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Sanitize calibration and add time alignment, raw calib, and factory json for MI

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Files changed (4) hide show
  1. M_monado_datasets/MI_valve_index/extras/calibration.json +24 -24
  2. M_monado_datasets/MI_valve_index/extras/calibration.raw.json +110 -0
  3. M_monado_datasets/MI_valve_index/extras/factory.json +230 -0
  4. M_monado_datasets/MI_valve_index/extras/time_alignment.md +104 -0
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223
+ [ 1.26274538, 0, 0.0166710708 ],
224
+ [ 0, 1.13562012, 0.00252882345 ],
225
+ [ 0, 0, -1 ]
226
+ ],
227
+ "undistort_r2_cutoff" : 1.3294996
228
+ }
229
+ ]
230
+ }
M_monado_datasets/MI_valve_index/extras/time_alignment.md ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # Mocap-IMU alignment (ns)
2
+
3
+ - MIC01_camcalib1: 2445572
4
+ - MIC02_camcalib2: 460634
5
+ - MIC03_camcalib3: 2496370
6
+ - MIC04_imucalib1: 2172352
7
+ - MIC05_imucalib2: 201400
8
+ - MIC06_imucalib3: 2055591
9
+ - MIC07_camcalib4: -223536
10
+ - MIC08_camcalib5: -3132803
11
+ - MIC09_imucalib4: -1503652
12
+ - MIC10_imucalib5: -4508033
13
+ - MIC11_camcalib6: 841151
14
+ - MIC12_imucalib6: 1035302
15
+ - MIC13_camcalib7: 2528598
16
+ - MIC14_camcalib8: 1819911
17
+ - MIC15_imucalib7: 2275156
18
+ - MIC16_imucalib8: 960844
19
+ - MIO01_hand_puncher_1: -5596143
20
+ - MIO02_hand_puncher_2: -7414587
21
+ - MIO03_hand_shooter_easy: -14050178
22
+ - MIO04_hand_shooter_hard: -15192361
23
+ - MIO05_inspect_easy: -16493044
24
+ - MIO06_inspect_hard: -17754114
25
+ - MIO07_mapping_easy: -19459655
26
+ - MIO08_mapping_hard: -19944087
27
+ - MIO09_short_1_updown: -13521989
28
+ - MIO10_short_2_panorama: -12554911
29
+ - MIO11_short_3_backandforth: -12786767
30
+ - MIO12_moving_screens: 1123588
31
+ - MIO13_moving_person: 1345971
32
+ - MIO14_moving_props: -1393822
33
+ - MIO15_moving_person_props: 862697
34
+ - MIO16_moving_screens_person_props: 3818215
35
+ - MIPB01_beatsaber_100bills_360_normal: -592000
36
+ - MIPB02_beatsaber_crabrave_360_hard: -10059607
37
+ - MIPB03_beatsaber_countryrounds_360_expert: -6959767
38
+ - MIPB04_beatsaber_fitbeat_hard: 1980988
39
+ - MIPB05_beatsaber_fitbeat_360_expert: -1390761
40
+ - MIPB06_beatsaber_fitbeat_expertplus_1: 1185840
41
+ - MIPB07_beatsaber_fitbeat_expertplus_2: -286522
42
+ - MIPB08_beatsaber_long_session_1: 2729821
43
+ - MIPP01_pistolwhip_blackmagic_hard: 1592482
44
+ - MIPP02_pistolwhip_lilith_hard: -4297989
45
+ - MIPP03_pistolwhip_requiem_hard: 3778959
46
+ - MIPP04_pistolwhip_revelations_hard: -633544
47
+ - MIPP05_pistolwhip_thefall_hard_2pistols: -1721827
48
+ - MIPP06_pistolwhip_thegrave_hard: 3768865
49
+ - MIPT01_thrillofthefight_setup: -12555766
50
+ - MIPT02_thrillofthefight_fight_1: -16065756
51
+ - MIPT03_thrillofthefight_fight_2: 107688
52
+
53
+
54
+ # Camera-IMU alignment (ns)
55
+
56
+ - MIC01_camcalib1: -770221
57
+ - MIC02_camcalib2: -1823593
58
+ - MIC03_camcalib3: 78098
59
+ - MIC04_imucalib1: -289060
60
+ - MIC05_imucalib2: -1906425
61
+ - MIC06_imucalib3: -327370
62
+ - MIC07_camcalib4: -2632652
63
+ - MIC08_camcalib5: -4844719
64
+ - MIC09_imucalib4: -3578397
65
+ - MIC10_imucalib5: -6213617
66
+ - MIC11_camcalib6: -1631359
67
+ - MIC12_imucalib6: -1391539
68
+ - MIC13_camcalib7: 198042
69
+ - MIC14_camcalib8: -433653
70
+ - MIC15_imucalib7: -218372
71
+ - MIC16_imucalib8: -1376551
72
+ - MIO01_hand_puncher_1: -7525247
73
+ - MIO02_hand_puncher_2: -9372592
74
+ - MIO03_hand_shooter_easy: -16170742
75
+ - MIO04_hand_shooter_hard: -17185177
76
+ - MIO05_inspect_easy: -18534812
77
+ - MIO06_inspect_hard: -20083749
78
+ - MIO07_mapping_easy: -21667749
79
+ - MIO08_mapping_hard: -22463562
80
+ - MIO09_short_1_updown: -15998930
81
+ - MIO10_short_2_panorama: -15317834
82
+ - MIO11_short_3_backandforth: -15154854
83
+ - MIO12_moving_screens: -309102
84
+ - MIO13_moving_person: -263828
85
+ - MIO14_moving_props: -2965576
86
+ - MIO15_moving_person_props: -1396558
87
+ - MIO16_moving_screens_person_props: 1439865
88
+ - MIPB01_beatsaber_100bills_360_normal: -2190881
89
+ - MIPB02_beatsaber_crabrave_360_hard: -11459795
90
+ - MIPB03_beatsaber_countryrounds_360_expert: -7814634
91
+ - MIPB04_beatsaber_fitbeat_hard: 191358
92
+ - MIPB05_beatsaber_fitbeat_360_expert: -3000816
93
+ - MIPB06_beatsaber_fitbeat_expertplus_1: -997982
94
+ - MIPB07_beatsaber_fitbeat_expertplus_2: -2200636
95
+ - MIPB08_beatsaber_long_session_1: 423015
96
+ - MIPP01_pistolwhip_blackmagic_hard: 289196
97
+ - MIPP02_pistolwhip_lilith_hard: -6036375
98
+ - MIPP03_pistolwhip_requiem_hard: 2303493
99
+ - MIPP04_pistolwhip_revelations_hard: -2632175
100
+ - MIPP05_pistolwhip_thefall_hard_2pistols: -2657607
101
+ - MIPP06_pistolwhip_thegrave_hard: 540737
102
+ - MIPT01_thrillofthefight_setup: -13636454
103
+ - MIPT02_thrillofthefight_fight_1: -17987419
104
+ - MIPT03_thrillofthefight_fight_2: -440204