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https://github.com/Evolution-X-Devices/device_google_walleye
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22fe568c04
- Add CAD calibration file - Add persist properties pointing to CAD and factory calibration xml files Test: Tested on walleye BUG=38234792 Change-Id: I8fbb6c514064292b4a2883939b77a410735c9417
59 lines
2.7 KiB
XML
59 lines
2.7 KiB
XML
<rig>
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<device_id>0</device_id>
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<camera>
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<camera_model name="feature_tracking_primary" index="0" type="calibu_fu_fv_u0_v0_k1_k2_k3" rolling_shutter_readout_time="0.016666667">
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<width>640</width>
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<height>480</height>
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<params> [512.4374; 512.4374; 320.0; 240.0; 0.0; 0.0; 0.0] </params>
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</camera_model>
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<pose />
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</camera>
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<camera>
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<camera_model name="color_primary" index="1" type="calibu_fu_fv_u0_v0_k1_k2_k3" rolling_shutter_readout_time="0.016666667">
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<width>640</width>
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<height>480</height>
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<params> [512.4374; 512.4374; 320.0; 240.0; 0.0; 0.0; 0.0] </params>
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</camera_model>
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<pose />
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</camera>
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<camera>
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<camera_model name="depth_ir_primary" index="3" type="calibu_fu_fv_u0_v0_k1_k2_k3" rolling_shutter_readout_time="0.016666667">
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<width>640</width>
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<height>480</height>
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<params> [512.4374; 512.4374; 320.0; 240.0; 0.0; 0.0; 0.0] </params>
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</camera_model>
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<pose />
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</camera>
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<intrinsic_imu_calibration name="" imu_id="100" type="linear_imu_sg_mg_sa_ma_gqa">
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<b_w_b_a> [0.0; 0.0; 0.0; 0.0; 0.0; 0.0] </b_w_b_a>
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<intrinsics> [1; 1; 1; 0; 0; 0; 1; 1; 1; 0; 0; 0; 0; 0; 0; 1] </intrinsics>
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<gyro_noise_sigma>5.3088444e-4</gyro_noise_sigma>
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<gyro_bias_sigma>1.4125375e-4</gyro_bias_sigma>
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<accel_noise_sigma>0.004883649</accel_noise_sigma>
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<accel_bias_sigma>1.2589254e-2</accel_bias_sigma>
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</intrinsic_imu_calibration>
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<extrinsic_calibration name="imu_T_feature_tracking_primary" index="0" frame_A_id="100" frame_B_id="0">
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<A_T_B> [1, 0, 0, -0.0394227; 0, -1, 0, 0.0277431; 0, 0, -1, -0.00758045] </A_T_B>
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</extrinsic_calibration>
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<extrinsic_calibration name="imu_T_color_primary" index="0" frame_A_id="100" frame_B_id="1">
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<A_T_B> [1, 0, 0, -0.0394227; 0, -1, 0, 0.0277431; 0, 0, -1, -0.00758045] </A_T_B>
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</extrinsic_calibration>
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<extrinsic_calibration name="imu_T_depth_ir_primary" index="0" frame_A_id="100" frame_B_id="3">
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<A_T_B> [1, 0, 0, -0.0394227; 0, -1, 0, 0.0277431; 0, 0, -1, -0.00758045] </A_T_B>
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</extrinsic_calibration>
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<extrinsic_calibration name="imu_T_android" index="0" frame_A_id="100" frame_B_id="40">
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<A_T_B> [0, -1, 0, 0; 1, 0, 0, 0; 0, 0, 1, 0] </A_T_B>
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</extrinsic_calibration>
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<extrinsic_calibration name="android_T_opengl" index="0" frame_A_id="40" frame_B_id="42">
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<A_T_B> [0, 1, 0, 0; -1, 0, 0, 0; 0, 0, 1, 0] </A_T_B>
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</extrinsic_calibration>
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<extrinsic_calibration name="android_T_display" index="0" frame_A_id="40" frame_B_id="43">
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<A_T_B> [0, 1, 0, 0; -1, 0, 0, 0; 0, 0, 1, 0] </A_T_B>
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</extrinsic_calibration>
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<geo_location>
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<latitude>37.389444</latitude>
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<longitude>122.0819</longitude>
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<altitude>32</altitude>
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</geo_location>
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</rig>
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