M_monado_datasets/MG_reverb_g2/extras/calibration.kb4.json

{
    "value0": {
        "comments": "Calibrated over postprocessed dataset, so only cam-imu poses and cam intrinsics were optimized. Current error: 246755 num_points 243001 mean_error 1.01545 reprojection_error 66536.5 mean reprojection 0.273812 opt_time 514ms.",
        "T_imu_cam": [
            {
                "px": -0.05196080462004912,
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                "qz": 0.6917030432116951,
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                "qw": 0.6847012871910715
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                "qw": -0.560252117019604
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                "qy": 0.3960124259158936,
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        ],
        "intrinsics": [
            {
                "camera_type": "kb4",
                "intrinsics": {
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                    "fy": 270.1414755298674,
                    "cx": 322.8697163592805,
                    "cy": 229.1840515489695,
                    "k1": 0.07740441885450418,
                    "k2": -0.03103032519111291,
                    "k3": 0.21761591799757783,
                    "k4": -0.12578545205590586
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            },
            {
                "camera_type": "kb4",
                "intrinsics": {
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                    "cx": 323.9062256755635,
                    "cy": 236.5703052123074,
                    "k1": 0.07780133707201584,
                    "k2": -0.037783242929474717,
                    "k3": 0.22709046369187206,
                    "k4": -0.12945961303597923
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            },
            {
                "camera_type": "kb4",
                "intrinsics": {
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                    "cx": 324.31540159952467,
                    "cy": 230.97000626471198,
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                    "k2": -0.03809674852985118,
                    "k3": 0.22440009795691719,
                    "k4": -0.12797229712624545
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            },
            {
                "camera_type": "kb4",
                "intrinsics": {
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                    "fy": 269.61259675615107,
                    "cx": 320.31028884237989,
                    "cy": 232.07799800942056,
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                    "k2": -0.032692565978959118,
                    "k3": 0.21570483960998455,
                    "k4": -0.12346477625478411
                }
            }
        ],
        "resolution": [
            [
                640,
                480
            ],
            [
                640,
                480
            ],
            [
                640,
                480
            ],
            [
                640,
                480
            ]
        ],
        "calib_accel_bias": [
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        "calib_gyro_bias": [
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        "imu_update_rate": 1000.0,
        "accel_noise_std": [
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        "gyro_noise_std": [
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        "gyro_bias_std": [
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        "cam_time_offset_ns": 0,
        "vignette": []
    }
}