Add MG calibration data and complementary files

.gitignore

@@ -48,3 +48,47 @@ M_monado_datasets/MI_valve_index/MIP_playing/MIPP_pistol_whip/MIPP06_pistolwhip_
 M_monado_datasets/MI_valve_index/MIP_playing/MIPT_thrill_of_the_fight/MIPT01_thrillofthefight_setup/
 M_monado_datasets/MI_valve_index/MIP_playing/MIPT_thrill_of_the_fight/MIPT02_thrillofthefight_fight_1/
 M_monado_datasets/MI_valve_index/MIP_playing/MIPT_thrill_of_the_fight/MIPT03_thrillofthefight_fight_2/
+
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC01_camcalib01_1
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC02_camcalib02_1
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC03_camcalib13_1
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC04_imucalib01_1
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC05_imucalib02_1
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC06_imucalib13_1
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC07_magcalib_1
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC08_camcalib01_2
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC09_camcalib02_2
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC10_camcalib13_2
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC11_imucalib01_2
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC12_imucalib02_2
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC13_imucalib13_2
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC14_magcalib_2
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC15_camcalib01_3
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC16_camcalib02_3
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC17_camcalib13_3
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC18_imucalib01_3
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC19_imucalib02_3
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC20_imucalib13_3
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC21_magcalib_3
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC22_camcalib01_4
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC23_camcalib02_4
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC24_camcalib13_4
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC25_imucalib01_4
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC26_imucalib02_4
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC27_imucalib13_4
+M_monado_datasets/MG_reverb_g2/MGC_calibration/MGC28_magcalib_4
+M_monado_datasets/MG_reverb_g2/MGO_others/MGO01_low_light
+M_monado_datasets/MG_reverb_g2/MGO_others/MGO02_hand_puncher
+M_monado_datasets/MG_reverb_g2/MGO_others/MGO03_hand_shooter_easy
+M_monado_datasets/MG_reverb_g2/MGO_others/MGO04_hand_shooter_hard
+M_monado_datasets/MG_reverb_g2/MGO_others/MGO05_inspect_easy
+M_monado_datasets/MG_reverb_g2/MGO_others/MGO06_inspect_hard
+M_monado_datasets/MG_reverb_g2/MGO_others/MGO07_mapping_easy
+M_monado_datasets/MG_reverb_g2/MGO_others/MGO08_mapping_hard
+M_monado_datasets/MG_reverb_g2/MGO_others/MGO09_short_1_updown
+M_monado_datasets/MG_reverb_g2/MGO_others/MGO10_short_2_panorama
+M_monado_datasets/MG_reverb_g2/MGO_others/MGO11_short_3_backandforth
+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/MG_reverb_g2/MGC_calibration/README.md

@@ -0,0 +1,31 @@
+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
+value adjusts automatically per camera as the rest of the datasets.
+
+1. MGC01-MGC07: Were recorded on 2024-03-16.
+2. MGC08-MGC14: Were recorded on some hours later after set 1, on a different
+   monado session.
+3. MGC15-MGC21: Were recorded on 2024-03-17 at the beginning of the monado
+   session that recorded all MGO datasets.
+4. MGC22-MGC28: Were recorded after finishing almost all MGO datasets on the
+   same session as set 3.
+
+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. The calibration of the 4 cameras
+was done pairwise. Doing a stereo camera calibration and then an IMU calibration
+over the following three stereo pairs: 01, 02, and 13. Then the calibration file
+of pair 01 was used and extended with intrinscs and extrinsics of cameras 2 and
+3 from the pairs 02 and 13 (i.e., the 01 calibration had priority).
+
+Magnetometer data is only found in raw form since, at the time of recording, the
+magnetometer units the headset reports was not yet known in the open-source WMR
+Monado driver. For magnetometer calibration you can look up this video guide:
+https://www.youtube.com/watch?v=MinV5V1ioWg&t=956s

M_monado_datasets/MG_reverb_g2/MGO_others/README.md

@@ -0,0 +1,12 @@
+For unzipping the multipart dataset MGO12 you can either use the `7z` command
+
+```bash
+7z x MGO12_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 MGO12_freemovement_long_session.zip --out MGO12.zip
+unzip MGO12.zip
+```

M_monado_datasets/MG_reverb_g2/extras/calibration.factory.json

@@ -0,0 +1,183 @@
+{
+    "value0": {
+        "comment": "Calibration as obtained from transfroming factory.json data from the headset into Basalt's calibration format",
+        "T_imu_cam": [
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+            },
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+                "qy": 0.15447126898618838,
+                "qz": 0.7112448327715497,
+                "qw": 0.6850883333298525
+            },
+            {
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+                "py": 0.015399863943457604,
+                "pz": -0.028533581644296647,
+                "qx": 0.3998541653853255,
+                "qy": -0.5645933054980987,
+                "qz": -0.4537678504151204,
+                "qw": 0.5616456033304066
+            },
+            {
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+                "qw": -0.46069989540371528
+            }
+        ],
+        "intrinsics": [
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+        "resolution": [
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+            ],
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+        ],
+        "cam_time_offset_ns": 0,
+        "vignette": []
+    }
+}

M_monado_datasets/MG_reverb_g2/extras/calibration.json

@@ -0,0 +1,183 @@
+{
+    "value0": {
+        "comment": "Same as calibration.raw.json but without IMU bias/scale, cam-imu time offset, and with custom IMU frequency",
+        "T_imu_cam": [
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+                "qw": 0.6848058893518902
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+                480
+            ],
+            [
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+                480
+            ],
+            [
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+                480
+            ]
+        ],
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+        ],
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+        "imu_update_rate": 1000.0,
+        "accel_noise_std": [
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+            0.016,
+            0.016
+        ],
+        "gyro_noise_std": [
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+            0.000282,
+            0.000282
+        ],
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+        ],
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+            0.0001,
+            0.0001,
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+        ],
+        "cam_time_offset_ns": 0,
+        "vignette": []
+    }
+}

M_monado_datasets/MG_reverb_g2/extras/calibration.raw.json

@@ -0,0 +1,183 @@
+{
+    "value0": {
+        "comment": "File obtained from doing pairwise calibrations with MGC15-MGC20, prioritizing information from pair 01; rpmax from factory",
+        "T_imu_cam": [
+            {
+                "px": -0.05195440637617857,
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+                "pz": 0.005817523980411749,
+                "qx": -0.03237968725905335,
+                "qy": 0.1537543414122828,
+                "qz": 0.7115841849414922,
+                "qw": 0.6848058893518902
+            },
+            {
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+                "py": 0.014530127422240256,
+                "pz": -0.02939269417912614,
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+                "qy": 0.5630415375071799,
+                "qz": 0.45431784689104767,
+                "qw": -0.561638342913041
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+                "py": 0.01551428498347744,
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+                "qz": -0.5599357196004657,
+                "qw": 0.4605244119645585
+            }
+        ],
+        "intrinsics": [
+            {
+                "camera_type": "pinhole-radtan8",
+                "intrinsics": {
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+                    "fy": 269.7882977693903,
+                    "cx": 322.5578605887897,
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+                    "k6": 0.033851495423692878,
+                    "rpmax": 2.72763729095459
+                }
+            },
+            {
+                "camera_type": "pinhole-radtan8",
+                "intrinsics": {
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+                    "fy": 268.36616184269249,
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M_monado_datasets/MG_reverb_g2/extras/factory.json

@@ -0,0 +1,425 @@
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+    }
+  }
+}

M_monado_datasets/MG_reverb_g2/extras/mocap_calibration.json

@@ -0,0 +1,25 @@
+{
+    "value0": {
+        "comment": "File obtained from doing pairwise calibrations with MGC15-MGC20, prioritizing information from pair 01",
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/README.md

@@ -0,0 +1 @@
+calibration 1 and 4 have the side-cameras extrinsics weird, they don't work on basalt unless you swap axes and flip signs accordingly.

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/calibration1.json

@@ -0,0 +1,185 @@
+{
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+        "comment02": "Current error: 99037 num_points 146680 mean_error 0.675191 reprojection_error 20437.2 mean reprojection 0.139332 opt_time 2878ms.",
+        "comment13": "Current error: 212094 num_points 270724 mean_error 0.783431 reprojection_error 31646.1 mean reprojection 0.116894 opt_time 411ms.",
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M_monado_datasets/MG_reverb_g2/extras/other_calibrations/calibration2.json

@@ -0,0 +1,185 @@
+{
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M_monado_datasets/MG_reverb_g2/extras/other_calibrations/calibration3.json

@@ -0,0 +1,185 @@
+{
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/calibration4.json

@@ -0,0 +1,177 @@
+{
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+        "comment02": "Current error: 102660 num_points 69903 mean_error 1.4686 reprojection_error 10402.3 mean reprojection 0.14881 opt_time 370ms.",
+        "comment13": "Current error: 135837 num_points 106010 mean_error 1.28136 reprojection_error 16451.6 mean reprojection 0.155189 opt_time 2811ms.",
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/mocap_calibration3.json

@@ -0,0 +1,25 @@
+{
+    "value0": {
+        "comment": "Current error: 250152 num_points 243001 mean_error 1.02943 reprojection_error 33304.4 mean reprojection 0.137054 opt_time 2704ms.",
+        "T_mocap_world": {
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+    }
+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC01_camcalib01_1/calibration.json

@@ -0,0 +1,121 @@
+{
+    "value0": {
+        "comment": "Current error: 4170.67 num_points 141478 mean_error 0.0294793 reprojection_error 18284.1 mean reprojection 0.129236 opt_time 17ms.",
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC02_camcalib02_1/calibration.json

@@ -0,0 +1,121 @@
+{
+    "value0": {
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC03_camcalib13_1/calibration.json

@@ -0,0 +1,121 @@
+{
+    "value0": {
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC04_imucalib01_1/calibration.json

@@ -0,0 +1,121 @@
+{
+    "value0": {
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC04_imucalib01_1/mocap_calibration.json

@@ -0,0 +1,24 @@
+{
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC05_imucalib02_1/calibration.json

@@ -0,0 +1,121 @@
+{
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M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC05_imucalib02_1/mocap_calibration.json

@@ -0,0 +1,24 @@
+{
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC06_imucalib13_1/calibration.json

@@ -0,0 +1,121 @@
+{
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC06_imucalib13_1/mocap_calibration.json

@@ -0,0 +1,24 @@
+{
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M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC08_camcalib01_2/calibration.json

@@ -0,0 +1,121 @@
+{
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M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC09_camcalib02_2/calibration.json

@@ -0,0 +1,121 @@
+{
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+    }
+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC10_camcalib13_2/calibration.json

@@ -0,0 +1,121 @@
+{
+    "value0": {
+        "comment": "Current error: 1962.97 num_points 85830 mean_error 0.0228705 reprojection_error 10735.5 mean reprojection 0.125079 opt_time 33ms.",
+        "T_imu_cam": [
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+        "cam_time_offset_ns": 0,
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+    }
+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC11_imucalib01_2/calibration.json

@@ -0,0 +1,121 @@
+{
+    "value0": {
+        "comment": "Current error: 109109 num_points 320860 mean_error 0.340051 reprojection_error 37449.6 mean reprojection 0.116716 opt_time 1613ms.",
+        "T_imu_cam": [
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC11_imucalib01_2/mocap_calibration.json

@@ -0,0 +1,25 @@
+{
+    "value0": {
+        "comment": "Current error: 129975 num_points 320860 mean_error 0.405083 reprojection_error 38494.7 mean reprojection 0.119973 opt_time 592ms.",
+        "T_mocap_world": {
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+        "mocap_to_imu_offset_ns": 0
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC12_imucalib02_2/calibration.json

@@ -0,0 +1,121 @@
+{
+    "value0": {
+        "comment": "Current error: 89942.7 num_points 90438 mean_error 0.994523 reprojection_error 12169.8 mean reprojection 0.134566 opt_time 814ms.",
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC12_imucalib02_2/mocap_calibration.json

@@ -0,0 +1,25 @@
+{
+    "value0": {
+        "comment": "Current error: 108973 num_points 90438 mean_error 1.20495 reprojection_error 12649.3 mean reprojection 0.139867 opt_time 418ms.",
+        "T_mocap_world": {
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+        "mocap_to_imu_offset_ns": 0
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC13_imucalib13_2/calibration.json

@@ -0,0 +1,121 @@
+{
+    "value0": {
+        "comment": "Current error: 116761 num_points 116229 mean_error 1.00458 reprojection_error 16809.8 mean reprojection 0.144627 opt_time 577ms.",
+        "T_imu_cam": [
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC13_imucalib13_2/mocap_calibration.json

@@ -0,0 +1,25 @@
+{
+    "value0": {
+        "comment": "Current error: 144117 num_points 116229 mean_error 1.23994 reprojection_error 17989.8 mean reprojection 0.154779 opt_time 590ms.",
+        "T_mocap_world": {
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+        "mocap_to_imu_offset_ns": 0
+    }
+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC15_camcalib01_3/calibration.json

@@ -0,0 +1,121 @@
+{
+    "value0": {
+        "comment": "Current error: 4378.51 num_points 208497 mean_error 0.0210003 reprojection_error 25275.8 mean reprojection 0.121229 opt_time 92ms.",
+        "T_imu_cam": [
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC16_camcalib02_3/calibration.json

@@ -0,0 +1,121 @@
+{
+    "value0": {
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC17_camcalib13_3/calibration.json

@@ -0,0 +1,121 @@
+{
+    "value0": {
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC18_imucalib01_3/calibration.json

@@ -0,0 +1,121 @@
+{
+    "value0": {
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC18_imucalib01_3/mocap_calibration.json

@@ -0,0 +1,25 @@
+{
+    "value0": {
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC19_imucalib02_3/calibration.json

@@ -0,0 +1,121 @@
+{
+    "value0": {
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC19_imucalib02_3/mocap_calibration.json

@@ -0,0 +1,25 @@
+{
+    "value0": {
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+        "T_mocap_world": {
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC20_imucalib13_3/calibration.json

@@ -0,0 +1,121 @@
+{
+    "value0": {
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC20_imucalib13_3/mocap_calibration.json

@@ -0,0 +1,25 @@
+{
+    "value0": {
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+        "T_mocap_world": {
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC22_camcalib01_4/calibration.json

@@ -0,0 +1,121 @@
+{
+    "value0": {
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC23_camcalib02_4/calibration.json

@@ -0,0 +1,121 @@
+{
+    "value0": {
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC24_camcalib13_4/calibration.json

@@ -0,0 +1,121 @@
+{
+    "value0": {
+        "comment": "Current error: 3560.08 num_points 94915 mean_error 0.0375081 reprojection_error 13806.6 mean reprojection 0.145462 opt_time 20ms.",
+        "T_imu_cam": [
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC25_imucalib01_4/calibration.json

@@ -0,0 +1,121 @@
+{
+    "value0": {
+        "comment": "Current error: 125724 num_points 205639 mean_error 0.61138 reprojection_error 28798.6 mean reprojection 0.140045 opt_time 442ms.",
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC25_imucalib01_4/mocap_calibration.json

@@ -0,0 +1,25 @@
+{
+    "value0": {
+        "comment": "Current error: 157774 num_points 205639 mean_error 0.76724 reprojection_error 30090.4 mean reprojection 0.146326 opt_time 1423ms.",
+        "T_mocap_world": {
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+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC26_imucalib02_4/calibration.json

@@ -0,0 +1,121 @@
+{
+    "value0": {
+        "comment": "Current error: 102660 num_points 69903 mean_error 1.4686 reprojection_error 10402.3 mean reprojection 0.14881 opt_time 370ms.",
+        "T_imu_cam": [
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+    }
+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC26_imucalib02_4/mocap_calibration.json

@@ -0,0 +1,25 @@
+{
+    "value0": {
+        "comment": "Current error: 132656 num_points 69903 mean_error 1.89771 reprojection_error 12002.2 mean reprojection 0.171698 opt_time 1543ms.",
+        "T_mocap_world": {
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+        "mocap_to_imu_offset_ns": 0
+    }
+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC27_imucalib13_4/calibration.json

@@ -0,0 +1,121 @@
+{
+    "value0": {
+        "comment": "Current error: 135837 num_points 106010 mean_error 1.28136 reprojection_error 16451.6 mean reprojection 0.155189 opt_time 2811ms.",
+        "T_imu_cam": [
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+        "cam_time_offset_ns": -1050893,
+        "vignette": []
+    }
+}

M_monado_datasets/MG_reverb_g2/extras/other_calibrations/results/results.MGC27_imucalib13_4/mocap_calibration.json

@@ -0,0 +1,25 @@
+{
+    "value0": {
+        "comment": "Current error: 160113 num_points 105999 mean_error 1.51052 reprojection_error 17153.5 mean reprojection 0.161827 opt_time 523ms.",
+        "T_mocap_world": {
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+            "qw": 0.31830679513549378
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+        "mocap_time_offset_ns": -72935718,
+        "mocap_to_imu_offset_ns": 0
+    }
+}