M_monado_datasets/MO_odyssey_plus/extras/calibration.kb4.json

{
    "value0": {
        "comment": "Current error: 159825 num_points 191607 mean_error 0.83413 reprojection_error 31762.2 mean reprojection 0.165768 opt_time 341ms.",
        "T_imu_cam": [
            {
                "px": -0.0836171207584613,
                "py": -0.0019908210116357006,
                "pz": 0.005251507311936389,
                "qx": 0.1802261808379679,
                "qy": 0.20033944999996473,
                "qz": -0.034063387763476237,
                "qw": -0.9624044441545078
            },
            {
                "px": 0.02184301895036105,
                "py": -0.002049686931566472,
                "pz": 0.005005028649289218,
                "qx": -0.18399799450755126,
                "qy": 0.1979449130785967,
                "qz": -0.040285755777447768,
                "qw": 0.9619457403018872
            }
        ],
        "intrinsics": [
            {
                "camera_type": "kb4",
                "intrinsics": {
                    "fx": 268.7643797200632,
                    "fy": 268.6254278509791,
                    "cx": 322.99894365261829,
                    "cy": 245.85420172532995,
                    "k1": 0.07967334603430464,
                    "k2": -0.028193800038563194,
                    "k3": 0.20273128935703775,
                    "k4": -0.11691215909852215
                }
            },
            {
                "camera_type": "kb4",
                "intrinsics": {
                    "fx": 270.38245569848518,
                    "fy": 270.8952605677133,
                    "cx": 322.59133920842347,
                    "cy": 250.7654767124812,
                    "k1": 0.05921598747583376,
                    "k2": 0.0008485613746588702,
                    "k3": 0.18691042621700858,
                    "k4": -0.11581177928178256
                }
            }
        ],
        "resolution": [
            [
                640,
                480
            ],
            [
                640,
                480
            ]
        ],
        "calib_accel_bias": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
        ],
        "calib_gyro_bias": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
        ],
        "imu_update_rate": 1000.0,
        "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
        ],
        "cam_time_offset_ns": 0,
        "vignette": []
    }
}