add calibration data

README.md

@@ -131,6 +131,21 @@ This subset includes two trajectories collected by manually piloting *Ariel* in
 
 ---
 
+## Calibration
+
+### Camera IMU
+The cameras were calibrated using the [Kalibr](https://github.com/ethz-asl/kalibr) toolbox and the calibrations are provided in the output format of Kalibr. The calibration data can be found in the `calibrations`.
+
+### Barometer
+The underwater barometer used is the robot uses the follow mapping to obtain depth in meters for fresh water:
+
+```
+barometer_pressure_offset = 2660.0
+barometer_pressure_scale = 241.0
+depth = - (barometer_measurement - baro_pressure_offset_) / baro_pressure_scale
+```
+---
+
 ## Reference
 If you use this dataset in your research, please cite the following publication:
 

calibrations/cam0_cam1_stereo/extrinsics_air/camchain-imucam-stereo-extrinsics-air.yaml

@@ -0,0 +1,91 @@
+cam0:
+  T_cam_imu:
+  - - 0.00574588594214509
+    - 0.9999832777219597
+    - -0.0006550352564456685
+    - -0.04828147993677678
+  - - 0.005987169593925534
+    - 0.000620632174701985
+    - 0.9999818841438872
+    - 0.009450948074592454
+  - - 0.9999655687047404
+    - -0.0057497036576725224
+    - -0.005983503393123035
+    - -0.04817561052281795
+  - - 0.0
+    - 0.0
+    - 0.0
+    - 1.0
+  cam_overlaps:
+  - 1
+  camera_model: pinhole
+  distortion_coeffs:
+  - -0.033419221587276476
+  - -0.010067151455192361
+  - 0.00676134767832358
+  - -0.002432922281293459
+  distortion_model: equidistant
+  intrinsics:
+  - 346.92745081209307
+  - 347.04373497092536
+  - 358.37292925984076
+  - 267.9496801596241
+  resolution:
+  - 720
+  - 540
+  rostopic: /alphasense_driver_ros/cam0
+  timeshift_cam_imu: 0.0017656238182069367
+cam1:
+  T_cam_imu:
+  - - -0.001074291850040765
+    - 0.9999993325570234
+    - 0.0004251852872466655
+    - 0.061820540786591126
+  - - 0.0058578620692918415
+    - -0.00041888518096272476
+    - 0.9999827548448935
+    - 0.009516489571651457
+  - - 0.9999822655172431
+    - 0.0010767640004777368
+    - -0.005857408154566979
+    - -0.048227686400736935
+  - - 0.0
+    - 0.0
+    - 0.0
+    - 1.0
+  T_cn_cnm1:
+  - - 0.9999761590203472
+    - 0.0010393773776170715
+    - -0.006826498778463017
+    - 0.10976217579757583
+  - - -0.0010402435291943634
+    - 0.9999994513412327
+    - -0.0001233313655083607
+    - 9.380621490348105e-06
+  - - 0.00682636684521338
+    - 0.000130429646349135
+    - 0.9999766915802558
+    - 0.00027515563479292083
+  - - 0.0
+    - 0.0
+    - 0.0
+    - 1.0
+  cam_overlaps:
+  - 0
+  camera_model: pinhole
+  distortion_coeffs:
+  - -0.033415034723838076
+  - -0.012447045668474275
+  - 0.01001862293416865
+  - -0.0034291838670595836
+  distortion_model: equidistant
+  intrinsics:
+  - 344.6193594458252
+  - 344.4585405376927
+  - 358.6209414583789
+  - 262.0945598542184
+  resolution:
+  - 720
+  - 540
+  rostopic: /alphasense_driver_ros/cam1
+  timeshift_cam_imu: 0.001770760675267072

calibrations/cam0_cam1_stereo/extrinsics_air/imu-stereo-extrinsics-air.yaml

@@ -0,0 +1,26 @@
+imu0:
+  T_i_b:
+  - - 1.0
+    - 0.0
+    - 0.0
+    - 0.0
+  - - 0.0
+    - 1.0
+    - 0.0
+    - 0.0
+  - - 0.0
+    - 0.0
+    - 1.0
+    - 0.0
+  - - 0.0
+    - 0.0
+    - 0.0
+    - 1.0
+  accelerometer_noise_density: 0.0186
+  accelerometer_random_walk: 0.00433
+  gyroscope_noise_density: 0.000587
+  gyroscope_random_walk: 0.002866
+  model: calibrated
+  rostopic: /alphasense_driver_ros/imu
+  time_offset: 0.0
+  update_rate: 200.0

calibrations/cam0_cam1_stereo/extrinsics_air/imu0_alphasense_noise.yaml

@@ -0,0 +1,10 @@
+#Accelerometers
+accelerometer_noise_density: 1.86e-02   #Noise density (continuous-time)
+accelerometer_random_walk:   4.33e-03   #Bias random walk
+
+#Gyroscopes
+gyroscope_noise_density:     5.87e-04   #Noise density (continuous-time)
+gyroscope_random_walk:       2.866e-03   #Bias random walk
+
+rostopic:                    /alphasense_driver_ros/imu      #the IMU ROS topic
+update_rate:                 200.0      #Hz (for discretization of the values above)

calibrations/cam0_cam1_stereo/extrinsics_air/results-imucam-stereo-extrinsics-air.txt

@@ -0,0 +1,120 @@
+Calibration results
+===================
+Normalized Residuals
+----------------------------
+Reprojection error (cam0):     mean 0.08674677104072051, median 0.08069383106850356, std: 0.04687554456959621
+Reprojection error (cam1):     mean 0.08642750771501398, median 0.08001246513945928, std: 0.04779724487412922
+Gyroscope error (imu0):        mean 0.5304070773652679, median 0.5075377764741974, std: 0.2289637706800216
+Accelerometer error (imu0):    mean 0.11457946419084238, median 0.10245046880944036, std: 0.0645449177935301
+
+Residuals
+----------------------------
+Reprojection error (cam0) [px]:     mean 0.08674677104072051, median 0.08069383106850356, std: 0.04687554456959621
+Reprojection error (cam1) [px]:     mean 0.08642750771501398, median 0.08001246513945928, std: 0.04779724487412922
+Gyroscope error (imu0) [rad/s]:     mean 0.004403139139621301, median 0.004213291156541122, std: 0.0019007275416542085
+Accelerometer error (imu0) [m/s^2]: mean 0.030139408794432488, median 0.02694895269789337, std: 0.01697813545141122
+
+Transformation (cam0):
+-----------------------
+T_ci:  (imu0 to cam0): 
+[[ 0.00574589  0.99998328 -0.00065504 -0.04828148]
+ [ 0.00598717  0.00062063  0.99998188  0.00945095]
+ [ 0.99996557 -0.0057497  -0.0059835  -0.04817561]
+ [ 0.          0.          0.          1.        ]]
+
+T_ic:  (cam0 to imu0): 
+[[ 0.00574589  0.00598717  0.99996557  0.04839479]
+ [ 0.99998328  0.00062063 -0.0057497   0.04799781]
+ [-0.00065504  0.99998188 -0.0059835  -0.00977066]
+ [ 0.          0.          0.          1.        ]]
+
+timeshift cam0 to imu0: [s] (t_imu = t_cam + shift)
+0.0017656238182069367
+
+
+Transformation (cam1):
+-----------------------
+T_ci:  (imu0 to cam1): 
+[[-0.00107429  0.99999933  0.00042519  0.06182054]
+ [ 0.00585786 -0.00041889  0.99998275  0.00951649]
+ [ 0.99998227  0.00107676 -0.00585741 -0.04822769]
+ [ 0.          0.          0.          1.        ]]
+
+T_ic:  (cam1 to imu0): 
+[[-0.00107429  0.00585786  0.99998227  0.0482375 ]
+ [ 0.99999933 -0.00041889  0.00107676 -0.06176458]
+ [ 0.00042519  0.99998275 -0.00585741 -0.0098251 ]
+ [ 0.          0.          0.          1.        ]]
+
+timeshift cam1 to imu0: [s] (t_imu = t_cam + shift)
+0.001770760675267072
+
+Baselines:
+----------
+Baseline (cam0 to cam1): 
+[[ 0.99997616  0.00103938 -0.0068265   0.10976218]
+ [-0.00104024  0.99999945 -0.00012333  0.00000938]
+ [ 0.00682637  0.00013043  0.99997669  0.00027516]
+ [ 0.          0.          0.          1.        ]]
+baseline norm:  0.10976252108273278 [m]
+
+
+Gravity vector in target coords: [m/s^2]
+[-0.03129673 -9.73399511 -1.19028678]
+
+
+Calibration configuration
+=========================
+
+cam0
+-----
+  Camera model: pinhole
+  Focal length: [346.92745081209307, 347.04373497092536]
+  Principal point: [358.37292925984076, 267.9496801596241]
+  Distortion model: equidistant
+  Distortion coefficients: [-0.033419221587276476, -0.010067151455192361, 0.00676134767832358, -0.002432922281293459]
+  Type: aprilgrid
+  Tags: 
+    Rows: 6
+    Cols: 8
+    Size: 0.07 [m]
+    Spacing 0.021 [m]
+
+cam1
+-----
+  Camera model: pinhole
+  Focal length: [344.6193594458252, 344.4585405376927]
+  Principal point: [358.6209414583789, 262.0945598542184]
+  Distortion model: equidistant
+  Distortion coefficients: [-0.033415034723838076, -0.012447045668474275, 0.01001862293416865, -0.0034291838670595836]
+  Type: aprilgrid
+  Tags: 
+    Rows: 6
+    Cols: 8
+    Size: 0.07 [m]
+    Spacing 0.021 [m]
+
+
+
+IMU configuration
+=================
+
+IMU0:
+ ----------------------------
+  Model: calibrated
+  Update rate: 200.0
+  Accelerometer:
+    Noise density: 0.0186 
+    Noise density (discrete): 0.26304372260139564 
+    Random walk: 0.00433
+  Gyroscope:
+    Noise density: 0.000587
+    Noise density (discrete): 0.008301433611130067 
+    Random walk: 0.002866
+  T_i_b
+    [[1. 0. 0. 0.]
+     [0. 1. 0. 0.]
+     [0. 0. 1. 0.]
+     [0. 0. 0. 1.]]
+  time offset with respect to IMU0: 0.0 [s]
+

calibrations/cam0_cam1_stereo/intrinsics_air/camchain-stereo-intrinsics-air.yaml

@@ -0,0 +1,55 @@
+cam0:
+  cam_overlaps:
+  - 1
+  camera_model: pinhole
+  distortion_coeffs:
+  - -0.033419221587276476
+  - -0.010067151455192361
+  - 0.00676134767832358
+  - -0.002432922281293459
+  distortion_model: equidistant
+  intrinsics:
+  - 346.92745081209307
+  - 347.04373497092536
+  - 358.37292925984076
+  - 267.9496801596241
+  resolution:
+  - 720
+  - 540
+  rostopic: /alphasense_driver_ros/cam0
+cam1:
+  T_cn_cnm1:
+  - - 0.9999761590203448
+    - 0.0010393773776170715
+    - -0.0068264987784630166
+    - 0.10976217579757583
+  - - -0.0010402435291943634
+    - 0.9999994513412302
+    - -0.0001233313655083607
+    - 9.380621490348105e-06
+  - - 0.006826366845213379
+    - 0.000130429646349135
+    - 0.9999766915802534
+    - 0.00027515563479292083
+  - - 0.0
+    - 0.0
+    - 0.0
+    - 1.0
+  cam_overlaps:
+  - 0
+  camera_model: pinhole
+  distortion_coeffs:
+  - -0.033415034723838076
+  - -0.012447045668474275
+  - 0.01001862293416865
+  - -0.0034291838670595836
+  distortion_model: equidistant
+  intrinsics:
+  - 344.6193594458252
+  - 344.4585405376927
+  - 358.6209414583789
+  - 262.0945598542184
+  resolution:
+  - 720
+  - 540
+  rostopic: /alphasense_driver_ros/cam1

calibrations/cam0_cam1_stereo/intrinsics_air/results-cam-stereo-intrinsics-air.txt

@@ -0,0 +1,30 @@
+Calibration results 
+====================
+Camera-system parameters:
+	cam0 (/alphasense_driver_ros/cam0):
+	 type: <class 'aslam_cv.libaslam_cv_python.EquidistantDistortedPinholeCameraGeometry'>
+	 distortion: [-0.03341922 -0.01006715  0.00676135 -0.00243292] +- [0.00223651 0.00605095 0.00595203 0.00196026]
+	 projection: [346.92745081 347.04373497 358.37292926 267.94968016] +- [0.01926836 0.01911982 0.12692158 0.10276201]
+	 reprojection error: [-0.000007, -0.000001] +- [0.111667, 0.099100]
+
+	cam1 (/alphasense_driver_ros/cam1):
+	 type: <class 'aslam_cv.libaslam_cv_python.EquidistantDistortedPinholeCameraGeometry'>
+	 distortion: [-0.03341503 -0.01244705  0.01001862 -0.00342918] +- [0.00211364 0.00546274 0.00512758 0.00160528]
+	 projection: [344.61935945 344.45854054 358.62094146 262.09455985] +- [0.02013357 0.02038451 0.13432269 0.10735181]
+	 reprojection error: [0.000006, 0.000001] +- [0.098780, 0.093837]
+
+	baseline T_1_0:
+	 q: [-0.00006344  0.00341324  0.00051991  0.99999404] +- [0.00035746 0.00051517 0.00007444]
+	 t: [0.10976218 0.00000938 0.00027516] +- [0.00006217 0.00006659 0.00014484]
+
+
+
+Target configuration
+====================
+
+  Type: aprilgrid
+  Tags: 
+    Rows: 6
+    Cols: 8
+    Size: 0.07 [m]
+    Spacing 0.021 [m]

calibrations/cam0_cam1_stereo/intrinsics_water/camchain-stereo-intrinsics-underwater.yaml

@@ -0,0 +1,55 @@
+cam0:
+  cam_overlaps:
+  - 1
+  camera_model: pinhole
+  distortion_coeffs:
+  - 0.04816514299784573
+  - 0.1707359987229406
+  - -0.30080163056061726
+  - 0.47220233022405056
+  distortion_model: equidistant
+  intrinsics:
+  - 460.1163446727443
+  - 460.4372977453345
+  - 357.8825573770236
+  - 266.43728860156045
+  resolution:
+  - 720
+  - 540
+  rostopic: /alphasense_driver_ros/cam0
+cam1:
+  T_cn_cnm1:
+  - - 0.9999973153799526
+    - 0.0011238451597518427
+    - -0.002026377293924725
+    - 0.10967699821156565
+  - - -0.0011259076624923461
+    - 0.9999988490469539
+    - -0.0010169742848036027
+    - -4.072114987136215e-05
+  - - 0.0020252320400320446
+    - 0.001019253068336384
+    - 0.9999974297758768
+    - -8.114364327199977e-05
+  - - 0.0
+    - 0.0
+    - 0.0
+    - 1.0
+  cam_overlaps:
+  - 0
+  camera_model: pinhole
+  distortion_coeffs:
+  - 0.0467095261419356
+  - 0.15933606305502823
+  - -0.25487088197683
+  - 0.4228982607886235
+  distortion_model: equidistant
+  intrinsics:
+  - 457.1398269425442
+  - 457.1632051987019
+  - 357.0147665576268
+  - 261.11784543320266
+  resolution:
+  - 720
+  - 540
+  rostopic: /alphasense_driver_ros/cam1

calibrations/cam0_cam1_stereo/intrinsics_water/results-cam-stereo-intrinsics-underwater.txt

@@ -0,0 +1,30 @@
+Calibration results 
+====================
+Camera-system parameters:
+	cam0 (/alphasense_driver_ros/cam0):
+	 type: <class 'aslam_cv.libaslam_cv_python.EquidistantDistortedPinholeCameraGeometry'>
+	 distortion: [ 0.04816514  0.170736   -0.30080163  0.47220233] +- [0.00610066 0.03818313 0.09218267 0.07517834]
+	 projection: [460.11634467 460.43729775 357.88255738 266.4372886 ] +- [0.028526   0.03219497 0.23111232 0.22287231]
+	 reprojection error: [-0.000002, -0.000000] +- [0.142213, 0.129253]
+
+	cam1 (/alphasense_driver_ros/cam1):
+	 type: <class 'aslam_cv.libaslam_cv_python.EquidistantDistortedPinholeCameraGeometry'>
+	 distortion: [ 0.04670953  0.15933606 -0.25487088  0.42289826] +- [0.00601465 0.03716958 0.08857886 0.07137175]
+	 projection: [457.13982694 457.1632052  357.01476656 261.11784543] +- [0.02929515 0.03102415 0.21746796 0.21504469]
+	 reprojection error: [0.000001, 0.000000] +- [0.166403, 0.139824]
+
+	baseline T_1_0:
+	 q: [-0.00050906  0.0010129   0.00056244  0.9999992 ] +- [0.00038179 0.0003567  0.00006315]
+	 t: [ 0.109677   -0.00004072 -0.00008114] +- [0.00008263 0.00008227 0.00017068]
+
+
+
+Target configuration
+====================
+
+  Type: aprilgrid
+  Tags: 
+    Rows: 6
+    Cols: 8
+    Size: 0.07 [m]
+    Spacing 0.021 [m]

calibrations/cam2_top/extrinsics_air/camchain-imucam-top-air2.yaml

@@ -0,0 +1,36 @@
+cam0:
+  T_cam_imu:
+  - - 0.999968672077786
+    - 0.006934133749466535
+    - -0.0038174143258931877
+    - -0.00913408022712625
+  - - 0.006918368376736307
+    - -0.9999675486657221
+    - -0.004127686334038184
+    - -0.00782690370282108
+  - - -0.003845912374820884
+    - 0.004101146743648624
+    - -0.9999841946517923
+    - -0.034906438033392675
+  - - 0.0
+    - 0.0
+    - 0.0
+    - 1.0
+  cam_overlaps: []
+  camera_model: pinhole
+  distortion_coeffs:
+  - -0.0399709566217861
+  - -0.0008402895535093008
+  - -0.00041735008948750804
+  - -0.0003089348665444158
+  distortion_model: equidistant
+  intrinsics:
+  - 348.4905820194688
+  - 348.2983327835599
+  - 357.4225908602177
+  - 273.52710655155704
+  resolution:
+  - 720
+  - 540
+  rostopic: /alphasense_driver_ros/cam2
+  timeshift_cam_imu: 0.0017805810039345192

calibrations/cam2_top/extrinsics_air/imu-ariel-top-air2.yaml

@@ -0,0 +1,26 @@
+imu0:
+  T_i_b:
+  - - 1.0
+    - 0.0
+    - 0.0
+    - 0.0
+  - - 0.0
+    - 1.0
+    - 0.0
+    - 0.0
+  - - 0.0
+    - 0.0
+    - 1.0
+    - 0.0
+  - - 0.0
+    - 0.0
+    - 0.0
+    - 1.0
+  accelerometer_noise_density: 0.0186
+  accelerometer_random_walk: 0.00433
+  gyroscope_noise_density: 0.000587
+  gyroscope_random_walk: 0.002866
+  model: calibrated
+  rostopic: /alphasense_driver_ros/imu
+  time_offset: 0.0
+  update_rate: 200.0

calibrations/cam2_top/extrinsics_air/imu0_alphasense_noise.yaml

@@ -0,0 +1,10 @@
+#Accelerometers
+accelerometer_noise_density: 1.86e-02   #Noise density (continuous-time)
+accelerometer_random_walk:   4.33e-03   #Bias random walk
+
+#Gyroscopes
+gyroscope_noise_density:     5.87e-04   #Noise density (continuous-time)
+gyroscope_random_walk:       2.866e-03   #Bias random walk
+
+rostopic:                    /alphasense_driver_ros/imu      #the IMU ROS topic
+update_rate:                 200.0      #Hz (for discretization of the values above)

calibrations/cam2_top/extrinsics_air/results-imucam-top-air2.txt

@@ -0,0 +1,77 @@
+Calibration results
+===================
+Normalized Residuals
+----------------------------
+Reprojection error (cam0):     mean 0.08810652959388475, median 0.08018915483031082, std: 0.05086773039150142
+Gyroscope error (imu0):        mean 0.5232785147238174, median 0.5006419891787246, std: 0.2285303544057239
+Accelerometer error (imu0):    mean 0.0895794631469694, median 0.08529528895312768, std: 0.04436765089552037
+
+Residuals
+----------------------------
+Reprojection error (cam0) [px]:     mean 0.08810652959388475, median 0.08018915483031082, std: 0.05086773039150142
+Gyroscope error (imu0) [rad/s]:     mean 0.004343961850110516, median 0.004156046236111279, std: 0.0018971295652271427
+Accelerometer error (imu0) [m/s^2]: mean 0.023563315454813362, median 0.022436390326592406, std: 0.011670632054636823
+
+Transformation (cam0):
+-----------------------
+T_ci:  (imu0 to cam0): 
+[[ 0.99996867  0.00693413 -0.00381741 -0.00913408]
+ [ 0.00691837 -0.99996755 -0.00412769 -0.0078269 ]
+ [-0.00384591  0.00410115 -0.99998419 -0.03490644]
+ [ 0.          0.          0.          1.        ]]
+
+T_ic:  (cam0 to imu0): 
+[[ 0.99996867  0.00691837 -0.00384591  0.0090537 ]
+ [ 0.00693413 -0.99996755  0.00410115 -0.00762016]
+ [-0.00381741 -0.00412769 -0.99998419 -0.03497306]
+ [ 0.          0.          0.          1.        ]]
+
+timeshift cam0 to imu0: [s] (t_imu = t_cam + shift)
+0.0017805810039345192
+
+
+Gravity vector in target coords: [m/s^2]
+[-0.05575509 -9.73146499 -1.20991879]
+
+
+Calibration configuration
+=========================
+
+cam0
+-----
+  Camera model: pinhole
+  Focal length: [348.4905820194688, 348.2983327835599]
+  Principal point: [357.4225908602177, 273.52710655155704]
+  Distortion model: equidistant
+  Distortion coefficients: [-0.0399709566217861, -0.0008402895535093008, -0.00041735008948750804, -0.0003089348665444158]
+  Type: aprilgrid
+  Tags: 
+    Rows: 6
+    Cols: 8
+    Size: 0.07 [m]
+    Spacing 0.021 [m]
+
+
+
+IMU configuration
+=================
+
+IMU0:
+ ----------------------------
+  Model: calibrated
+  Update rate: 200.0
+  Accelerometer:
+    Noise density: 0.0186 
+    Noise density (discrete): 0.26304372260139564 
+    Random walk: 0.00433
+  Gyroscope:
+    Noise density: 0.000587
+    Noise density (discrete): 0.008301433611130067 
+    Random walk: 0.002866
+  T_i_b
+    [[1. 0. 0. 0.]
+     [0. 1. 0. 0.]
+     [0. 0. 1. 0.]
+     [0. 0. 0. 1.]]
+  time offset with respect to IMU0: 0.0 [s]
+

calibrations/cam2_top/intrinsics_air/camchain-top-air.yaml

@@ -0,0 +1,18 @@
+cam0:
+  cam_overlaps: []
+  camera_model: pinhole
+  distortion_coeffs:
+  - -0.0399709566217861
+  - -0.0008402895535093008
+  - -0.00041735008948750804
+  - -0.0003089348665444158
+  distortion_model: equidistant
+  intrinsics:
+  - 348.4905820194688
+  - 348.2983327835599
+  - 357.4225908602177
+  - 273.52710655155704
+  resolution:
+  - 720
+  - 540
+  rostopic: /alphasense_driver_ros/cam2

calibrations/cam2_top/intrinsics_air/results-cam-top-air.txt

@@ -0,0 +1,20 @@
+Calibration results 
+====================
+Camera-system parameters:
+	cam0 (/alphasense_driver_ros/cam2):
+	 type: <class 'aslam_cv.libaslam_cv_python.EquidistantDistortedPinholeCameraGeometry'>
+	 distortion: [-0.03997096 -0.00084029 -0.00041735 -0.00030893] +- [0.00443893 0.01047805 0.00980126 0.00309878]
+	 projection: [348.49058202 348.29833278 357.42259086 273.52710655] +- [0.47693092 0.46613923 0.19386294 0.15785242]
+	 reprojection error: [0.000001, 0.000000] +- [0.109743, 0.106063]
+
+
+
+Target configuration
+====================
+
+  Type: aprilgrid
+  Tags: 
+    Rows: 6
+    Cols: 8
+    Size: 0.07 [m]
+    Spacing 0.021 [m]

calibrations/cam3_right/extrinsics_air/camchain-imucam-cam3_extrinsics-air.yaml

@@ -0,0 +1,36 @@
+cam0:
+  T_cam_imu:
+  - - -0.9999924249446924
+    - 0.0037286006948617175
+    - -0.001116955725608839
+    - -0.012768496528635822
+  - - -0.0011456190310897567
+    - -0.007694152595952765
+    - 0.9999697433287001
+    - 0.0088512592241794
+  - - 0.003719893852020326
+    - 0.9999634481083243
+    - 0.007698365868236666
+    - -0.06437478979097126
+  - - 0.0
+    - 0.0
+    - 0.0
+    - 1.0
+  cam_overlaps: []
+  camera_model: pinhole
+  distortion_coeffs:
+  - -0.039380303470433545
+  - 5.495014239391039e-05
+  - -0.0016439345991880877
+  - 0.00028318692542968763
+  distortion_model: equidistant
+  intrinsics:
+  - 346.20892828621
+  - 346.18904460687565
+  - 359.8761479828756
+  - 273.7250435627611
+  resolution:
+  - 720
+  - 540
+  rostopic: /alphasense_driver_ros/cam3
+  timeshift_cam_imu: 0.0017804482244789686

calibrations/cam3_right/extrinsics_air/imu-cam3-extrinsics-air.yaml

@@ -0,0 +1,26 @@
+imu0:
+  T_i_b:
+  - - 1.0
+    - 0.0
+    - 0.0
+    - 0.0
+  - - 0.0
+    - 1.0
+    - 0.0
+    - 0.0
+  - - 0.0
+    - 0.0
+    - 1.0
+    - 0.0
+  - - 0.0
+    - 0.0
+    - 0.0
+    - 1.0
+  accelerometer_noise_density: 0.0186
+  accelerometer_random_walk: 0.00433
+  gyroscope_noise_density: 0.000587
+  gyroscope_random_walk: 0.002866
+  model: calibrated
+  rostopic: /alphasense_driver_ros/imu
+  time_offset: 0.0
+  update_rate: 200.0

calibrations/cam3_right/extrinsics_air/imu0_alphasense_noise.yaml

@@ -0,0 +1,10 @@
+#Accelerometers
+accelerometer_noise_density: 1.86e-02   #Noise density (continuous-time)
+accelerometer_random_walk:   4.33e-03   #Bias random walk
+
+#Gyroscopes
+gyroscope_noise_density:     5.87e-04   #Noise density (continuous-time)
+gyroscope_random_walk:       2.866e-03   #Bias random walk
+
+rostopic:                    /alphasense_driver_ros/imu      #the IMU ROS topic
+update_rate:                 200.0      #Hz (for discretization of the values above)

calibrations/cam3_right/extrinsics_air/results-imucam-cam3-extrinsics-air.txt

@@ -0,0 +1,77 @@
+Calibration results
+===================
+Normalized Residuals
+----------------------------
+Reprojection error (cam0):     mean 0.13015090627113965, median 0.12383433909893218, std: 0.06713661212483187
+Gyroscope error (imu0):        mean 0.5227853290142381, median 0.5005739125683636, std: 0.22753569204388346
+Accelerometer error (imu0):    mean 0.10544836112201168, median 0.09664947221139145, std: 0.05528611706620591
+
+Residuals
+----------------------------
+Reprojection error (cam0) [px]:     mean 0.13015090627113965, median 0.12383433909893218, std: 0.06713661212483187
+Gyroscope error (imu0) [rad/s]:     mean 0.004339867701684487, median 0.004155481102649896, std: 0.0018888724416648343
+Accelerometer error (imu0) [m/s^2]: mean 0.02773752945175023, median 0.025423036957944543, std: 0.014542666041271354
+
+Transformation (cam0):
+-----------------------
+T_ci:  (imu0 to cam0): 
+[[-0.99999242  0.0037286  -0.00111696 -0.0127685 ]
+ [-0.00114562 -0.00769415  0.99996974  0.00885126]
+ [ 0.00371989  0.99996345  0.00769837 -0.06437479]
+ [ 0.          0.          0.          1.        ]]
+
+T_ic:  (cam0 to imu0): 
+[[-0.99999242 -0.00114562  0.00371989 -0.01251879]
+ [ 0.0037286  -0.00769415  0.99996345  0.06448815]
+ [-0.00111696  0.99996974  0.00769837 -0.00836967]
+ [ 0.          0.          0.          1.        ]]
+
+timeshift cam0 to imu0: [s] (t_imu = t_cam + shift)
+0.0017804482244789686
+
+
+Gravity vector in target coords: [m/s^2]
+[ 9.34901305  0.11626819 -2.95818517]
+
+
+Calibration configuration
+=========================
+
+cam0
+-----
+  Camera model: pinhole
+  Focal length: [346.20892828621, 346.18904460687565]
+  Principal point: [359.8761479828756, 273.7250435627611]
+  Distortion model: equidistant
+  Distortion coefficients: [-0.039380303470433545, 5.495014239391039e-05, -0.0016439345991880877, 0.00028318692542968763]
+  Type: aprilgrid
+  Tags: 
+    Rows: 6
+    Cols: 8
+    Size: 0.07 [m]
+    Spacing 0.021 [m]
+
+
+
+IMU configuration
+=================
+
+IMU0:
+ ----------------------------
+  Model: calibrated
+  Update rate: 200.0
+  Accelerometer:
+    Noise density: 0.0186 
+    Noise density (discrete): 0.26304372260139564 
+    Random walk: 0.00433
+  Gyroscope:
+    Noise density: 0.000587
+    Noise density (discrete): 0.008301433611130067 
+    Random walk: 0.002866
+  T_i_b
+    [[1. 0. 0. 0.]
+     [0. 1. 0. 0.]
+     [0. 0. 1. 0.]
+     [0. 0. 0. 1.]]
+  time offset with respect to IMU0: 0.0 [s]
+

calibrations/cam3_right/intrinsics_air/camchain-cam3-intrinsics-air.yaml

@@ -0,0 +1,18 @@
+cam0:
+  cam_overlaps: []
+  camera_model: pinhole
+  distortion_coeffs:
+  - -0.039380303470433545
+  - 5.495014239391039e-05
+  - -0.0016439345991880877
+  - 0.00028318692542968763
+  distortion_model: equidistant
+  intrinsics:
+  - 346.20892828621
+  - 346.18904460687565
+  - 359.8761479828756
+  - 273.7250435627611
+  resolution:
+  - 720
+  - 540
+  rostopic: /alphasense_driver_ros/cam3

calibrations/cam3_right/intrinsics_air/results-cam-cam3-air.txt

@@ -0,0 +1,20 @@
+Calibration results 
+====================
+Camera-system parameters:
+	cam0 (/alphasense_driver_ros/cam3):
+	 type: <class 'aslam_cv.libaslam_cv_python.EquidistantDistortedPinholeCameraGeometry'>
+	 distortion: [-0.0393803   0.00005495 -0.00164393  0.00028319] +- [0.00378162 0.00912817 0.00855158 0.00270508]
+	 projection: [346.20892829 346.18904461 359.87614798 273.72504356] +- [0.44144585 0.41811414 0.18374806 0.15032343]
+	 reprojection error: [-0.000001, -0.000001] +- [0.103035, 0.095973]
+
+
+
+Target configuration
+====================
+
+  Type: aprilgrid
+  Tags: 
+    Rows: 6
+    Cols: 8
+    Size: 0.07 [m]
+    Spacing 0.021 [m]

calibrations/cam4_left/extrinsics_air/camchain-imucam-cam4-extrinsics-air.yaml

@@ -0,0 +1,36 @@
+cam0:
+  T_cam_imu:
+  - - 0.9999369974089323
+    - 0.008264760356603203
+    - -0.00759571912706473
+    - 0.012791375329604877
+  - - 0.00752978105666533
+    - 0.00798029860046462
+    - 0.9999398068041329
+    - 0.010508314359207068
+  - - 0.008324878980983498
+    - -0.9999340021073869
+    - 0.007917563985004261
+    - -0.0795930293824101
+  - - 0.0
+    - 0.0
+    - 0.0
+    - 1.0
+  cam_overlaps: []
+  camera_model: pinhole
+  distortion_coeffs:
+  - -0.039713462336773836
+  - 0.0018858801551277715
+  - -0.003131596336198809
+  - 0.0006070837523688934
+  distortion_model: equidistant
+  intrinsics:
+  - 347.4845925669374
+  - 347.43696754179325
+  - 359.0837288290678
+  - 266.2826653127985
+  resolution:
+  - 720
+  - 540
+  rostopic: /alphasense_driver_ros/cam4
+  timeshift_cam_imu: 0.0017765738261481963

calibrations/cam4_left/extrinsics_air/imu-cam4-extrinsics-air.yaml

@@ -0,0 +1,26 @@
+imu0:
+  T_i_b:
+  - - 1.0
+    - 0.0
+    - 0.0
+    - 0.0
+  - - 0.0
+    - 1.0
+    - 0.0
+    - 0.0
+  - - 0.0
+    - 0.0
+    - 1.0
+    - 0.0
+  - - 0.0
+    - 0.0
+    - 0.0
+    - 1.0
+  accelerometer_noise_density: 0.0186
+  accelerometer_random_walk: 0.00433
+  gyroscope_noise_density: 5.87e-05
+  gyroscope_random_walk: 0.002866
+  model: calibrated
+  rostopic: /alphasense_driver_ros/imu
+  time_offset: 0.0
+  update_rate: 200.0

calibrations/cam4_left/extrinsics_air/imu0_alphasense_noise.yaml

@@ -0,0 +1,10 @@
+#Accelerometers
+accelerometer_noise_density: 1.86e-02   #Noise density (continuous-time)
+accelerometer_random_walk:   4.33e-03   #Bias random walk
+
+#Gyroscopes
+gyroscope_noise_density:     5.87e-05   #Noise density (continuous-time)
+gyroscope_random_walk:       2.866e-03   #Bias random walk
+
+rostopic:                    /alphasense_driver_ros/imu      #the IMU ROS topic
+update_rate:                 200.0      #Hz (for discretization of the values above)

calibrations/cam4_left/extrinsics_air/results-imucam-cam4-extrinsics-air.txt

@@ -0,0 +1,77 @@
+Calibration results
+===================
+Normalized Residuals
+----------------------------
+Reprojection error (cam0):     mean 0.0995840216382822, median 0.09161838788640356, std: 0.054168421163517166
+Gyroscope error (imu0):        mean 5.212365685168398, median 5.002273973407036, std: 2.2572189183627684
+Accelerometer error (imu0):    mean 0.09660052769730618, median 0.08793202423960014, std: 0.050628621639226
+
+Residuals
+----------------------------
+Reprojection error (cam0) [px]:     mean 0.0995840216382822, median 0.09161838788640356, std: 0.054168421163517166
+Gyroscope error (imu0) [rad/s]:     mean 0.004327010769235794, median 0.004152604529492232, std: 0.001873815299657534
+Accelerometer error (imu0) [m/s^2]: mean 0.025410162410758642, median 0.023129966991860575, std: 0.013317541106159582
+
+Transformation (cam0):
+-----------------------
+T_ci:  (imu0 to cam0): 
+[[ 0.999937    0.00826476 -0.00759572  0.01279138]
+ [ 0.00752978  0.0079803   0.99993981  0.01050831]
+ [ 0.00832488 -0.999934    0.00791756 -0.07959303]
+ [ 0.          0.          0.          1.        ]]
+
+T_ic:  (cam0 to imu0): 
+[[ 0.999937    0.00752978  0.00832488 -0.01220709]
+ [ 0.00826476  0.0079803  -0.999934   -0.07977735]
+ [-0.00759572  0.99993981  0.00791756 -0.00978034]
+ [ 0.          0.          0.          1.        ]]
+
+timeshift cam0 to imu0: [s] (t_imu = t_cam + shift)
+0.0017765738261481963
+
+
+Gravity vector in target coords: [m/s^2]
+[ 9.36217602  0.06642813 -2.91781946]
+
+
+Calibration configuration
+=========================
+
+cam0
+-----
+  Camera model: pinhole
+  Focal length: [347.4845925669374, 347.43696754179325]
+  Principal point: [359.0837288290678, 266.2826653127985]
+  Distortion model: equidistant
+  Distortion coefficients: [-0.039713462336773836, 0.0018858801551277715, -0.003131596336198809, 0.0006070837523688934]
+  Type: aprilgrid
+  Tags: 
+    Rows: 6
+    Cols: 8
+    Size: 0.07 [m]
+    Spacing 0.021 [m]
+
+
+
+IMU configuration
+=================
+
+IMU0:
+ ----------------------------
+  Model: calibrated
+  Update rate: 200.0
+  Accelerometer:
+    Noise density: 0.0186 
+    Noise density (discrete): 0.26304372260139564 
+    Random walk: 0.00433
+  Gyroscope:
+    Noise density: 5.87e-05
+    Noise density (discrete): 0.0008301433611130068 
+    Random walk: 0.002866
+  T_i_b
+    [[1. 0. 0. 0.]
+     [0. 1. 0. 0.]
+     [0. 0. 1. 0.]
+     [0. 0. 0. 1.]]
+  time offset with respect to IMU0: 0.0 [s]
+

calibrations/cam4_left/intrinsics_air/camchain-cam4-intrinsics-air.yaml

@@ -0,0 +1,18 @@
+cam0:
+  cam_overlaps: []
+  camera_model: pinhole
+  distortion_coeffs:
+  - -0.039713462336773836
+  - 0.0018858801551277715
+  - -0.003131596336198809
+  - 0.0006070837523688934
+  distortion_model: equidistant
+  intrinsics:
+  - 347.4845925669374
+  - 347.43696754179325
+  - 359.0837288290678
+  - 266.2826653127985
+  resolution:
+  - 720
+  - 540
+  rostopic: /alphasense_driver_ros/cam4

calibrations/cam4_left/intrinsics_air/results-cam-cam4-intrinsics-air.txt

@@ -0,0 +1,20 @@
+Calibration results 
+====================
+Camera-system parameters:
+	cam0 (/alphasense_driver_ros/cam4):
+	 type: <class 'aslam_cv.libaslam_cv_python.EquidistantDistortedPinholeCameraGeometry'>
+	 distortion: [-0.03971346  0.00188588 -0.0031316   0.00060708] +- [0.00431172 0.01005461 0.00938553 0.00295886]
+	 projection: [347.48459257 347.43696754 359.08372883 266.28266531] +- [0.56132683 0.53144807 0.18091598 0.15134794]
+	 reprojection error: [-0.000003, -0.000002] +- [0.108507, 0.100085]
+
+
+
+Target configuration
+====================
+
+  Type: aprilgrid
+  Tags: 
+    Rows: 6
+    Cols: 8
+    Size: 0.07 [m]
+    Spacing 0.021 [m]