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mateosss's picture
Sanitize calibration and add time alignment, raw calib, and factory json for MI
f91e566
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{
"value0": {
"T_imu_cam": [
{
"px": 0.06917789156550716,
"py": 0.12085668743462545,
"pz": 0.012667308040189403,
"qx": -0.027421566937007797,
"qy": -0.02686199643159372,
"qz": -0.701091058937852,
"qw": 0.712037792460365
},
{
"px": 0.06906817063497312,
"py": -0.012925461789829002,
"pz": 0.013021838608092437,
"qx": 0.02073643582501064,
"qy": 0.033116560404689177,
"qz": -0.6986668218185062,
"qw": 0.7143794270177898
}
],
"intrinsics": [
{
"camera_type": "kb4",
"intrinsics": {
"fx": 420.52740656467929,
"fy": 420.668449021409,
"cx": 469.48259744072745,
"cy": 479.1369038467134,
"k1": 0.19293820423427944,
"k2": 0.04211519667505778,
"k3": -0.2331148927645627,
"k4": 0.09541027202996667
}
},
{
"camera_type": "kb4",
"intrinsics": {
"fx": 421.23561386503078,
"fy": 421.4668948188076,
"cx": 467.746800268133,
"cy": 484.4807401358835,
"k1": 0.19017898170828449,
"k2": 0.0546719732148914,
"k3": -0.2491419411107316,
"k4": 0.10310283081793621
}
}
],
"resolution": [
[
960,
960
],
[
960,
960
]
],
"calib_accel_bias": [
-0.04971778544022774,
-0.03201565065121289,
0.19572475460822279,
-0.028198018198094356,
-0.003872114581475922,
0.00024550252234535,
-0.028990588919239267,
-0.003549654271771469,
-0.032148880310017797
],
"calib_gyro_bias": [
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0.007471093613505682,
-0.00556612214812699,
0.010607607375757535,
0.0002188459830664689,
0.0037080194748107628,
0.0022322245428346885,
0.006344163586830771,
0.002421728751873682,
-0.00015481953965233315,
0.0022633582084115829,
-0.0019313784338726988
],
"imu_update_rate": 1000.3427274218432,
"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": -335370,
"vignette": []
}
}