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Add optional kb4 calibration for MO and MG devices

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The calibration is obtained by running the "calibrated" calibration datasets
that were adjusted by the original rt8 calibration, so be aware that it can have
some degree of bias. After camera calibration I only allowed the optimization of
IMU pose and camera intrinsics during IMU calibration. I did this with MOC01-2
and MOC10-11 and kept the second one since it gave the best ATE scores on
some datasets. Furthermore I set the IMU scale biases to zero and the IMU update
rate to 1000.0 manually. ATE results on MOO06 after this were comparable to the
rt8 calibration (~3% better). For the Reverb G2 I only used the MGC01 and MGC04
sequences.

Files changed (2) hide show
  1. M_monado_datasets/MG_reverb_g2/extras/calibration.kb4.json +111 -0
  2. M_monado_datasets/MO_odyssey_plus/extras/calibration.kb4.json +111 -0
M_monado_datasets/MG_reverb_g2/extras/calibration.kb4.json ADDED
@@ -0,0 +1,111 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
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+ "value0": {
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+ "comments": "Current error: 271608 num_points 773334 mean_error 0.351216 reprojection_error 132846 mean reprojection 0.171783 opt_time 361ms.",
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+ "T_imu_cam": [
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+ {
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+ "px": -0.05250638055608702,
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+ "py": 0.01311586834471913,
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+ "pz": 0.006154449833848688,
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+ "qx": 0.15457411335678299,
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+ "qy": -0.03558005665107269,
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+ "qz": -0.6926214456174067,
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+ "qw": -0.7036451066549989
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+ },
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+ {
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+ "px": 0.055875714057378598,
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+ "py": 0.01404043118563959,
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+ "pz": 0.005916191899741046,
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+ "qx": -0.032833254168189687,
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+ "qy": 0.15613905873357124,
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+ "qz": 0.711889710135462,
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+ "qw": 0.6839266132866665
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+ }
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+ ],
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+ "intrinsics": [
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+ {
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+ "camera_type": "kb4",
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+ "intrinsics": {
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+ "fx": 269.31049724174906,
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+ "fy": 269.53878847509295,
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+ "cx": 322.27252809263259,
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+ "cy": 228.82464255208729,
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+ "k1": 0.08313931783396313,
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+ "k2": -0.042990721290723638,
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+ "k3": 0.23041383658725765,
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+ "k4": -0.13019210595872059
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+ }
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+ },
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+ {
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+ "camera_type": "kb4",
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+ "intrinsics": {
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+ "fx": 268.25256083987167,
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+ "fy": 268.2170524272017,
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+ "cx": 323.7315414515198,
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+ "cy": 237.0767112731877,
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+ "k1": 0.07833004426157092,
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+ "k2": -0.036931364579208498,
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+ "k3": 0.22283001612781837,
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+ "k4": -0.12622653674412449
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+ }
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+ }
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+ ],
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+ "resolution": [
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+ [
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+ 640,
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+ 480
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+ ],
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+ [
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+ 640,
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+ 480
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+ ],
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+ "calib_accel_bias": [
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+ "imu_update_rate": 999.4912589491938,
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+ "gyro_noise_std": [
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+ "accel_bias_std": [
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+ "gyro_bias_std": [
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+ "cam_time_offset_ns": 0,
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+ "vignette": []
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+ }
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+ }
M_monado_datasets/MO_odyssey_plus/extras/calibration.kb4.json ADDED
@@ -0,0 +1,111 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ {
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+ "value0": {
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+ "comment": "Current error: 159825 num_points 191607 mean_error 0.83413 reprojection_error 31762.2 mean reprojection 0.165768 opt_time 341ms.",
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+ "T_imu_cam": [
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+ {
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+ "px": -0.0836171207584613,
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+ "py": -0.0019908210116357006,
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+ "pz": 0.005251507311936389,
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+ "qx": 0.1802261808379679,
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+ "qy": 0.20033944999996473,
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+ "qz": -0.034063387763476237,
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+ "qw": -0.9624044441545078
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+ {
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+ "py": -0.002049686931566472,
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+ "qz": -0.040285755777447768,
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+ "qw": 0.9619457403018872
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+ "intrinsics": [
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+ {
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+ "camera_type": "kb4",
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+ "intrinsics": {
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+ "fx": 268.7643797200632,
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+ "fy": 268.6254278509791,
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+ "cx": 322.99894365261829,
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+ "cy": 245.85420172532995,
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+ "k1": 0.07967334603430464,
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+ "k2": -0.028193800038563194,
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+ "k3": 0.20273128935703775,
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+ "k4": -0.11691215909852215
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+ }
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+ },
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+ {
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+ "camera_type": "kb4",
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+ "intrinsics": {
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+ "fx": 270.38245569848518,
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+ "fy": 270.8952605677133,
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+ "cx": 322.59133920842347,
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+ "cy": 250.7654767124812,
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+ "k1": 0.05921598747583376,
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+ "k2": 0.0008485613746588702,
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+ "k3": 0.18691042621700858,
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+ "k4": -0.11581177928178256
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+ ],
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+ "resolution": [
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+ [
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+ "calib_accel_bias": [
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+ }