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Add config and calib files for D455, Odyssey+ and X3 Pro

This commit is contained in:
Mateo de Mayo 2022-05-06 16:12:56 -03:00
parent d3eff0d6c6
commit 68c61eafbd
13 changed files with 765 additions and 1 deletions
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2
data/aprilgrid_6x6.json
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@ -1,6 +1,6 @@
{
"tagCols": 6,
"tagRows": 6,
"tagSize": 0.088,
"tagSize": 0.03,
"tagSpacing": 0.3
}

103
data/d455_640x480_calib.json Normal file
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{
"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": []
}
}

103
data/d455_848x480_calib.json Normal file
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@ -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": []
}
}

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data/d455_calib.json Normal file
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@ -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": []
}
}

19
data/monado/d455-640x480.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/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

19
data/monado/d455-848x480.toml Normal file
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@ -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

19
data/monado/d455.toml Normal file
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@ -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

19
data/monado/odysseyplus_kb4.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/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

19
data/monado/odysseyplus_rt8.toml Normal file
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@ -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

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data/monado/x3pro.toml Normal file
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@ -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

114
data/odysseyplus_kb4_calib.json Normal file
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@ -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": []
}
}

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data/odysseyplus_rt8_calib.json Normal file
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@ -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": []
}
}

103
data/x3pro_calib.json Normal file
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@ -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": []
}
}