From b379a7c92486496888dcdd6ea528a3909cfc73a3 Mon Sep 17 00:00:00 2001 From: Mateo de Mayo Date: Sat, 7 May 2022 11:50:02 -0300 Subject: [PATCH] Add rpmax parameter to rt8 related files --- data/euroc_rt8_calib.json | 244 ++++++++++++++++++++++++ data/monado/wmr-tools/wmr2bslt_calib.py | 1 + data/odysseyplus_rt8_calib.json | 6 +- data/reverbg1_calib.json | 6 +- 4 files changed, 253 insertions(+), 4 deletions(-) create mode 100644 data/euroc_rt8_calib.json diff --git a/data/euroc_rt8_calib.json b/data/euroc_rt8_calib.json new file mode 100644 index 0000000..0c6ad31 --- /dev/null +++ b/data/euroc_rt8_calib.json @@ -0,0 +1,244 @@ +{ + "value0": { + "T_imu_cam": [ + { + "px": -0.016774788924641534, + "py": -0.068938940687127, + "pz": 0.005139123188382424, + "qx": -0.007239825785317818, + "qy": 0.007541278561558601, + "qz": 0.7017845426564943, + "qw": 0.7123125505904486 + }, + { + "px": -0.01507436282032619, + "py": 0.0412627204046637, + "pz": 0.00316287258752953, + "qx": -0.0023360576185881625, + "qy": 0.013000769689092388, + "qz": 0.7024677108343111, + "qw": 0.7115930283929829 + } + ], + "intrinsics": [ + { + "camera_type": "pinhole-radtan8", + "intrinsics": { + "fx": 460.76484651566468, + "fy": 459.4051018049483, + "cx": 365.8937161309615, + "cy": 249.33499869752445, + "k1": -0.28340811, + "k2": 0.07395907, + "p1": 0.00019359, + "p2": 1.76187114e-05, + "k3": 0, + "k4": 0, + "k5": 0, + "k6": 0, + "rpmax": -1 + } + }, + { + "camera_type": "pinhole-radtan8", + "intrinsics": { + "fx": 459.55216904505178, + "fy": 458.17181312352059, + "cx": 379.4066773637502, + "cy": 255.98301446219285, + "k1": -0.28368365, + "k2": 0.07451284, + "p1": -0.00010473, + "p2": -3.55590700e-05, + "k3": 0, + "k4": 0, + "k5": 0, + "k6": 0, + "rpmax": -1 + } + } + ], + "resolution": [ + [ + 752, + 480 + ], + [ + 752, + 480 + ] + ], + "vignette": [ + { + "value0": 0, + "value1": 50000000000, + "value2": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.977014799737916 + ], + [ + 0.963099657065011 + ], + [ + 0.922192868484681 + ], + [ + 0.854947649264748 + ], + [ + 0.775979681731632 + ], + [ + 0.722888431826212 + ], + [ + 0.0686113338332548 + ], + [ + 0.0686113338332548 + ], + [ + 0.0686113338332548 + ], + [ + 0.0686113338332548 + ] + ] + }, + { + "value0": 0, + "value1": 50000000000, + "value2": [ + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 1.0 + ], + [ + 0.977014799737916 + ], + [ + 0.963099657065011 + ], + [ + 0.922192868484681 + ], + [ + 0.854947649264748 + ], + [ + 0.775979681731632 + ], + [ + 0.722888431826212 + ], + [ + 0.0686113338332548 + ], + [ + 0.0686113338332548 + ], + [ + 0.0686113338332548 + ], + [ + 0.0686113338332548 + ] + ] + } + ], + "calib_accel_bias": [ + -0.003025405479279035, + 0.1200005286487319, + 0.06708820471592454, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "calib_gyro_bias": [ + -0.002186848441668376, + 0.020427823167917037, + 0.07668367023977922, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "imu_update_rate": 200.0, + "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 + ], + "T_mocap_world": { + "px": 0.0, + "py": 0.0, + "pz": 0.0, + "qx": 0.0, + "qy": 0.0, + "qz": 0.0, + "qw": 1.0 + }, + "T_imu_marker": { + "px": 0.0, + "py": 0.0, + "pz": 0.0, + "qx": 0.0, + "qy": 0.0, + "qz": 0.0, + "qw": 1.0 + }, + "mocap_time_offset_ns": 0, + "mocap_to_imu_offset_ns": 140763258159875, + "cam_time_offset_ns": 0, + "view_offset": 0 + } +} diff --git a/data/monado/wmr-tools/wmr2bslt_calib.py b/data/monado/wmr-tools/wmr2bslt_calib.py index 46f5b0c..fe661f0 100755 --- a/data/monado/wmr-tools/wmr2bslt_calib.py +++ b/data/monado/wmr-tools/wmr2bslt_calib.py @@ -106,6 +106,7 @@ def intrinsics(j, cam): "k4": model_params[7], "k5": model_params[8], "k6": model_params[9], + "rpmax": model_params[14] }, } diff --git a/data/odysseyplus_rt8_calib.json b/data/odysseyplus_rt8_calib.json index d39c108..ec0cb10 100644 --- a/data/odysseyplus_rt8_calib.json +++ b/data/odysseyplus_rt8_calib.json @@ -35,7 +35,8 @@ "k3": 0.0041795829311013222, "k4": 0.89431935548782349, "k5": 0.54253977537155151, - "k6": 0.06621214747428894 + "k6": 0.06621214747428894, + "rpmax": 2.7941114902496338 } }, { @@ -52,7 +53,8 @@ "k3": 0.0068156048655509949, "k4": 0.83317267894744873, "k5": 0.26174271106719971, - "k6": 0.043505862355232239 + "k6": 0.043505862355232239, + "rpmax": 2.7899987697601318 } } ], diff --git a/data/reverbg1_calib.json b/data/reverbg1_calib.json index 0796d4b..b043ff6 100644 --- a/data/reverbg1_calib.json +++ b/data/reverbg1_calib.json @@ -35,7 +35,8 @@ "k3": 0.005645581521093845, "k4": 1.0772404670715332, "k5": 0.9886198043823242, - "k6": 0.11069812625646591 + "k6": 0.11069812625646591, + "rpmax": -1 } }, { @@ -52,7 +53,8 @@ "k3": -0.0001313198881689459, "k4": 1.0160305500030518, "k5": 0.8497552871704102, - "k6": 0.08660980314016342 + "k6": 0.08660980314016342, + "rpmax": -1 } } ],