diff --git a/data/aprilgrid_6x6.json b/data/aprilgrid_6x6.json index 1361c77..3e334df 100644 --- a/data/aprilgrid_6x6.json +++ b/data/aprilgrid_6x6.json @@ -1,6 +1,6 @@ { "tagCols": 6, "tagRows": 6, - "tagSize": 0.088, + "tagSize": 0.03, "tagSpacing": 0.3 } diff --git a/data/d455_640x480_calib.json b/data/d455_640x480_calib.json new file mode 100644 index 0000000..41d0058 --- /dev/null +++ b/data/d455_640x480_calib.json @@ -0,0 +1,103 @@ +{ + "value0": { + "T_imu_cam": [ + { + "px": -0.030220000073313714, + "py": 0.007400000002235174, + "pz": 0.016019999980926515, + "qx": 0.0, + "qy": 0.0, + "qz": 0.0, + "qw": 1.0 + }, + { + "px": 0.06471150368452072, + "py": 0.007400000002235174, + "pz": 0.016019999980926515, + "qx": 0.0, + "qy": 0.0, + "qz": 0.0, + "qw": 1.0 + } + ], + "intrinsics": [ + { + "camera_type": "pinhole", + "intrinsics": { + "fx": 388.062, + "fy": 388.062, + "cx": 319.608, + "cy": 240.167 + } + }, + { + "camera_type": "pinhole", + "intrinsics": { + "fx": 388.062, + "fy": 388.062, + "cx": 319.608, + "cy": 240.167 + } + } + ], + "resolution": [ + [ + 640, + 480 + ], + [ + 640, + 480 + ] + ], + "calib_accel_bias": [ + 0.10898448526859284, + 0.7374877333641052, + 0.24475505948066712, + 0.023085594177246095, + 0.0083669014275074, + -0.03306877985596657, + 0.027165532112121583, + -0.016091132536530496, + 0.014829397201538086 + ], + "calib_gyro_bias": [ + -0.00002512480568839237, + 0.00003993872815044597, + 0.00002252501144539565, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "imu_update_rate": 250.0, + "accel_noise_std": [ + 0.008182447828798795, + 0.008182447828798795, + 0.008182447828798795 + ], + "gyro_noise_std": [ + 0.002268927090244338, + 0.002268927090244338, + 0.002268927090244338 + ], + "accel_bias_std": [ + 0.009999999873689375, + 0.009999999873689375, + 0.009999999873689375 + ], + "gyro_bias_std": [ + 0.0007071067802939111, + 0.0007071067802939111, + 0.0007071067802939111 + ], + "cam_time_offset_ns": 0, + "view_offset": 0, + "vignette": [] + } +} diff --git a/data/d455_848x480_calib.json b/data/d455_848x480_calib.json new file mode 100644 index 0000000..ea75e6e --- /dev/null +++ b/data/d455_848x480_calib.json @@ -0,0 +1,103 @@ +{ + "value0": { + "T_imu_cam": [ + { + "px": -0.030220000073313714, + "py": 0.007400000002235174, + "pz": 0.016019999980926515, + "qx": 0.0, + "qy": 0.0, + "qz": 0.0, + "qw": 1.0 + }, + { + "px": 0.06471150368452072, + "py": 0.007400000002235174, + "pz": 0.016019999980926515, + "qx": 0.0, + "qy": 0.0, + "qz": 0.0, + "qw": 1.0 + } + ], + "intrinsics": [ + { + "camera_type": "pinhole", + "intrinsics": { + "fx": 428.485, + "fy": 428.485, + "cx": 423.567, + "cy": 240.114 + } + }, + { + "camera_type": "pinhole", + "intrinsics": { + "fx": 428.485, + "fy": 428.485, + "cx": 423.567, + "cy": 240.114 + } + } + ], + "resolution": [ + [ + 848, + 480 + ], + [ + 848, + 480 + ] + ], + "calib_accel_bias": [ + 0.10898448526859284, + 0.7374877333641052, + 0.24475505948066712, + 0.023085594177246095, + 0.0083669014275074, + -0.03306877985596657, + 0.027165532112121583, + -0.016091132536530496, + 0.014829397201538086 + ], + "calib_gyro_bias": [ + -0.00002512480568839237, + 0.00003993872815044597, + 0.00002252501144539565, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "imu_update_rate": 250.0, + "accel_noise_std": [ + 0.008182447828798795, + 0.008182447828798795, + 0.008182447828798795 + ], + "gyro_noise_std": [ + 0.002268927090244338, + 0.002268927090244338, + 0.002268927090244338 + ], + "accel_bias_std": [ + 0.009999999873689375, + 0.009999999873689375, + 0.009999999873689375 + ], + "gyro_bias_std": [ + 0.0007071067802939111, + 0.0007071067802939111, + 0.0007071067802939111 + ], + "cam_time_offset_ns": 0, + "view_offset": 0, + "vignette": [] + } +} diff --git a/data/d455_calib.json b/data/d455_calib.json new file mode 100644 index 0000000..928df1d --- /dev/null +++ b/data/d455_calib.json @@ -0,0 +1,105 @@ +{ + "value0": { + "T_imu_cam": [ + { + "px": -0.030220000073313714, + "py": 0.007400000002235174, + "pz": 0.016019999980926515, + "qx": 0.0, + "qy": 0.0, + "qz": 0.0, + "qw": 1.0 + }, + { + "px": 0.06471150368452072, + "py": 0.007400000002235174, + "pz": 0.016019999980926515, + "qx": 0.0, + "qy": 0.0, + "qz": 0.0, + "qw": 1.0 + } + ], + "intrinsics": [ + { + "camera_type": "pinhole", + "intrinsics": { + "fx": 323.3847961425781, + "fy": 323.3847961425781, + "cx": 319.67333984375, + "cy": 180.1387939453125 + } + }, + { + "camera_type": "pinhole", + "intrinsics": { + "fx": 323.3847961425781, + "fy": 323.3847961425781, + "cx": 319.67333984375, + "cy": 180.1387939453125 + } + } + ], + "resolution": [ + [ + 640, + 360 + ], + [ + 640, + 360 + ] + ], + "// calib_accel_bias": "only upper half of the matrix and biases are used see basalt-headers#8", + "calib_accel_bias": [ + 0.10898448526859284, + 0.7374877333641052, + 0.24475505948066712, + 0.023085594177246095, + 0.0083669014275074, + -0.03306877985596657, + 0.027165532112121583, + -0.016091132536530496, + 0.014829397201538086 + ], + "//calib_gyro_bias": ["data[0][3] (Bias X)", "data[1][3] (Bias Y)", "data[2][3] (Bias Z)", "data[0][0] (Scale X - 1.0)", "data[1][0]", "data[2][0]", "data[0][1]", "data[1][1] (Scale Y - 1.0)", "data[2][1]", "data[0][2]", "data[1][2]", "data[2][2] (Scale Z - 1.0)"], + "calib_gyro_bias": [ + -0.00002512480568839237, + 0.00003993872815044597, + 0.00002252501144539565, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "imu_update_rate": 250.0, + "accel_noise_std": [ + 0.008182447828798795, + 0.008182447828798795, + 0.008182447828798795 + ], + "gyro_noise_std": [ + 0.002268927090244338, + 0.002268927090244338, + 0.002268927090244338 + ], + "accel_bias_std": [ + 0.009999999873689375, + 0.009999999873689375, + 0.009999999873689375 + ], + "gyro_bias_std": [ + 0.0007071067802939111, + 0.0007071067802939111, + 0.0007071067802939111 + ], + "cam_time_offset_ns": 0, + "view_offset": 0, + "vignette": [] + } +} diff --git a/data/monado/d455-640x480.toml b/data/monado/d455-640x480.toml new file mode 100644 index 0000000..2814216 --- /dev/null +++ b/data/monado/d455-640x480.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/d455_640x480_calib.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 diff --git a/data/monado/d455-848x480.toml b/data/monado/d455-848x480.toml new file mode 100644 index 0000000..daaffb9 --- /dev/null +++ b/data/monado/d455-848x480.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/d455_848x480_calib.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 diff --git a/data/monado/d455.toml b/data/monado/d455.toml new file mode 100644 index 0000000..1072fe6 --- /dev/null +++ b/data/monado/d455.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/d455_calib.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 diff --git a/data/monado/odysseyplus_kb4.toml b/data/monado/odysseyplus_kb4.toml new file mode 100644 index 0000000..edc6227 --- /dev/null +++ b/data/monado/odysseyplus_kb4.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/odysseyplus_kb4_calib.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 diff --git a/data/monado/odysseyplus_rt8.toml b/data/monado/odysseyplus_rt8.toml new file mode 100644 index 0000000..a99ccb8 --- /dev/null +++ b/data/monado/odysseyplus_rt8.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/odysseyplus_rt8_calib.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 diff --git a/data/monado/x3pro.toml b/data/monado/x3pro.toml new file mode 100644 index 0000000..17f8e7e --- /dev/null +++ b/data/monado/x3pro.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/x3pro_calib.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 diff --git a/data/odysseyplus_kb4_calib.json b/data/odysseyplus_kb4_calib.json new file mode 100644 index 0000000..ca9c453 --- /dev/null +++ b/data/odysseyplus_kb4_calib.json @@ -0,0 +1,114 @@ +{ + "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": 247, + "vignette": [] + } +} diff --git a/data/odysseyplus_rt8_calib.json b/data/odysseyplus_rt8_calib.json new file mode 100644 index 0000000..d39c108 --- /dev/null +++ b/data/odysseyplus_rt8_calib.json @@ -0,0 +1,122 @@ +{ + "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": "pinhole-radtan8", + "intrinsics": { + "fx": 269.0600776672363, + "fy": 269.1679859161377, + "cx": 324.3333053588867, + "cy": 245.22674560546875, + "k1": 0.6257319450378418, + "k2": 0.46612036228179932, + "p1": -0.00018502399325370789, + "p2": -4.2882973502855748e-5, + "k3": 0.0041795829311013222, + "k4": 0.89431935548782349, + "k5": 0.54253977537155151, + "k6": 0.06621214747428894 + } + }, + { + "camera_type": "pinhole-radtan8", + "intrinsics": { + "fx": 270.1171684265137, + "fy": 270.2496528625488, + "cx": 323.54679107666016, + "cy": 250.34966468811035, + "k1": 0.55718272924423218, + "k2": 0.22437196969985962, + "p1": 0.00011782468209275976, + "p2": 0.0001220563062815927, + "k3": 0.0068156048655509949, + "k4": 0.83317267894744873, + "k5": 0.26174271106719971, + "k6": 0.043505862355232239 + } + } + ], + "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": 247, + "vignette": [] + } +} diff --git a/data/x3pro_calib.json b/data/x3pro_calib.json new file mode 100644 index 0000000..b1b0e64 --- /dev/null +++ b/data/x3pro_calib.json @@ -0,0 +1,103 @@ +{ + "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": [] + } +}