basalt/data/reverbg1_calib.json

121 lines
3.7 KiB
JSON

{
"value0": {
"T_imu_cam": [
{
"px": -0.05136872082948685,
"py": 0.009998396039009094,
"pz": 0.0031021686736494303,
"qx": -0.18316162028019126,
"qy": -0.21380556022816827,
"qz": -0.04333492408539112,
"qw": 0.9585724157494682
},
{
"px": 0.05563707478055065,
"py": 0.009883813601784301,
"pz": 0.0023174414829479906,
"qx": -0.18215833759001973,
"qy": 0.21797714906351776,
"qz": 0.0374739045743495,
"qw": 0.9580709687999817
}
],
"intrinsics": [
{
"camera_type": "pinhole-radtan8",
"intrinsics": {
"fx": 270.6588554382324,
"fy": 270.38835525512695,
"cx": 327.10411071777344,
"cy": 232.2949504852295,
"k1": 0.806943953037262,
"k2": 0.8419846296310425,
"p1": 0.00013395959103945643,
"p2": 0.00011093200009781867,
"k3": 0.005645581521093845,
"k4": 1.0772404670715332,
"k5": 0.9886198043823242,
"k6": 0.11069812625646591,
"rpmax": -1
}
},
{
"camera_type": "pinhole-radtan8",
"intrinsics": {
"fx": 268.75354766845703,
"fy": 268.85175704956055,
"cx": 321.15787506103516,
"cy": 239.18565273284912,
"k1": 0.7496447563171387,
"k2": 0.7209427952766418,
"p1": 0.0004423852951731533,
"p2": -7.726625335635617e-05,
"k3": -0.0001313198881689459,
"k4": 1.0160305500030518,
"k5": 0.8497552871704102,
"k6": 0.08660980314016342,
"rpmax": -1
}
}
],
"resolution": [
[
640,
480
],
[
640,
480
]
],
"calib_accel_bias": [
-0.052095793187618256,
-0.012860408052802086,
-0.25092798471450806,
0.026029586791992188,
-0.0009802503045648336,
-0.0017976306844502687,
0.029732108116149902,
-0.0025643398985266685,
0.03058755397796631
],
"calib_gyro_bias": [
0.016026269644498825,
0.0017041630344465375,
0.04158217832446098,
-0.0008627176284790039,
-0.0005487040616571903,
-0.0015725474804639816,
-0.0005488676251843572,
-0.0005660653114318848,
0.0011183632304891944,
-0.0015808118041604757,
0.001123905531130731,
0.004389047622680664
],
"imu_update_rate": 250,
"accel_noise_std": [
0.010700000450015068,
0.010700000450015068,
0.010700000450015068
],
"gyro_noise_std": [
0.0009500000160187483,
0.0009500000160187483,
0.0009500000160187483
],
"accel_bias_std": [
0.0999999988824129,
0.0999999988824129,
0.0999999988824129
],
"gyro_bias_std": [
0.009999999873689375,
0.009999999873689375,
0.009999999873689375
],
"cam_time_offset_ns": 0,
"vignette": []
}
}