diff --git a/.gitignore b/.gitignore index f73ce25d7dc8bb759bee490a0b8565d89462585e..f9a4bd404b0f535dee7bc2fe49f6c88cb23273de 100644 --- a/.gitignore +++ b/.gitignore @@ -92,3 +92,33 @@ M_monado_datasets/MG_reverb_g2/MGO_others/MGO12_freemovement_long_session M_monado_datasets/MG_reverb_g2/MGO_others/MGO13_sudden_movements M_monado_datasets/MG_reverb_g2/MGO_others/MGO14_flickering_light M_monado_datasets/MG_reverb_g2/MGO_others/MGO15_seated_screen + +M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC01_camcalib_1 +M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC02_imucalib_1 +M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC03_magcalib_1 +M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC04_camcalib_2 +M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC05_imucalib_2 +M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC06_magcalib_2 +M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC07_camcalib_3 +M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC08_imucalib_3 +M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC09_magcalib_3 +M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC10_camcalib_4 +M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC11_imucalib_4 +M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC12_magcalib_4 +M_monado_datasets/MO_odyssey_plus/MOC_calibration/MOC13_imustatic +M_monado_datasets/MO_odyssey_plus/MOO_others/MOO01_hand_puncher_1 +M_monado_datasets/MO_odyssey_plus/MOO_others/MOO02_hand_puncher_2 +M_monado_datasets/MO_odyssey_plus/MOO_others/MOO03_hand_shooter_easy +M_monado_datasets/MO_odyssey_plus/MOO_others/MOO04_hand_shooter_hard +M_monado_datasets/MO_odyssey_plus/MOO_others/MOO05_inspect_easy +M_monado_datasets/MO_odyssey_plus/MOO_others/MOO06_inspect_hard +M_monado_datasets/MO_odyssey_plus/MOO_others/MOO07_mapping_easy +M_monado_datasets/MO_odyssey_plus/MOO_others/MOO08_mapping_hard +M_monado_datasets/MO_odyssey_plus/MOO_others/MOO09_short_1_updown +M_monado_datasets/MO_odyssey_plus/MOO_others/MOO10_short_2_panorama +M_monado_datasets/MO_odyssey_plus/MOO_others/MOO11_short_3_backandforth +M_monado_datasets/MO_odyssey_plus/MOO_others/MOO12_freemovement_long_session +M_monado_datasets/MO_odyssey_plus/MOO_others/MOO13_sudden_movements +M_monado_datasets/MO_odyssey_plus/MOO_others/MOO14_flickering_light +M_monado_datasets/MO_odyssey_plus/MOO_others/MOO15_seated_screen +M_monado_datasets/MO_odyssey_plus/MOO_others/MOO16_still diff --git a/.vscode/ltex.dictionary.en-US.txt b/.vscode/ltex.dictionary.en-US.txt new file mode 100644 index 0000000000000000000000000000000000000000..b6a5eff02e0d35c0d9ac67d343b6431e0751b810 --- /dev/null +++ b/.vscode/ltex.dictionary.en-US.txt @@ -0,0 +1,13 @@ +Monado +Collabora +OpenXR +EuRoC +OpenVR +SteamVR +xrtslam-metrics +odometry +luma +MoCap +OptiTrack +Vicon +Kalibr diff --git a/M_monado_datasets/MG_reverb_g2/MGC_calibration/README.md b/M_monado_datasets/MG_reverb_g2/MGC_calibration/README.md index 2b113e9614372c166a11043e8efd8e938f4db7e5..8b3d9682b6a999f21fc75b41841c09728b89f9ad 100644 --- a/M_monado_datasets/MG_reverb_g2/MGC_calibration/README.md +++ b/M_monado_datasets/MG_reverb_g2/MGC_calibration/README.md @@ -1,6 +1,6 @@ All `camcalib` and `imucalib` datasets were recorded with a fixed exposure of 3000μs and a gain of 32/255 on the OV7251 sensor looking at aprilgrids with -square side of 30cm. For the magnetometer `magcalib` datasets the exposure/gain +square side of 3cm. For the magnetometer `magcalib` datasets the exposure/gain value adjusts automatically per camera as the rest of the datasets. 1. MGC01-MGC07: Were recorded on 2024-03-16. diff --git a/M_monado_datasets/MO_odyssey_plus/MOC_calibration/README.md b/M_monado_datasets/MO_odyssey_plus/MOC_calibration/README.md new file mode 100644 index 0000000000000000000000000000000000000000..3553ffce253138f601c1af0fcc0be8bc69d5870e --- /dev/null +++ b/M_monado_datasets/MO_odyssey_plus/MOC_calibration/README.md @@ -0,0 +1,37 @@ +All `camcalib` and `imucalib` datasets were recorded with a fixed exposure of +3000μs and a gain of 32/255 on the OV7251 sensor looking at aprilgrids with +square side of 3cm. For the magnetometer `magcalib` datasets the exposure/gain +value adjusts automatically per camera like in the MOO datasets. All datasets +except MOC13 were recording on the same day, and on the same Monado euroc +recording session. + +1. MOC01-MOC06: Were recorded at the beginning of the session +2. MOC06-MOC12: Were recorded at the end of the session. The mocap calibration + of these datasets have a big difference in "pz" compared to the previous + MOC01-MOC06 ones. I believe this is due to steamvr readjusting the floor + height at some point during runtime since I don't have reason to believe I + moved the lighthouses. Furthermore using any of the two mocap versions when + doing mocap-imu alignment produces datasets with similar ATE after trajectory + alignment. +3. MOC13: Is a 48hs recording of the headset still. It was recorded at a + different date and only has raw IMU samples for Allan variance analysis. The + groundtruth data is manually crafted with just two points in the same + position. + +The Reverb G2 headset has 4 cameras: +- 0: front-left +- 1: front-right +- 2: side-left +- 3: side-right + +[Basalt calibration +tools](https://gitlab.com/VladyslavUsenko/basalt/-/blob/master/doc/Calibration.md) +were used for generating the calibration files. + +Magnetometer timestamps should be hardware alignmed with the other IMU samples +(imu0). Consider that, at the time of recording, the magnetometer units the +headset reports was not yet definitely known in the open-source WMR Monado +driver. What you will find for the units is a guess, and it might change in the +future if the Monado community figures out the units were wrong. For +magnetometer calibration you can look up this video guide: +https://www.youtube.com/watch?v=MinV5V1ioWg diff --git a/M_monado_datasets/MO_odyssey_plus/MOO_others/README.md b/M_monado_datasets/MO_odyssey_plus/MOO_others/README.md new file mode 100644 index 0000000000000000000000000000000000000000..2ac7438c2465557f703bb6bbb8fe9901b5e5beb8 --- /dev/null +++ b/M_monado_datasets/MO_odyssey_plus/MOO_others/README.md @@ -0,0 +1,12 @@ +For unzipping the multipart dataset MOO12 you can either use the `7z` command + +```bash +7z x MOO12_freemovement_long_session.zip +``` + +Or, the `unzip` command, but since it doesn't support multipart files, you will need create an intermediary file with `zip` like this: + +```bash +zip -F MOO12_freemovement_long_session.zip --out MOO12.zip +unzip MOO12.zip +``` diff --git a/M_monado_datasets/MO_odyssey_plus/extras/calibration.factory.json b/M_monado_datasets/MO_odyssey_plus/extras/calibration.factory.json new file mode 100644 index 0000000000000000000000000000000000000000..48de92b5f0228b428c32488a75b454dba91b1f9c --- /dev/null +++ b/M_monado_datasets/MO_odyssey_plus/extras/calibration.factory.json @@ -0,0 +1,120 @@ +{ + "value0": { + "T_imu_cam": [ + { + "px": -0.08394275605678558, + "py": -0.0025952591095119715, + "pz": 0.0026445253752171993, + "qx": -0.17704726835670878, + "qy": -0.19861076922141732, + "qz": 0.03564156642768224, + "qw": 0.9632952306248018 + }, + { + "px": 0.02113135496007891, + "py": -0.0023068031820524327, + "pz": 0.002341595642298417, + "qx": -0.1836377420226455, + "qy": 0.1982701960061761, + "qz": -0.03922445856481098, + "qw": 0.9619914477874183 + } + ], + "intrinsics": [ + { + "camera_type": "pinhole-radtan8", + "intrinsics": { + "fx": 269.0600776672363, + "fy": 269.1679859161377, + "cx": 324.3333053588867, + "cy": 245.22674560546875, + "k1": 0.6257319450378418, + "k2": 0.4661203622817993, + "p1": -0.00018502399325370789, + "p2": -4.288297350285575e-05, + "k3": 0.004179582931101322, + "k4": 0.8943193554878235, + "k5": 0.5425397753715515, + "k6": 0.06621214747428894, + "rpmax": 2.794111490249634 + } + }, + { + "camera_type": "pinhole-radtan8", + "intrinsics": { + "fx": 270.1171684265137, + "fy": 270.2496528625488, + "cx": 323.54679107666016, + "cy": 250.34966468811035, + "k1": 0.5571827292442322, + "k2": 0.22437196969985962, + "p1": 0.00011782468209275976, + "p2": 0.0001220563062815927, + "k3": 0.006815604865550995, + "k4": 0.8331726789474487, + "k5": 0.2617427110671997, + "k6": 0.04350586235523224, + "rpmax": 2.789998769760132 + } + } + ], + "resolution": [ + [ + 640, + 480 + ], + [ + 640, + 480 + ] + ], + "calib_accel_bias": [ + 0.18563582003116608, + -0.057621683925390244, + 0.13435612618923187, + -0.001865983009338379, + 0.00030630044057033956, + -0.0001675997773418203, + 0.0009244680404663086, + 0.000295753387035802, + -0.0022075772285461426 + ], + "calib_gyro_bias": [ + -0.016492774710059166, + 0.01642640121281147, + 0.004562512971460819, + 9.572505950927734e-05, + -0.0008238459122367203, + -0.0015064212493598461, + -0.0008234303677454591, + -0.00041097402572631836, + -4.735799393529305e-06, + -0.0015050634974613786, + -4.733918558486039e-06, + -0.0008063316345214844 + ], + "imu_update_rate": 250, + "accel_noise_std": [ + 0.010700000450015068, + 0.010700000450015068, + 0.010700000450015068 + ], + "gyro_noise_std": [ + 0.0009500000160187483, + 0.0009500000160187483, + 0.0009500000160187483 + ], + "accel_bias_std": [ + 0.0999999988824129, + 0.0999999988824129, + 0.0999999988824129 + ], + "gyro_bias_std": [ + 0.009999999873689375, + 0.009999999873689375, + 0.009999999873689375 + ], + "cam_time_offset_ns": 0, + "vignette": [] + } +} diff --git a/M_monado_datasets/MO_odyssey_plus/extras/calibration.json b/M_monado_datasets/MO_odyssey_plus/extras/calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..419d05b7064a54a24454fd5fa42b7227c8fb690d --- /dev/null +++ b/M_monado_datasets/MO_odyssey_plus/extras/calibration.json @@ -0,0 +1,121 @@ +{ + "value0": { + "comment": "Current error: 155913 num_points 191607 mean_error 0.81371 reprojection_error 23579.9 mean reprojection 0.123064 opt_time 487ms.", + "T_imu_cam": [ + { + "px": -0.08323388702651225, + "py": -0.002218366214987864, + "pz": 0.005626638959664241, + "qx": -0.17892326272748997, + "qy": -0.1991388775815655, + "qz": 0.033464261917650759, + "qw": 0.9629176063738844 + }, + { + "px": 0.022239747333591469, + "py": -0.002331785076783077, + "pz": 0.005312605812652759, + "qx": -0.18313476948899075, + "qy": 0.19969417282933678, + "qz": -0.040602301918976787, + "qw": 0.9617355908050307 + } + ], + "intrinsics": [ + { + "camera_type": "pinhole-radtan8", + "intrinsics": { + "fx": 269.3157388466649, + "fy": 269.2500852335917, + "cx": 323.6367354444056, + "cy": 245.37262901935368, + "k1": 0.4896735773708656, + "k2": 0.15364417808237319, + "p1": -0.00023052089722471787, + "p2": 0.0003100581060316594, + "k3": 0.00907202623907521, + "k4": 0.760924032106806, + "k5": 0.1699934621377647, + "k6": 0.040322943929294, + "rpmax": 0.0 + } + }, + { + "camera_type": "pinhole-radtan8", + "intrinsics": { + "fx": 270.65928970849139, + "fy": 270.6889084240239, + "cx": 323.6443046844411, + "cy": 250.56110650729708, + "k1": 0.5124456275983791, + "k2": 0.1183716939017548, + "p1": 0.00006664706390223596, + "p2": 0.0008408430780571384, + "k3": 0.011001285241218405, + "k4": 0.7946602801800285, + "k5": 0.1281440933685308, + "k6": 0.039739477209162068, + "rpmax": 0.0 + } + } + ], + "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": [] + } +} diff --git a/M_monado_datasets/MO_odyssey_plus/extras/calibration.raw.json b/M_monado_datasets/MO_odyssey_plus/extras/calibration.raw.json new file mode 100644 index 0000000000000000000000000000000000000000..71d4c733f1d23a867ce498d5ccb9e0307a898c42 --- /dev/null +++ b/M_monado_datasets/MO_odyssey_plus/extras/calibration.raw.json @@ -0,0 +1,121 @@ +{ + "value0": { + "comment": "Current error: 155913 num_points 191607 mean_error 0.81371 reprojection_error 23579.9 mean reprojection 0.123064 opt_time 487ms.", + "T_imu_cam": [ + { + "px": -0.08323388702651225, + "py": -0.002218366214987864, + "pz": 0.005626638959664241, + "qx": -0.17892326272748997, + "qy": -0.1991388775815655, + "qz": 0.033464261917650759, + "qw": 0.9629176063738844 + }, + { + "px": 0.022239747333591469, + "py": -0.002331785076783077, + "pz": 0.005312605812652759, + "qx": -0.18313476948899075, + "qy": 0.19969417282933678, + "qz": -0.040602301918976787, + "qw": 0.9617355908050307 + } + ], + "intrinsics": [ + { + "camera_type": "pinhole-radtan8", + "intrinsics": { + "fx": 269.3157388466649, + "fy": 269.2500852335917, + "cx": 323.6367354444056, + "cy": 245.37262901935368, + "k1": 0.4896735773708656, + "k2": 0.15364417808237319, + "p1": -0.00023052089722471787, + "p2": 0.0003100581060316594, + "k3": 0.00907202623907521, + "k4": 0.760924032106806, + "k5": 0.1699934621377647, + "k6": 0.040322943929294, + "rpmax": 0.0 + } + }, + { + "camera_type": "pinhole-radtan8", + "intrinsics": { + "fx": 270.65928970849139, + "fy": 270.6889084240239, + "cx": 323.6443046844411, + "cy": 250.56110650729708, + "k1": 0.5124456275983791, + "k2": 0.1183716939017548, + "p1": 0.00006664706390223596, + "p2": 0.0008408430780571384, + "k3": 0.011001285241218405, + "k4": 0.7946602801800285, + "k5": 0.1281440933685308, + "k6": 0.039739477209162068, + "rpmax": 0.0 + } + } + ], + "resolution": [ + [ + 640, + 480 + ], + [ + 640, + 480 + ] + ], + "calib_accel_bias": [ + 0.11869253303618048, + -0.024832863431224145, + 0.07343832347789035, + -0.009190454442167562, + -0.0007275933014679736, + -0.001445813824293115, + -0.008073978106760359, + 0.0008960825200144782, + -0.015026241369947518 + ], + "calib_gyro_bias": [ + 0.007247391536871234, + 0.035035839822600989, + 0.004220128572749237, + 0.005268004353160639, + -0.00341553876595865, + -0.0031216699641867099, + 0.002366545336136955, + 0.0023915625373358117, + 0.006815292669218515, + -0.000005609095192487592, + -0.0054078244981875058, + 0.003726112381639915 + ], + "imu_update_rate": 1004.7615650568032, + "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": -1038921, + "vignette": [] + } +} diff --git a/M_monado_datasets/MO_odyssey_plus/extras/factory.json b/M_monado_datasets/MO_odyssey_plus/extras/factory.json new file mode 100644 index 0000000000000000000000000000000000000000..894b3e9128039f57bb94b78c955df08ea2dfffac --- /dev/null +++ b/M_monado_datasets/MO_odyssey_plus/extras/factory.json @@ -0,0 +1,755 @@ +{ + "CalibrationInformation": { + "Cameras": [ + { + "Intrinsics": { + "ModelParameterCount": 15, + "ModelParameters": [ + 0.5067707896232605, + 0.51088905334472656, + 0.42040637135505676, + 0.56076663732528687, + 0.6257319450378418, + 0.46612036228179932, + 0.0041795829311013222, + 0.89431935548782349, + 0.54253977537155151, + 0.06621214747428894, + 0.0027008021716028452, + -0.00058499001897871494, + -4.2882973502855748e-05, + -0.00018502399325370789, + 2.7941114902496338 + ], + "ModelType": "CALIBRATION_LensDistortionModelRational6KT" + }, + "Location": "CALIBRATION_CameraLocationHT0", + "Purpose": "CALIBRATION_CameraPurposeHeadTracking", + "MetricRadius": 2.7941114902496338, + "Rt": { + "Rotation": [ + 1, + 0, + 0, + 0, + 1, + 0, + 0, + 0, + 1 + ], + "Translation": [ + 0, + 0, + 0 + ] + }, + "SensorHeight": 480, + "SensorWidth": 640, + "Shutter": "CALIBRATION_ShutterTypeUndefined", + "ThermalAdjustmentParams": { + "Params": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ] + } + }, + { + "Intrinsics": { + "ModelParameterCount": 15, + "ModelParameters": [ + 0.50554186105728149, + 0.52156180143356323, + 0.42205807566642761, + 0.56302011013031006, + 0.55718272924423218, + 0.22437196969985962, + 0.0068156048655509949, + 0.83317267894744873, + 0.26174271106719971, + 0.043505862355232239, + 0.00676964595913887, + -0.0012049071956425905, + 0.0001220563062815927, + 0.00011782468209275976, + 2.7899987697601318 + ], + "ModelType": "CALIBRATION_LensDistortionModelRational6KT" + }, + "Location": "CALIBRATION_CameraLocationHT1", + "Purpose": "CALIBRATION_CameraPurposeHeadTracking", + "MetricRadius": 2.7899987697601318, + "Rt": { + "Rotation": [ + 0.68708890676498413, + -0.0066884770058095455, + 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b/M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC02_imucalib_1/mocap_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..f27653b14e2447d3ea58fb6f853e9ce3a67bfa9c --- /dev/null +++ b/M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC02_imucalib_1/mocap_calibration.json @@ -0,0 +1,25 @@ +{ + "value0": { + "comment": "Current error: 202589 num_points 134543 mean_error 1.50576 reprojection_error 19215.2 mean reprojection 0.142819 opt_time 438ms.", + "T_mocap_world": { + "px": 0.11799331795752172, + "py": -1.0936373535961015, + "pz": -1.532658456895298, + "qx": 0.021345151320938489, + "qy": 0.6601721251609242, + "qz": -0.02295056785545196, + "qw": 0.7504601395881779 + }, + "T_imu_marker": { + "px": -0.1534724809657533, + "py": -0.10738778005147236, + "pz": -0.024367040459448053, + "qx": 0.18325574342110313, + "qy": 0.628121038152745, + "qz": 0.3690771564191852, + "qw": 0.6600479880604326 + }, + "mocap_time_offset_ns": -5690735, + "mocap_to_imu_offset_ns": 0 + } +} diff --git a/M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC04_camcalib_2/calibration.json b/M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC04_camcalib_2/calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..e9eb19e4cd177ad369c1b7054320bfdb2a49255d --- /dev/null +++ b/M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC04_camcalib_2/calibration.json @@ -0,0 +1,121 @@ +{ + "value0": { + "comment": "Current error: 7306.19 num_points 275781 mean_error 0.0264927 reprojection_error 35857.6 mean reprojection 0.130022 opt_time 201ms.", + "T_imu_cam": [ + { + "px": 0.0, + "py": 0.0, + "pz": 0.0, + "qx": 0.0, + "qy": 0.0, + "qz": 0.0, + "qw": 1.0 + }, + { + "px": 0.0967712424242477, + "py": 0.0007076219077073393, + "pz": -0.041904439371830626, + "qx": -0.006141035194708819, + "qy": 0.39718256633960966, + "qz": 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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.", + "T_imu_cam": [ + { + "px": -0.0846156038915812, + "py": -0.002700469130218033, + "pz": 0.005611146531173415, + "qx": -0.17825833014147253, + "qy": -0.20040357740355009, + "qz": 0.03457028601482974, + "qw": 0.9627394607181562 + }, + { + "px": 0.020813322557415523, + "py": -0.002497437798307974, + "pz": 0.005614027195848683, + "qx": -0.1833009139933984, + "qy": 0.19802080784260848, + "qz": -0.0394440208279802, + "qw": 0.9620980739048736 + } + ], + "intrinsics": [ + { + "camera_type": "pinhole-radtan8", + "intrinsics": { + "fx": 269.4711382945606, + "fy": 269.4691172978826, + "cx": 323.6327423669662, + "cy": 245.65856952138103, + "k1": 0.5680588747350416, + "k2": 0.3428306999936181, + "p1": -0.00018628257670353675, + "p2": 0.000297848731535989, + "k3": 0.006772683210183396, + "k4": 0.8359812174397013, + "k5": 0.39428634246971136, + "k6": 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"Current error: 208935 num_points 162462 mean_error 1.28605 reprojection_error 24292 mean reprojection 0.149524 opt_time 789ms.", + "T_mocap_world": { + "px": 0.11959272953808299, + "py": -1.0930376574721126, + "pz": -1.5306603210859538, + "qx": 0.021310392222626249, + "qy": 0.6608349818560664, + "qz": -0.022577945384643539, + "qw": 0.7498888119720272 + }, + "T_imu_marker": { + "px": -0.1538283238342533, + "py": -0.10721492792466117, + "pz": -0.024929635299531906, + "qx": 0.1885369346127351, + "qy": 0.6297260312014311, + "qz": 0.36900341122590987, + "qw": 0.6570657748032305 + }, + "mocap_time_offset_ns": -5886951, + "mocap_to_imu_offset_ns": 0 + } +} diff --git a/M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC07_camcalib_3/calibration.json b/M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC07_camcalib_3/calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..ab53eb207ba2e10a5f6ecdfb267698be9de7d263 --- /dev/null +++ b/M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC07_camcalib_3/calibration.json @@ -0,0 +1,121 @@ +{ + "value0": { + "comment": "Current error: 7380.51 num_points 307291 mean_error 0.024018 reprojection_error 39453.1 mean reprojection 0.12839 opt_time 62ms.", + "T_imu_cam": [ + { + "px": 0.0, + "py": 0.0, + "pz": 0.0, + "qx": 0.0, + "qy": 0.0, + "qz": 0.0, + "qw": 1.0 + }, + { + "px": 0.09675799075141799, + "py": 0.0007515461713286805, + "pz": -0.041937784971612008, + "qx": -0.005797210150140125, + "qy": 0.39745352515665846, + "qz": 0.0010687840680235694, + "qw": 0.9176033704142746 + } + ], + "intrinsics": [ + { + "camera_type": "pinhole-radtan8", + "intrinsics": { + "fx": 269.8416357690988, + "fy": 269.8747895937022, + "cx": 323.2774072650471, + "cy": 245.3671916062027, + "k1": 0.5418780436470525, + "k2": 0.27878245714146368, + "p1": -0.0002448461959145218, + "p2": 0.00021578376252982129, + "k3": 0.007987958374199576, + "k4": 0.8115585232692945, + 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0.0001, + 0.0001, + 0.0001 + ], + "cam_time_offset_ns": 0, + "vignette": [] + } +} diff --git a/M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC08_imucalib_3/calibration.json b/M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC08_imucalib_3/calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..f5f28d2259d0dd0ba2c25660f5f782ad0c70c123 --- /dev/null +++ b/M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC08_imucalib_3/calibration.json @@ -0,0 +1,121 @@ +{ + "value0": { + "comment": "Current error: 139353 num_points 165803 mean_error 0.84047 reprojection_error 23127.8 mean reprojection 0.13949 opt_time 1577ms.", + "T_imu_cam": [ + { + "px": -0.08396793529902316, + "py": -0.0027849641958870819, + "pz": 0.005468287824830628, + "qx": -0.17709418007767473, + "qy": -0.1992389664740832, + "qz": 0.03432655564636542, + "qw": 0.9632046372388438 + }, + { + "px": 0.0215632115416799, + "py": 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"cam_time_offset_ns": -1008772, + "vignette": [] + } +} diff --git a/M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC08_imucalib_3/mocap_calibration.json b/M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC08_imucalib_3/mocap_calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..bafdce081bb9cd52928880f6a17e235a584c708e --- /dev/null +++ b/M_monado_datasets/MO_odyssey_plus/extras/other_calibrations/results.MOC08_imucalib_3/mocap_calibration.json @@ -0,0 +1,25 @@ +{ + "value0": { + "comment": "Current error: 159999 num_points 165803 mean_error 0.964997 reprojection_error 25044.8 mean reprojection 0.151051 opt_time 478ms.", + "T_mocap_world": { + "px": 0.11875728232314824, + "py": -1.0930093607880962, + "pz": -1.6150330607365949, + "qx": 0.02430513174365769, + "qy": 0.6717460288212467, + "qz": -0.02525127205757799, + "qw": 0.7399519623551806 + }, + "T_imu_marker": { + "px": -0.15273206065337514, + "py": 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a/M_monado_datasets/MO_odyssey_plus/extras/previews/MOO15_seated_screen.webm b/M_monado_datasets/MO_odyssey_plus/extras/previews/MOO15_seated_screen.webm new file mode 100644 index 0000000000000000000000000000000000000000..13a77abf0dd3c14e2a0d2918ad295bdfbbd3ccc4 --- /dev/null +++ b/M_monado_datasets/MO_odyssey_plus/extras/previews/MOO15_seated_screen.webm @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:934de75e0dbcad24fb3b827605d196125aa181f05a9c177e7412ca8163467390 +size 3960538 diff --git a/M_monado_datasets/MO_odyssey_plus/extras/previews/MOO16_still.webm b/M_monado_datasets/MO_odyssey_plus/extras/previews/MOO16_still.webm new file mode 100644 index 0000000000000000000000000000000000000000..8ec89151983baaae014c6b6c7d14746f6ec62442 --- /dev/null +++ b/M_monado_datasets/MO_odyssey_plus/extras/previews/MOO16_still.webm @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8051fec8b61f550b873e2a2fac00d114cf1ac734733f472b77234a20662f095 +size 784560 diff --git a/M_monado_datasets/MO_odyssey_plus/extras/time_alignment.md b/M_monado_datasets/MO_odyssey_plus/extras/time_alignment.md new file mode 100644 index 0000000000000000000000000000000000000000..3402f051cc62fc67139afae44c6fbb5c0a38cc3e --- /dev/null +++ b/M_monado_datasets/MO_odyssey_plus/extras/time_alignment.md @@ -0,0 +1,63 @@ +# Mocap-IMU alignment (ns) + +- MOC01_camcalib_1: -10799363 +- MOC02_imucalib_1: -10361787 +- MOC03_magcalib_1: -10148276 +- MOC04_camcalib_2: -10326349 +- MOC05_imucalib_2: -10885027 +- MOC06_magcalib_2: -10415927 +- MOC07_camcalib_3: -42404437 +- MOC08_imucalib_3: -42767486 +- MOC09_magcalib_3: -43370467 +- MOC10_camcalib_4: -44377790 +- MOC11_imucalib_4: -44392428 +- MOC12_magcalib_4: -45121846 +- MOC13_imustatic: 0 +- MOO01_hand_puncher_1: -13558140 +- MOO02_hand_puncher_2: -14693308 +- MOO03_hand_shooter_easy: -15989481 +- MOO04_hand_shooter_hard: -17227485 +- MOO05_inspect_easy: -18882066 +- MOO06_inspect_hard: -20189296 +- MOO07_mapping_easy: -21605357 +- MOO08_mapping_hard: -21711257 +- MOO09_short_1_updown: -23070830 +- MOO10_short_2_panorama: -23641272 +- MOO11_short_3_backandforth: -23698186 +- MOO12_freemovement_long_session: -29601396 +- MOO13_sudden_movements: -36501175 +- MOO14_flickering_light: -35035997 +- MOO15_seated_screen: -48987355 +- MOO16_still: -37991886 + +# Camera-IMU alignment (ns) + +- MOC01_camcalib_1: 1186595 +- MOC02_imucalib_1: -624358 +- MOC03_magcalib_1: -1408484 +- MOC04_camcalib_2: -1180026 +- MOC05_imucalib_2: 1182026 +- MOC06_magcalib_2: -1548195 +- MOC07_camcalib_3: 432134 +- MOC08_imucalib_3: 1427350 +- MOC09_magcalib_3: -2244086 +- MOC10_camcalib_4: 342369 +- MOC11_imucalib_4: -494127 +- MOC12_magcalib_4: -1982320 +- MOC13_imustatic: 0 +- MOO01_hand_puncher_1: -371496 +- MOO02_hand_puncher_2: -1245475 +- MOO03_hand_shooter_easy: -83872 +- MOO04_hand_shooter_hard: -2250703 +- MOO05_inspect_easy: -1874999 +- MOO06_inspect_hard: -1626959 +- MOO07_mapping_easy: -2147866 +- MOO08_mapping_hard: -4276950 +- MOO09_short_1_updown: -3607584 +- MOO10_short_2_panorama: -1030205 +- MOO11_short_3_backandforth: -1295536 +- MOO12_freemovement_long_session: -1686080 +- MOO13_sudden_movements: -1573538 +- MOO14_flickering_light: -2273440 +- MOO15_seated_screen: 1117898 +- MOO16_still: -9127052 diff --git a/README.md b/README.md index 569482dd481b522208c00e6cc31857a7f13a4062..c637a2a4bd4da9ac92c58bd56814dca5fce97701 100644 --- a/README.md +++ b/README.md @@ -151,6 +151,37 @@ join Monado's discord [server](https://discord.gg/8RkJgRJ) and ask in the - [MGO13_sudden_movements](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MIO_others/MGO13_sudden_movements.zip):
Preview 5x
- [MGO14_flickering_light](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MIO_others/MGO14_flickering_light.zip):
Preview 5x
- [MGO15_seated_screen](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MG_reverb_g2/MIO_others/MGO15_seated_screen.zip):
Preview 5x
+- [MOC_calibration](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MO_odyssey_plus/MOC_calibration) + - [MOC01_camcalib_1](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_calibration/MOC01_camcalib_1.zip):
Preview 5x
+ - [MOC02_imucalib_1](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_calibration/MOC02_imucalib_1.zip):
Preview 5x
+ - [MOC03_magcalib_1](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_calibration/MOC03_magcalib_1.zip):
Preview 5x
+ - [MOC04_camcalib_2](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_calibration/MOC04_camcalib_2.zip):
Preview 5x
+ - [MOC05_imucalib_2](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_calibration/MOC05_imucalib_2.zip):
Preview 5x
+ - [MOC06_magcalib_2](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_calibration/MOC06_magcalib_2.zip):
Preview 5x
+ - [MOC07_camcalib_3](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_calibration/MOC07_camcalib_3.zip):
Preview 5x
+ - [MOC08_imucalib_3](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_calibration/MOC08_imucalib_3.zip):
Preview 5x
+ - [MOC09_magcalib_3](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_calibration/MOC09_magcalib_3.zip):
Preview 5x
+ - [MOC10_camcalib_4](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_calibration/MOC10_camcalib_4.zip):
Preview 5x
+ - [MOC11_imucalib_4](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_calibration/MOC11_imucalib_4.zip):
Preview 5x
+ - [MOC12_magcalib_4](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_calibration/MOC12_magcalib_4.zip):
Preview 5x
+ - [MOC13_imustatic](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_calibration/MOC13_imustatic.zip):
Preview 5x
+- [MOO_others](https://huggingface.co/datasets/collabora/monado-slam-datasets/tree/main/M_monado_datasets/MO_odyssey_plus/MOO_others) + - [MOO01_hand_puncher_1](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO01_hand_puncher_1.zip):
Preview 5x
+ - [MOO02_hand_puncher_2](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO02_hand_puncher_2.zip):
Preview 5x
+ - [MOO03_hand_shooter_easy](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO03_hand_shooter_easy.zip):
Preview 5x
+ - [MOO04_hand_shooter_hard](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO04_hand_shooter_hard.zip):
Preview 5x
+ - [MOO05_inspect_easy](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO05_inspect_easy.zip):
Preview 5x
+ - [MOO06_inspect_hard](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO06_inspect_hard.zip):
Preview 5x
+ - [MOO07_mapping_easy](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO07_mapping_easy.zip):
Preview 5x
+ - [MOO08_mapping_hard](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO08_mapping_hard.zip):
Preview 5x
+ - [MOO09_short_1_updown](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO09_short_1_updown.zip):
Preview 5x
+ - [MOO10_short_2_panorama](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO10_short_2_panorama.zip):
Preview 5x
+ - [MOO11_short_3_backandforth](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO11_short_3_backandforth.zip):
Preview 5x
+ - [MOO12_freemovement_long_session](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/):
Preview 5x
+ - [MOO13_sudden_movements](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO13_sudden_movements.zip):
Preview 5x
+ - [MOO14_flickering_light](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO14_flickering_light.zip):
Preview 5x
+ - [MOO15_seated_screen](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO15_seated_screen.zip):
Preview 5x
+ - [MOO16_still](https://huggingface.co/datasets/collabora/monado-slam-datasets/blob/main/M_monado_datasets/MO_odyssey_plus/MOO_others/MOO16_still.zip):
Preview 5x
## Valve Index datasets