Add Odyssey+ MO datasets calibration, previews, and related files
Browse filesThis view is limited to 50 files because it contains too many changes.
See raw diff
- .gitignore +30 -0
- .vscode/ltex.dictionary.en-US.txt +13 -0
- M_monado_datasets/MG_reverb_g2/MGC_calibration/README.md +1 -1
- M_monado_datasets/MO_odyssey_plus/MOC_calibration/README.md +37 -0
- M_monado_datasets/MO_odyssey_plus/MOO_others/README.md +12 -0
- M_monado_datasets/MO_odyssey_plus/extras/calibration.factory.json +120 -0
- M_monado_datasets/MO_odyssey_plus/extras/calibration.json +121 -0
- M_monado_datasets/MO_odyssey_plus/extras/calibration.raw.json +121 -0
- M_monado_datasets/MO_odyssey_plus/extras/factory.json +755 -0
- M_monado_datasets/MO_odyssey_plus/extras/mocap_calibration.json +25 -0
- M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC01_camcalib_1/calibration.json +121 -0
- M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC02_imucalib_1/calibration.json +121 -0
- M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC02_imucalib_1/mocap_calibration.json +25 -0
- M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC04_camcalib_2/calibration.json +121 -0
- M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC05_imucalib_2/calibration.json +121 -0
- M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC05_imucalib_2/mocap_calibration.json +25 -0
- M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC07_camcalib_3/calibration.json +121 -0
- M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC08_imucalib_3/calibration.json +121 -0
- M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC08_imucalib_3/mocap_calibration.json +25 -0
- M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC10_camcalib_4/calibration.json +121 -0
- M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC11_imucalib_4/calibration.json +121 -0
- M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC11_imucalib_4/mocap_calibration.json +25 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOC01_camcalib_1.webm +3 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOC02_imucalib_1.webm +3 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOC03_magcalib_1.webm +3 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOC04_camcalib_2.webm +3 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOC05_imucalib_2.webm +3 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOC06_magcalib_2.webm +3 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOC07_camcalib_3.webm +3 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOC08_imucalib_3.webm +3 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOC09_magcalib_3.webm +3 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOC10_camcalib_4.webm +3 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOC11_imucalib_4.webm +3 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOC12_magcalib_4.webm +3 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOO01_hand_puncher_1.webm +3 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOO02_hand_puncher_2.webm +3 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOO03_hand_shooter_easy.webm +3 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOO04_hand_shooter_hard.webm +3 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOO05_inspect_easy.webm +3 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOO06_inspect_hard.webm +3 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOO07_mapping_easy.webm +3 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOO08_mapping_hard.webm +3 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOO09_short_1_updown.webm +3 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOO10_short_2_panorama.webm +3 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOO11_short_3_backandforth.webm +3 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOO12_freemovement_long_session.webm +3 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOO13_sudden_movements.webm +3 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOO14_flickering_light.webm +3 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOO15_seated_screen.webm +3 -0
- M_monado_datasets/MO_odyssey_plus/extras/previews/MOO16_still.webm +3 -0
.gitignore
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@@ -92,3 +92,33 @@ M_monado_datasets/MG_reverb_g2/MGO_others/MGO12_freemovement_long_session
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M_monado_datasets/MG_reverb_g2/MGO_others/MGO13_sudden_movements
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M_monado_datasets/MG_reverb_g2/MGO_others/MGO14_flickering_light
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M_monado_datasets/MG_reverb_g2/MGO_others/MGO15_seated_screen
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M_monado_datasets/MG_reverb_g2/MGO_others/MGO13_sudden_movements
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M_monado_datasets/MG_reverb_g2/MGO_others/MGO14_flickering_light
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M_monado_datasets/MG_reverb_g2/MGO_others/MGO15_seated_screen
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M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC01_camcalib_1
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M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC02_imucalib_1
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M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC03_magcalib_1
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M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC04_camcalib_2
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M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC05_imucalib_2
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M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC06_magcalib_2
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M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC07_camcalib_3
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M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC08_imucalib_3
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M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC09_magcalib_3
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M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC10_camcalib_4
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M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC11_imucalib_4
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M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC12_magcalib_4
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M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC13_imustatic
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M_monado_datasets/MO_odyssey_plus/MOO_others/MOO01_hand_puncher_1
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M_monado_datasets/MO_odyssey_plus/MOO_others/MOO02_hand_puncher_2
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M_monado_datasets/MO_odyssey_plus/MOO_others/MOO03_hand_shooter_easy
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M_monado_datasets/MO_odyssey_plus/MOO_others/MOO04_hand_shooter_hard
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M_monado_datasets/MO_odyssey_plus/MOO_others/MOO05_inspect_easy
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M_monado_datasets/MO_odyssey_plus/MOO_others/MOO06_inspect_hard
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M_monado_datasets/MO_odyssey_plus/MOO_others/MOO07_mapping_easy
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M_monado_datasets/MO_odyssey_plus/MOO_others/MOO08_mapping_hard
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M_monado_datasets/MO_odyssey_plus/MOO_others/MOO09_short_1_updown
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M_monado_datasets/MO_odyssey_plus/MOO_others/MOO10_short_2_panorama
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M_monado_datasets/MO_odyssey_plus/MOO_others/MOO11_short_3_backandforth
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M_monado_datasets/MO_odyssey_plus/MOO_others/MOO12_freemovement_long_session
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M_monado_datasets/MO_odyssey_plus/MOO_others/MOO13_sudden_movements
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M_monado_datasets/MO_odyssey_plus/MOO_others/MOO14_flickering_light
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M_monado_datasets/MO_odyssey_plus/MOO_others/MOO15_seated_screen
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M_monado_datasets/MO_odyssey_plus/MOO_others/MOO16_still
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.vscode/ltex.dictionary.en-US.txt
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Monado
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Collabora
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OpenXR
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EuRoC
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OpenVR
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SteamVR
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xrtslam-metrics
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odometry
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luma
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MoCap
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OptiTrack
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Vicon
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Kalibr
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M_monado_datasets/MG_reverb_g2/MGC_calibration/README.md
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All `camcalib` and `imucalib` datasets were recorded with a fixed exposure of
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3000μs and a gain of 32/255 on the OV7251 sensor looking at aprilgrids with
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-
square side of
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value adjusts automatically per camera as the rest of the datasets.
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1. MGC01-MGC07: Were recorded on 2024-03-16.
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All `camcalib` and `imucalib` datasets were recorded with a fixed exposure of
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3000μs and a gain of 32/255 on the OV7251 sensor looking at aprilgrids with
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+
square side of 3cm. For the magnetometer `magcalib` datasets the exposure/gain
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value adjusts automatically per camera as the rest of the datasets.
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1. MGC01-MGC07: Were recorded on 2024-03-16.
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M_monado_datasets/MO_odyssey_plus/MOC_calibration/README.md
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+
All `camcalib` and `imucalib` datasets were recorded with a fixed exposure of
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+
3000μs and a gain of 32/255 on the OV7251 sensor looking at aprilgrids with
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| 3 |
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square side of 3cm. For the magnetometer `magcalib` datasets the exposure/gain
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value adjusts automatically per camera like in the MOO datasets. All datasets
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except MOC13 were recording on the same day, and on the same Monado euroc
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recording session.
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1. MOC01-MOC06: Were recorded at the beginning of the session
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2. MOC06-MOC12: Were recorded at the end of the session. The mocap calibration
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of these datasets have a big difference in "pz" compared to the previous
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MOC01-MOC06 ones. I believe this is due to steamvr readjusting the floor
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height at some point during runtime since I don't have reason to believe I
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moved the lighthouses. Furthermore using any of the two mocap versions when
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doing mocap-imu alignment produces datasets with similar ATE after trajectory
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alignment.
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3. MOC13: Is a 48hs recording of the headset still. It was recorded at a
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different date and only has raw IMU samples for Allan variance analysis. The
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groundtruth data is manually crafted with just two points in the same
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position.
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The Reverb G2 headset has 4 cameras:
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- 0: front-left
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- 1: front-right
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- 2: side-left
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- 3: side-right
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[Basalt calibration
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tools](https://gitlab.com/VladyslavUsenko/basalt/-/blob/master/doc/Calibration.md)
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were used for generating the calibration files.
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Magnetometer timestamps should be hardware alignmed with the other IMU samples
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(imu0). Consider that, at the time of recording, the magnetometer units the
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headset reports was not yet definitely known in the open-source WMR Monado
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driver. What you will find for the units is a guess, and it might change in the
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future if the Monado community figures out the units were wrong. For
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magnetometer calibration you can look up this video guide:
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https://www.youtube.com/watch?v=MinV5V1ioWg
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M_monado_datasets/MO_odyssey_plus/MOO_others/README.md
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For unzipping the multipart dataset MOO12 you can either use the `7z` command
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```bash
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7z x MOO12_freemovement_long_session.zip
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```
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Or, the `unzip` command, but since it doesn't support multipart files, you will need create an intermediary file with `zip` like this:
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```bash
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zip -F MOO12_freemovement_long_session.zip --out MOO12.zip
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unzip MOO12.zip
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```
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M_monado_datasets/MO_odyssey_plus/extras/calibration.factory.json
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{
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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": -0.17704726835670878,
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"qy": -0.19861076922141732,
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"qz": 0.03564156642768224,
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+
"qw": 0.9632952306248018
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},
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{
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"px": 0.02113135496007891,
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+
"py": -0.0023068031820524327,
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+
"pz": 0.002341595642298417,
|
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"qx": -0.1836377420226455,
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"qy": 0.1982701960061761,
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"qz": -0.03922445856481098,
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"qw": 0.9619914477874183
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| 21 |
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}
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| 22 |
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],
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"intrinsics": [
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{
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"camera_type": "pinhole-radtan8",
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"intrinsics": {
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"fx": 269.0600776672363,
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| 28 |
+
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|
M_monado_datasets/MO_odyssey_plus/extras/calibration.json
ADDED
|
@@ -0,0 +1,121 @@
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|
| 1 |
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{
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| 2 |
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| 3 |
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| 4 |
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| 25 |
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|
M_monado_datasets/MO_odyssey_plus/extras/calibration.raw.json
ADDED
|
@@ -0,0 +1,121 @@
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|
| 1 |
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|
| 2 |
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| 3 |
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|
| 4 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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[
|
| 64 |
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|
| 65 |
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|
| 66 |
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| 67 |
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|
| 68 |
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|
| 69 |
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| 70 |
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|
| 71 |
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| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 77 |
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| 81 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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| 97 |
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|
| 98 |
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| 99 |
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| 100 |
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| 101 |
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| 102 |
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| 103 |
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|
| 104 |
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| 105 |
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| 106 |
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| 113 |
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|
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|
| 119 |
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|
| 120 |
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}
|
| 121 |
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}
|
M_monado_datasets/MO_odyssey_plus/extras/factory.json
ADDED
|
@@ -0,0 +1,755 @@
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|
| 1 |
+
{
|
| 2 |
+
"CalibrationInformation": {
|
| 3 |
+
"Cameras": [
|
| 4 |
+
{
|
| 5 |
+
"Intrinsics": {
|
| 6 |
+
"ModelParameterCount": 15,
|
| 7 |
+
"ModelParameters": [
|
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M_monado_datasets/MO_odyssey_plus/extras/mocap_calibration.json
ADDED
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@@ -0,0 +1,25 @@
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| 1 |
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{
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| 2 |
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|
| 25 |
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|
M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC01_camcalib_1/calibration.json
ADDED
|
@@ -0,0 +1,121 @@
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| 2 |
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"value0": {
|
| 3 |
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"comment": "Current error: 6012.4 num_points 177031 mean_error 0.0339624 reprojection_error 25692.6 mean reprojection 0.14513 opt_time 42ms.",
|
| 4 |
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| 5 |
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| 11 |
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| 13 |
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| 14 |
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| 15 |
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| 17 |
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| 22 |
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| 23 |
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| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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{
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| 44 |
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| 45 |
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| 46 |
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| 59 |
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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| 64 |
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| 65 |
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| 66 |
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| 67 |
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[
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| 68 |
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| 69 |
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| 70 |
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|
| 71 |
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| 72 |
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"calib_accel_bias": [
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| 73 |
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| 99 |
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| 100 |
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| 101 |
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| 102 |
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| 103 |
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"gyro_noise_std": [
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| 104 |
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| 105 |
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| 113 |
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| 121 |
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|
M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC02_imucalib_1/calibration.json
ADDED
|
@@ -0,0 +1,121 @@
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|
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|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"value0": {
|
| 3 |
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"comment": "Current error: 171987 num_points 134543 mean_error 1.2783 reprojection_error 18577.5 mean reprojection 0.138078 opt_time 306ms.",
|
| 4 |
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"T_imu_cam": [
|
| 5 |
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|
| 6 |
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| 7 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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|
| 26 |
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|
| 27 |
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| 28 |
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| 42 |
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| 43 |
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| 44 |
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| 67 |
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| 121 |
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|
M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC02_imucalib_1/mocap_calibration.json
ADDED
|
@@ -0,0 +1,25 @@
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|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"value0": {
|
| 3 |
+
"comment": "Current error: 202589 num_points 134543 mean_error 1.50576 reprojection_error 19215.2 mean reprojection 0.142819 opt_time 438ms.",
|
| 4 |
+
"T_mocap_world": {
|
| 5 |
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"px": 0.11799331795752172,
|
| 6 |
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"py": -1.0936373535961015,
|
| 7 |
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| 8 |
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|
| 9 |
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| 10 |
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|
| 11 |
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| 12 |
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},
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| 13 |
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|
| 14 |
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"px": -0.1534724809657533,
|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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| 20 |
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|
| 21 |
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},
|
| 22 |
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"mocap_time_offset_ns": -5690735,
|
| 23 |
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"mocap_to_imu_offset_ns": 0
|
| 24 |
+
}
|
| 25 |
+
}
|
M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC04_camcalib_2/calibration.json
ADDED
|
@@ -0,0 +1,121 @@
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|
| 1 |
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{
|
| 2 |
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"value0": {
|
| 3 |
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"comment": "Current error: 7306.19 num_points 275781 mean_error 0.0264927 reprojection_error 35857.6 mean reprojection 0.130022 opt_time 201ms.",
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| 4 |
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| 15 |
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| 23 |
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| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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| 28 |
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| 42 |
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| 43 |
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{
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| 44 |
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| 45 |
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| 60 |
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| 62 |
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| 63 |
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| 64 |
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| 71 |
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| 72 |
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| 103 |
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| 121 |
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|
M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC05_imucalib_2/calibration.json
ADDED
|
@@ -0,0 +1,121 @@
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"value0": {
|
| 3 |
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"comment": "Current error: 178676 num_points 162462 mean_error 1.0998 reprojection_error 21622.4 mean reprojection 0.133092 opt_time 445ms.",
|
| 4 |
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|
| 5 |
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| 6 |
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| 7 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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|
M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC05_imucalib_2/mocap_calibration.json
ADDED
|
@@ -0,0 +1,25 @@
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|
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|
|
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|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"value0": {
|
| 3 |
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"comment": "Current error: 208935 num_points 162462 mean_error 1.28605 reprojection_error 24292 mean reprojection 0.149524 opt_time 789ms.",
|
| 4 |
+
"T_mocap_world": {
|
| 5 |
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"px": 0.11959272953808299,
|
| 6 |
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"py": -1.0930376574721126,
|
| 7 |
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|
| 8 |
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|
| 9 |
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| 10 |
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|
| 11 |
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| 12 |
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},
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| 13 |
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|
| 14 |
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|
| 15 |
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"py": -0.10721492792466117,
|
| 16 |
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"pz": -0.024929635299531906,
|
| 17 |
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|
| 18 |
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| 19 |
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|
| 20 |
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|
| 21 |
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},
|
| 22 |
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"mocap_time_offset_ns": -5886951,
|
| 23 |
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"mocap_to_imu_offset_ns": 0
|
| 24 |
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}
|
| 25 |
+
}
|
M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC07_camcalib_3/calibration.json
ADDED
|
@@ -0,0 +1,121 @@
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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"comment": "Current error: 7380.51 num_points 307291 mean_error 0.024018 reprojection_error 39453.1 mean reprojection 0.12839 opt_time 62ms.",
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| 4 |
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| 24 |
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| 25 |
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|
| 26 |
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|
| 27 |
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| 28 |
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 60 |
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|
M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC08_imucalib_3/calibration.json
ADDED
|
@@ -0,0 +1,121 @@
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|
|
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|
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|
|
|
|
|
|
|
| 1 |
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{
|
| 2 |
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"value0": {
|
| 3 |
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"comment": "Current error: 139353 num_points 165803 mean_error 0.84047 reprojection_error 23127.8 mean reprojection 0.13949 opt_time 1577ms.",
|
| 4 |
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|
| 5 |
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| 6 |
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| 25 |
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| 26 |
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|
M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC08_imucalib_3/mocap_calibration.json
ADDED
|
@@ -0,0 +1,25 @@
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|
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|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"value0": {
|
| 3 |
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"comment": "Current error: 159999 num_points 165803 mean_error 0.964997 reprojection_error 25044.8 mean reprojection 0.151051 opt_time 478ms.",
|
| 4 |
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"T_mocap_world": {
|
| 5 |
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|
| 6 |
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| 7 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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|
| 16 |
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| 17 |
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| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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"mocap_to_imu_offset_ns": 0
|
| 24 |
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}
|
| 25 |
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}
|
M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC10_camcalib_4/calibration.json
ADDED
|
@@ -0,0 +1,121 @@
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|
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M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC11_imucalib_4/calibration.json
ADDED
|
@@ -0,0 +1,121 @@
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|
| 1 |
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{
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| 2 |
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| 3 |
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"comment": "Current error: 155913 num_points 191607 mean_error 0.81371 reprojection_error 23579.9 mean reprojection 0.123064 opt_time 487ms.",
|
| 4 |
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|
M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC11_imucalib_4/mocap_calibration.json
ADDED
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@@ -0,0 +1,25 @@
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|
| 1 |
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{
|
| 2 |
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"value0": {
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| 3 |
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"comment": "Current error: 176431 num_points 191607 mean_error 0.920798 reprojection_error 25143.8 mean reprojection 0.131226 opt_time 510ms.",
|
| 4 |
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|
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|
| 25 |
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|
M_monado_datasets/MO_odyssey_plus/extras/previews/MOC01_camcalib_1.webm
ADDED
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size 374076
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M_monado_datasets/MO_odyssey_plus/extras/previews/MOC02_imucalib_1.webm
ADDED
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@@ -0,0 +1,3 @@
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M_monado_datasets/MO_odyssey_plus/extras/previews/MOC03_magcalib_1.webm
ADDED
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