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Add rpmax parameter to rt8 related files

This commit is contained in:
Mateo de Mayo 2022-05-07 11:50:02 -03:00
parent dd08e98cc1
commit b379a7c924
4 changed files with 253 additions and 4 deletions
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244
data/euroc_rt8_calib.json Normal file
View File

@ -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
}
}

1
data/monado/wmr-tools/wmr2bslt_calib.py
View File

@ -106,6 +106,7 @@ def intrinsics(j, cam):
"k4": model_params[7], "k4": model_params[7],
"k5": model_params[8], "k5": model_params[8],
"k6": model_params[9], "k6": model_params[9],
"rpmax": model_params[14]
}, },
} }

6
data/odysseyplus_rt8_calib.json
View File

@ -35,7 +35,8 @@
"k3": 0.0041795829311013222, "k3": 0.0041795829311013222,
"k4": 0.89431935548782349, "k4": 0.89431935548782349,
"k5": 0.54253977537155151, "k5": 0.54253977537155151,
"k6": 0.06621214747428894 "k6": 0.06621214747428894,
"rpmax": 2.7941114902496338
} }
}, },
{ {
@ -52,7 +53,8 @@
"k3": 0.0068156048655509949, "k3": 0.0068156048655509949,
"k4": 0.83317267894744873, "k4": 0.83317267894744873,
"k5": 0.26174271106719971, "k5": 0.26174271106719971,
"k6": 0.043505862355232239 "k6": 0.043505862355232239,
"rpmax": 2.7899987697601318
} }
} }
], ],

6
data/reverbg1_calib.json
View File

@ -35,7 +35,8 @@
"k3": 0.005645581521093845, "k3": 0.005645581521093845,
"k4": 1.0772404670715332, "k4": 1.0772404670715332,
"k5": 0.9886198043823242, "k5": 0.9886198043823242,
"k6": 0.11069812625646591 "k6": 0.11069812625646591,
"rpmax": -1
} }
}, },
{ {
@ -52,7 +53,8 @@
"k3": -0.0001313198881689459, "k3": -0.0001313198881689459,
"k4": 1.0160305500030518, "k4": 1.0160305500030518,
"k5": 0.8497552871704102, "k5": 0.8497552871704102,
"k6": 0.08660980314016342 "k6": 0.08660980314016342,
"rpmax": -1
} }
} }
], ],