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Add example calibration for Index headset

This commit is contained in:
Mateo de Mayo 2022-07-20 19:04:01 +00:00
parent 6f3f61c91f
commit 0621619e96
2 changed files with 133 additions and 0 deletions
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114
data/index_calib.json Normal file
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{
"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": []
}
}

19
data/monado/index.toml Normal file
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# 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