115 lines
3.8 KiB
JSON
115 lines
3.8 KiB
JSON
{
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"value0": {
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"T_imu_cam": [
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{
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"px": -0.08394275605678558,
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"py": -0.0025952591095119715,
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"pz": 0.0026445253752171993,
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"qx": -0.17704728245735168,
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"qy": -0.19861078262329102,
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"qz": 0.035641565918922424,
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"qw": 0.9632952809333801
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},
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{
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"px": 0.021131351590156555,
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"py": -0.002306802896782756,
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"pz": 0.0023415968753397465,
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"qx": -0.18363775312900543,
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"qy": 0.19827023148536682,
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"qz": -0.03922446444630623,
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"qw": 0.961991548538208
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}
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],
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"intrinsics": [
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{
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"camera_type": "kb4",
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"intrinsics": {
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"fx": 268.195975920864,
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"fy": 268.0574654154223,
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"cx": 323.31709283956959,
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"cy": 245.75222869648526,
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"k1": 0.0786766526301811,
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"k2": -0.030847669265979546,
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"k3": 0.20850845540314143,
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"k4": -0.1196923005962833
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}
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},
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{
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"camera_type": "kb4",
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"intrinsics": {
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"fx": 269.40740366226648,
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"fy": 269.8023515180134,
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"cx": 322.776132065183,
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"cy": 251.10164045580167,
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"k1": 0.06239234153858448,
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"k2": -0.010654168469050596,
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"k3": 0.19636276150943167,
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"k4": -0.11784770077286101
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}
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}
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],
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"resolution": [
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[
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640,
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480
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],
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[
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640,
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480
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]
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],
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"// about calib_accel/gyro_bias": "Bias values (first three elements) are negated, in basalt they get substracted, but in azure-kinect they are added",
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"// - ": "Also the mixing matrix has I3x3 substracted, i.e. diagonal are one unit smaller",
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"// 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",
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"calib_accel_bias": [
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0.18563582003116608,
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-0.057621683925390244,
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0.13435612618923187,
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-0.001865983009338379,
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0.00030630044057033956,
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-0.0001675997773418203,
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0.0009244680404663,
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0.000295753387035802,
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-0.0022075772285461426
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],
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"calib_gyro_bias": [
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-0.016492774710059166,
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0.01642640121281147,
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0.0045625129714608192,
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0.0000957250595093,
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-0.00082384591223672032,
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-0.0015064212493598461,
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-0.00082343036774545908,
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-0.00041097402572631836,
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-4.7357993935293052e-6,
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-0.0015050634974613786,
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-4.7339185584860388e-6,
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-0.0008063316345214844
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],
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"imu_update_rate": 250.0,
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"accel_noise_std": [
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0.010700000450015068,
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0.010700000450015068,
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0.010700000450015068
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],
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"gyro_noise_std": [
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0.00095000001601874828,
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0.00095000001601874828,
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0.00095000001601874828
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],
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"accel_bias_std": [
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0.0999999988824129,
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0.0999999988824129,
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0.0999999988824129
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],
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"gyro_bias_std": [
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0.009999999873689375,
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0.009999999873689375,
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0.009999999873689375
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],
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"cam_time_offset_ns": 0,
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"view_offset": 247,
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"vignette": []
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}
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}
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