calibration used for simulation.
+cam-calib="/home/mateo/Documents/apps/bsltdeps/basalt/data/index_calib_oxrimu.json"
+
+# Path to config file.
+config-path="/home/mateo/Documents/apps/bsltdeps/basalt/data/euroc_config.json"
+
+# Path to folder where marginalization data will be stored.
+marg-data=""
+
+# Poll and print for queue sizes.
+print-queue=0
+
+# Whether to use a double or single precision pipeline.
+use-double=0