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+ OctoSense — synchronized multi-sensor driving across day, night, and degraded conditions +

+ +A time-synchronized, calibrated multi-sensor driving dataset: **371 sequences · 59.0 h · 2,474 km · 8.43 TB**, +spanning urban, suburban, and rural driving (highway / residential / city) on **Long Island** and in +**Philadelphia**, across sunrise, daytime, sunset, and nighttime. Sequences carry synchronized stereo RGB, stereo event cameras, infrared, Ouster LiDAR, two IMUs, GPS and CAN data, plus ground truth (depth, ego-motion optical flow, semantic segmentation) and a fused GPS + LiDAR-inertial odometry trajectory. + +> Canonical key for every sequence is its recording datetime, `rosbag2_YYYY_MM_DD-HH_MM_SS`. +> Per-sequence attributes live in **`metadata.parquet`** (the viewer's table: a sensor-montage thumbnail, a GPS-track map, and all metadata columns per sequence). + +## Sensors + +| Modality | Sensor | Info | Rate | +|---|---|---|---| +| **RGB** (stereo) | 2× FLIR Blackfly S (Sony IMX421) | 1920×1456 | 100 Hz | +| **Event** (stereo) | 2× SilkyEV VGA (Prophesee) | 640×480 | ≈7 MEv/s avg | +| **Thermal** | FLIR A35 | 320×256 | 50 Hz | +| **LiDAR** | Ouster OS1-64 | 64 beams × 2048 | 10 Hz | +| **IMU** | VectorNav VN-100T | Acc/Gyro/Mag/Baro/Temp | 400 Hz | +| **IMU** (in LiDAR) | IAM-20680HT | Acc/Gyro | 100 Hz | +| **GNSS** | u-blox ZED-F9P | RTK (NTRIP) | 5 Hz | +| **Vehicle** | 2021 Mazda CX-5 | CAN Signals | 50–100 Hz | + +![Per-sensor coordinate axes on the OctoSense rig (red = X, green = Y, blue = Z)](assets/cal_axis.png) + +## Coordinate frames & calibration + +All extrinsics are stored per-sequence under `/calib` in the bag h5, named `A_T_B` — a 4×4 matrix that +maps a point from frame **B** into frame **A** (e.g. `imgl_T_ouster` takes LiDAR points into the +left-RGB frame). Frame abbreviations: + +| abbrev | frame | | abbrev | frame | +|---|---|---|---|---| +| `imgl` / `imgr` | RGB left / right | | `ir` | Infrared (FLIR A35) | +| `evl` / `evr` | Event left / right | | `ouster` | LiDAR | +| `imu` | VectorNav IMU | | | | + +Provided extrinsics: `imgl_T_imgr`, `imgl_T_imu`, `imgl_T_ir`, `imgr_T_imu`, `ir_T_imgl`, the event-pair +set (`evl_T_evr`, `evl_T_imgl`, …), `ouster/imgl_T_ouster` / `ouster/ir_T_ouster`, and +`calib/lidar_T_lidarimu` (LiDAR IMU → LiDAR/sensor frame, from the Ouster factory +`imu_to_sensor_transform`). Each drive records which calibration it used via `rgb_cal_id` / +`imu_cal_id` / `lidar_cal_id` (in the metadata). RKO-LIO odometry (`ouster/odom/*`) tracks the LiDAR pose in the **Map frame**; +the fused `/ref` trajectory tracks the same LiDAR pose in the **UTM-relative world frame** (see Ground truth). The **depth** +GT is rendered in the **rectified left-RGB camera image** (OpenCV `stereoRectify`, R1 applied). Use the +`/calib` extrinsics (e.g. `imgl_T_ouster`) to move between frames. + +> **Per-session calibration** is released alongside the data, in **Kalibr** format: +> - **Cameras** (`calibration-camchain.yaml`) — a **4-camera Kalibr chain**: `cam0` = RGB right +> (`/flir_cam_right`), `cam1` = RGB left (`/flir_cam_left`), `cam2` = event right (`/event_camera_right`, +> 640×480), `cam3` = event left (`/event_camera_left`, 640×480). Each entry has pinhole +> `intrinsics [fx,fy,cx,cy]` + radtan `distortion_coeffs`; each cam after `cam0` carries `T_cn_cnm1` +> (transform from the previous cam in the chain). +> - **Camera↔IMU** (`calibration-camchain-imucam.yaml`, adds `T_img[l/r]_imu`) + the **IMU** noise model (`calibration-imu.yaml`). +> - **LiDAR↔camera** (`lidar_calibration_results.yaml`) and **IR** intrinsics + extrinsics (`ir_calib_result.json`). +> +> The processed h5 renames `cam0`/`cam1` to the `left`/`right` RGB streams above (and `cam2`/`cam3` are the right/left event cameras). + +![Ground-truth modalities: depth · semantic segmentation · odometry · optical flow](assets/gt.png) + +## Ground truth + +- **Odometry / ego-motion** — **RKO-LIO** LiDAR-inertial odometry: SE(3) LiDAR pose in the **Map frame** + + linear/angular velocity. +- **Depth** — sparse metric depth in the rectified left-RGB image (`depth_cm`, uint16 cm, + `0 = invalid`). Built by accumulating **61 LiDAR scans (≈6 s)**, removing dynamic objects (**YOLO26-medium** + on the nearest RGB frame), keeping the **minimum** depth per pixel, and then projecting into the camera image. +- **Optical flow** — **derived, not stored** — the ego-motion-induced flow (accumulated points projected into a + future RGB frame). Regenerate from `depth + poses` with `derive_flow.py`. +- **Semantic segmentation** — 19-class Cityscapes pseudo-labels ([**EoMT**](https://github.com/tue-mps/eomt)), on the **303 daytime sequences** + (`has_seg = true`); night/degraded have no labels. +- **Fused reference trajectory** — RKO-LIO odometry + GPS fused in a pose graph, under **`/ref`** + (`T_world_lidar` (N,4,4) + `t`) in a **UTM-relative world frame** anchored at the first GPS fix. + Geo-referencing + fusion quality live as `/ref` group attrs (`epsg`/`utm_zone`, `origin_{easting,northing,alt}_m`, GPS residual + RMS/percentiles, pose-graph error). `ref/t` is **non-uniformly sampled** — poses are emitted at the union of the LiDAR-odom (≈10 Hz) and + GPS (≈5 Hz) timestamps (≈13 Hz combined), so inter-pose intervals vary (≈0.02–0.1 s). + +## Per-sequence files (`//`) + +| file | contents | +|---|---| +| `data.h5` | timestamps, IMU, GPS, CAN, LiDAR (range [deskewed by RKO] / sig / nir / refl), RKO-LIO odom, `/ref` (fused odometry), `/calib` | +| `events.h5` | raw async event streams (`ev/left`, `ev/right`) — **≈78% of a sequence's bytes** | +| `img_{left,right,infrared}.mp4` | per-camera H.265 encoded video | +| `rgb_left_rect_depth.h5` | sparse metric depth in the rectified left-RGB image (`depth_cm`); flow derived via `derive_flow.py` | +| `rgb_left_rect_semantic.h5` | 19-class Cityscapes pseudo-label seg in the rectified left-RGB image — **day sequences only** | +| `captions.h5` | per-window scene captions (Gemma-4-31B VLM) + 4096-d Qwen3-Embedding-8B caption vectors + window metadata | + +**Units/conventions:** depth in cm (`0`=invalid); event timestamps in µs; all other h5 time arrays in seconds. + +> **Experimental — `car/radar` (Mazda forward radar).** Six object tracks decoded from the CAN data +> with the [opendbc Mazda radar DBC](https://github.com/commaai/opendbc/blob/master/opendbc/dbc/mazda_radar.dbc) (CAN IDs 865–870 = `RADAR_TRACK_361..366`). Layout: +> `car/radar/track_{1..6}/` with `t` (M,) float64 main-clock seconds, `dist` (M,) uint16, `ang` (M,) int16, +> `vrel` (M,) int16. Values are stored **raw** (no scale/offset): `dist`=`DIST_OBJ` (sentinel `4095` = no track), +> `ang`=`ANG_OBJ` (signed 12-bit), `vrel`=`RELV_OBJ` (signed 11-bit). + +## Data format + +All `*/t` arrays are **seconds on a common PPS-synced main clock** (Kalman-smoothed); event times are +**µs** on that same clock (`t/1e6` → s). Align streams **by timestamp** — RGB runs +≈100 Hz vs LiDAR ≈10 Hz. **Camera frames are raw (un-rectified)**: rectify with the per-camera `intrinsics` + +radtan `dist_coeffs` (stored in the h5 and the camchain); the depth GT is already in the rectified left-RGB frame. + +**Main bag h5 (`data.h5`)**: + +| key | shape · dtype | meaning | +|---|---|---| +| `ouster/range_pcl` | (N,131072,3) int32 | LiDAR **XYZ in mm**, 64×2048 destaggered (`[0,0,0]` = no return) | +| `ouster/{sig,nir}_pcl` · `refl_pcl` | (N,131072) uint16 · uint8 | per-point signal / near-IR / reflectivity | +| `ouster/odom/map_T_lidart` | (N,4,4) f64 | RKO-LIO LiDAR pose in the **map frame** (translation **m**) (+ `lin_vel` m/s, `ang_vel` rad/s, `t` s); `hf_odom/*` = high-rate | +| `ouster/{accel,ang_vel}` | (M,3) f32 | in-LiDAR IMU (IAM-20680HT); extrinsic to sensor frame = `calib/lidar_T_lidarimu` | +| `img/{left,right}/`, `infrared/` | — | `t` (≈100/100/50 Hz) · `intrinsics` (3,3) · `dist_coeffs` (4,) · `resolution` (2,) | +| `vectornav/` | (K,·) | `accel` (m/s²), `ang_vel` (rad/s) — each + `_raw` (uncompensated); `magnetic` (Gauss), `pressure` (Pa), `temperature` (°C), `t` (s); 400 Hz | +| `gps/data` | (G,7) f64 | `[lat°, lon°, alt_m, cov_xx, cov_yy, cov_zz, fix]`. `fix` = ROS `NavSatStatus.status`: **−1** no-fix · **0** standard fix · **1** SBAS · **2** GBAS/RTK. | +| `gps/velocity_enu` · `gps/heading` | (G,3) · (G,2) f64 | ENU velocity m/s · `[heading_rad, heading_acc]` | +| `car/` | (·,2+) f32 | CAN (col 0 = time, s): `speed` (mph), `wheels` (4× wheel speed, mph), `steer` (deg), `steer_rate` (deg/s), `vcc` = `[acc_x, acc_y]` (≈m/s²), `brake_on` (0/1), `pedal` & `brake_press` (raw counts) + `radar/` (above). **Experimental — decoded via a community Mazda DBC; units approximate/unverified.** | +| `ref/T_world_lidar` | (R,4,4) f64 | **fused** RKO-LIO+GPS pose, **UTM-relative world frame** (+ `ref/t`; geo-ref + quality in `/ref` attrs: `epsg`, `origin_{easting,northing}_m`, GPS residuals) | +| `calib/` | — | extrinsics `A_T_B` | + +**Events (`events.h5`)** — flat arrays over all events, per side: + +| key | dtype | meaning | +|---|---|---| +| `ev/{left,right}/t` | uint64 | event time **µs** (main clock) | +| `ev/{left,right}/{x,y}` | uint16 | pixel col / row, **raw 640×480** (un-rectified) | +| `ev/{left,right}/p` | uint8 | polarity (0/1) | +| `ev/{left,right}/ms_to_idx` | uint64 | millisecond → event index | + +**Depth GT (`rgb_left_rect_depth.h5`)** — per-LiDAR-scan sparse depth in the **rectified left-RGB** image. +`N` = `n_lidar_frames`; frame `k` ↔ LiDAR scan `k`. Carries its own `timestamps` +(identical to `data.h5` `ouster/t`) and index arrays: + +| key | shape · dtype | meaning | +|---|---|---| +| `depth_cm` | (N,1456,1920) uint16 | metric depth in **cm** (`m = depth_cm/100`), `0 = invalid` | +| `timestamps` | (N,) f64 | main-clock seconds (= `data.h5` `ouster/t`) | +| `lidar_indices` | (N,) int64 | LiDAR-scan index (`0..N−1`) | +| `left_img_indices` | (N,) int64 | matching frame in `img_left.mp4`| +| `poses` | (N,4,4) f32 | per-scan LiDAR pose used to accumulate the depth (input to `derive_flow.py`) | +| `K_rect` · `R3` | (3,3) f64 | rectified left-RGB intrinsics · rectification rotation (`R1`) | +| `imgl_T_ouster` | (4,4) f64 | LiDAR → **raw (unrectified)** left-RGB cam | +| `raw_res` | (2,) int32 | source image resolution | + +Root attrs: `depth_scale_cm`, `flow_{gap,scale,invalid}`, `flow_stored` (=`False` — flow is **derived, not stored**), `n_scans`. + +**Semantic GT (`rgb_left_rect_semantic.h5`, day sequences only)** — per-LiDAR-scan 19-class seg in the +**rectified left-RGB** image, aligned 1:1 with `rgb_left_rect_depth.h5`: + +| key | shape · dtype | meaning | +|---|---|---| +| `semantic` | (N,1456,1920) uint8 | Cityscapes class id `0..18` (see `classes` attr); `255` = ignore | +| `lidar_indices` | (N,) int64 | LiDAR-scan index for each frame (`0..N−1`) | +| `left_img_indices` | (N,) int64 | matching frame in `img_left.mp4` (RGB ≈100 Hz vs LiDAR ≈10 Hz) | +| `timestamps` | (N,) f64 | main-clock seconds | + +Root attrs: `classes` (19 names), `num_classes=19`, `model=EoMT-Cityscapes-DINOv2-L-1024`, +`coordinate_frame=rectified_left`, `preprocessing=rectify+CLAHE`, `resolution=1920x1456`. +So `semantic[k]` ↔ `depth_cm[k]` ↔ `img_left.mp4[left_img_indices[k]]` ↔ `ouster/t[k]`. + +**Captions & semantic search (`captions.h5`)** — each sequence is split into **≈5 s windows** (`W` per +sequence ≈ duration / 5 s); every window gets a natural-language scene caption (a **Gemma-4-31B** VLM) and a +4096-d text embedding (**Qwen3-Embedding-8B**) for free-text retrieval: + +| key | shape · dtype | meaning | +|---|---|---| +| `captions` | (W,) str | one scene caption per window | +| `embeddings` | (W,4096) f32 | Qwen3-Embedding-8B vector for each caption | +| `metadata` | (W,) struct | `window_id`, `frame_idx` (→ `img_left.mp4` frame), `timestamp` (main-clock s), `speed_mps`, `turn_deg`, `dist_m`, `is_night` | + +Root attrs: `caption_model`, `embed_model`, `embed_dim` (4096), `num_windows`, `video_id`. + +## Splits + +`train` = 293 · `test` = 78 (bag-level; preserved across dataset versions). The dataset contains daytime, nighttime, and degraded sequences. + +## `metadata.parquet` fields (27) + +`bag_id, session, start_time, split, is_daytime, degraded, has_seg, +duration_s, n_lidar_frames, n_rgb_frames, n_imu_samples, n_events_left, n_events_right, +n_gps_fixes, n_gps_valid, gps_quality, gps_lat_min/max, gps_lon_min/max, +mean_speed_mph, idle_fraction, distance_m, rgb_cal_id, imu_cal_id, lidar_cal_id, sensor_dropout` + +- `gps_quality` ∈ {`RTK_fixed_cm`, `float_dm`, `single_m`, `no_fix`, `absent`} — 67 / 62 / 239 / 2 / 1. +- `sensor_dropout` — `null`, or `sensor:seconds[;sensor:seconds]` + +## Loading + +```python +import h5py, hdf5plugin, numpy as np, pyarrow.parquet as pq +meta = pq.read_table("metadata.parquet").to_pydict() # per-sequence table +with h5py.File("//data.h5") as f: + lidar = f["ouster/range_pcl"][:]; odom = f["ouster/odom/map_T_lidart"][:] + +# RGB / IR frames — native-res H.265 mp4 decoded with torchcodec. +from torchcodec.decoders import VideoDecoder +dec = VideoDecoder("//img_left.mp4") # 1920x1456; len(dec) == n_rgb_frames +rgb_k = dec[k] # (3, H, W) uint8 tensor at frame k +# RGB runs ≈100 Hz vs LiDAR ≈10 Hz — align by TIMESTAMP, not shared index: +with h5py.File("//data.h5") as f: + img_t = f["img/left/t"][:]; lid_t = f["ouster/t"][:] # seconds, same main clock +k = int(np.argmin(np.abs(img_t - lid_t[j]))) # RGB frame nearest LiDAR frame j +# img_right.mp4 / img_infrared.mp4 decode the same way (IR is grayscale-as-video, ≈50 Hz). + +# Depth + semantic GT — one frame per LiDAR scan, in the rectified left-RGB image: +with h5py.File("//rgb_left_rect_depth.h5") as f: + depth_m = f["depth_cm"][j] / 100.0 # (1456,1920); 0 = invalid (j = LiDAR scan) +with h5py.File("//rgb_left_rect_semantic.h5") as f: # day sequences only + seg = f["semantic"][j] # (1456,1920) uint8, class 0..18 + rgb_idx = f["left_img_indices"][j] # matching img_left.mp4 frame for scan j + +# flow is derived, not stored: +from derive_flow import derive_flow_from_h5 +flow_uv = derive_flow_from_h5("//rgb_left_rect_depth.h5", frame_idx, poses=odom) +``` + +## Statistics + +371 sequences · 59.0 h · 2,474 km · 8.43 TB · 303 day / 68 night · 4 degraded · segmentation on 303 · GPS: 67 RTK / 62 float / 239 single / 2 no-fix / 1 absent. + +## Notes/Known limitations + +- **Optical flow is derived solely from ego-motion** — rigid camera-motion reprojection of LiDAR depth; it does **not** + capture independent motion of dynamic objects. +- **Seg is day-only** (303 sequences); night/degraded have no segmentation labels. +- **IMU compensated vs raw.** VectorNav factory-calibrates each unit (bias/scale/axis-misalignment + temperature applied). In this dataset `accel` ≡ `accel_raw` (bit-identical); `ang_vel` additionally has the on-board EKF's real-time gyro-bias estimate removed. +- **5 sequences have a >10 s sensor dropout** (see `sensor_dropout`): 3 with the event camera off early + (20–43 s), 1 GPS+CAN, 1 CAN. **3 sequences have no usable GPS** (`no_fix`/`absent`). +- **IR & GPS are PPS-synced indirectly, through the IMU PPS-system clock calibration.** +- **LiDAR clock is PPS-stepped, not Kalman-aligned.** Unlike the other streams, the Ouster clock is not + actively Kalman-smoothed onto the main clock; its internal clock only advances its whole-second + counter when the PPS edge arrives. +- **IMU is noisy from vehicle vibration.** Both IMUs pick up road and engine vibration; the sensors are + soft-mounted to dampen it, but residual vibration noise remains in the accelerometer / gyro signals. +- **IR frame rate occasionally dips below 50 Hz.** The infrared camera is not run as a composable node, so + under load it sometimes falls below its nominal 50 Hz capture rate (gaps visible in `infrared/t`). +- **RKO-LIO cold-start transient.** The estimator's initial phase can occasionally be jerky — at the start of a + sequence the LIO briefly reports ≈zero motion, then "catches up" with a jump once it converges → + jerky roll/pitch (occasionally z) over the first few meters of motion (upstream RKO-LIO issue #139). +- **LiDAR deskew is a constant-motion approximation.** Each ~100 ms sweep is motion-compensated using the + **average** body acceleration `a` and **average** angular velocity `ω` over the sweep — a point at offset + `dt` from the scan reference time is warped by `exp([ v·dt + ½·a·dt², ω·dt ])` (constant-acceleration + translation + constant-angular-velocity rotation). Because `a`/`ω` are held constant across the sweep, + rapid intra-sweep motion (high jerk, sharp turns, potholes) leaves some residual skew; `a` is + Kalman-filtered + jerk-bounded to limit this but cannot fully remove it. + +## Citation +```bibtex +@misc{bisulco2026octosense, + title = {{OctoSense}: Self-Supervised Learning for Multimodal Robot Perception}, + author = {Bisulco, Anthony and Wang, Jeremy and Daniilidis, Kostas and Balestriero, Randall and Chaudhari, Pratik}, + year = {2026}, + howpublished = {Preprint}, +} +``` + +## License + +Released under the **MIT License** — free to use, modify, and redistribute with attribution; provided "as is" without warranty. If you use OctoSense, please cite the paper (see Citation above). \ No newline at end of file diff --git a/assets/cal_axis.png b/assets/cal_axis.png new file mode 100644 index 0000000000000000000000000000000000000000..22a873cf78c318bf0d0e88f4a7d4c7f5981f3f4c --- /dev/null +++ b/assets/cal_axis.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47bb50eb52c0713b904ecc71b8516ad9eec8b36229b1b7c5f5d8a65e00325bb6 +size 2009350 diff --git a/assets/gt.png b/assets/gt.png new file mode 100644 index 0000000000000000000000000000000000000000..cc993ffab20131c94ec81c79f8a4df1b01aa65bf --- /dev/null +++ b/assets/gt.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a1f37405b51116403720afc2cd6d3d5936958ca7b45bfbfed2aaab1553937eb +size 1413822 diff --git a/assets/hero.gif b/assets/hero.gif new file mode 100644 index 0000000000000000000000000000000000000000..81ab870cfda6314a9427cd3a88ae1737a87a269e --- /dev/null +++ b/assets/hero.gif @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:020f2ec867af8b9072764fe4eba890ba0c47b889f18c7c1a7c3358c71c0b31da +size 8787369 diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/calibration-camchain.yaml b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/calibration-camchain.yaml new file mode 100644 index 0000000000000000000000000000000000000000..79866a3b93fafcfdaa8d3b5913d9a7b0d0d22ae0 --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/calibration-camchain.yaml @@ -0,0 +1,47 @@ +cam0: + cam_overlaps: [1, 2, 3] + camera_model: pinhole + distortion_coeffs: [-0.15385396380802188, 0.0749641388870442, 0.001000267559278542, 0.002804201584318143] + distortion_model: radtan + intrinsics: [1417.501796249508, 1413.430442569655, 988.1439401050002, 733.8064858691746] + resolution: [1920, 1456] + rostopic: /flir_cam_right +cam1: + T_cn_cnm1: + - [0.9995593640170585, -0.007529703240476874, 0.02871204233227203, 0.3838725843195073] + - [0.005717000260326077, 0.998015962148046, 0.0627013174159818, 0.0009849047658489283] + - [-0.029127198866407675, -0.06250954220586345, 0.9976192477189764, -0.0019515762440131853] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0, 2, 3] + camera_model: pinhole + distortion_coeffs: [-0.15589065459647117, 0.06084534489493509, -0.00234409054407442, -0.0026530574846732736] + distortion_model: radtan + intrinsics: [1428.3251206496743, 1423.8837606531902, 902.691023138746, 632.4383854230887] + resolution: [1920, 1456] + rostopic: /flir_cam_left +cam2: + T_cn_cnm1: + - [0.9999095568056536, 0.007131281197360464, -0.011402764454651456, -0.2765923364369594] + - [-0.007491974492247794, 0.9994627085780684, -0.031908689725550894, 0.001973280420442845] + - [0.01116908800805142, 0.031991233022160025, 0.9994257413549008, 0.0007015331518512155] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0, 1, 3] + camera_model: pinhole + distortion_coeffs: [-0.16106104491840462, 0.08215485720807618, -0.0009966249214452445, -0.002603151199575899] + distortion_model: radtan + intrinsics: [427.79848694363847, 427.3455387218023, 311.33829577023766, 228.50968889775194] + resolution: [640, 480] + rostopic: /event_camera_right +cam3: + T_cn_cnm1: + - [0.9999988997457284, 0.001238941642642881, 0.0008158007899400578, 0.37992465909227136] + - [-0.0012351223343334272, 0.999988353044184, -0.004665645591967993, -0.0007861317242734042] + - [-0.000821571750958009, 0.004664632844795503, 0.9999887830472257, -0.012386021719521651] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0, 1, 2] + camera_model: pinhole + distortion_coeffs: [-0.1568936987135577, 0.07657681907205878, 0.0008004354838615022, -0.0012859496766683847] + distortion_model: radtan + intrinsics: [427.5042540144832, 426.1324526071299, 313.2063248051701, 223.6201600911985] + resolution: [640, 480] + rostopic: /event_camera_left diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/calibration-results-cam.txt b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/calibration-results-cam.txt new file mode 100644 index 0000000000000000000000000000000000000000..10b4103fbd05e597c21e38b7d7e22a1cb6d31783 --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/calibration-results-cam.txt @@ -0,0 +1,50 @@ +Calibration results +==================== +Camera-system parameters: +cam0 (/flir_cam_right): + type: + distortion: [-0.15385396 0.07496414 0.00100027 0.0028042 ] +- [0.00073926 0.00114316 0.00008007 0.00008395] + projection: [1417.50179625 1413.43044257 988.14394011 733.80648587] +- [0.14282976 0.15942435 0.03996132 0.24838398] + reprojection error: [-0.002576, -0.011486] +- [1.106160, 1.284410] + +cam1 (/flir_cam_left): + type: + distortion: [-0.15589065 0.06084534 -0.00234409 -0.00265306] +- [0.00066284 0.00104279 0.00008345 0.00006756] + projection: [1428.32512065 1423.88376065 902.69102314 632.43838542] +- [0.15164593 0.16250659 0.03110859 0.23649301] + reprojection error: [0.002399, 0.009587] +- [1.099249, 1.085763] + +cam2 (/event_camera_right): + type: + distortion: [-0.16106104 0.08215486 -0.00099662 -0.00260315] +- [0.00192452 0.00300279 0.00021092 0.00015584] + projection: [427.79848694 427.34553872 311.33829577 228.5096889 ] +- [0.18781801 0.20852822 0.13149429 0.34753077] + reprojection error: [0.001266, 0.001172] +- [0.411296, 0.386043] + +cam3 (/event_camera_left): + type: + distortion: [-0.1568937 0.07657682 0.00080044 -0.00128595] +- [0.00208104 0.00347396 0.00023031 0.00015028] + projection: [427.50425401 426.13245261 313.20632481 223.62016009] +- [0.1683201 0.17927078 0.00461333 0.05233623] + reprojection error: [0.000858, -0.002563] +- [0.489927, 0.427000] + +baseline T_1_0: + q: [ 0.03132153 -0.0144685 -0.00331367 0.99939914] +- [0.00034278 0.0000651 0.00004473] + t: [ 0.38387258 0.0009849 -0.00195158] +- [0.00006778 0.0000523 0.0002185 ] + +baseline T_2_1: + q: [-0.01597738 0.00564381 0.00365636 0.99984974] +- [0.00089633 0.00035066 0.00011301] + t: [-0.27659234 0.00197328 0.00070153] +- [0.00015098 0.00015531 0.00057625] + +baseline T_3_2: + q: [-0.00233258 -0.00040934 0.00061852 0.999997 ] +- [0.00081957 0.00036337 0.00015682] + t: [ 0.37992466 -0.00078613 -0.01238602] +- [0.00020842 0.00020971 0.0006807 ] + + + +Target configuration +==================== + + Type: aprilgrid + Tags: + Rows: 6 + Cols: 6 + Size: 0.1121 [m] + Spacing 0.028025 [m] diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/cam_cal_rosbag2_2026_01_04-16_13_08.h5 b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/cam_cal_rosbag2_2026_01_04-16_13_08.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9ca838227fe788b7c2208d7cc80b7a9fa2f699c9 --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/cam_cal_rosbag2_2026_01_04-16_13_08.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/ir_calib_result.json @@ -0,0 +1,252 @@ +{ + "method": "manually tuned (full-FOV LiDAR overlay): fx/fy lowered to ~368 (FOV25/9mm lens, ~48deg HFOV); cx,cy,distortion,extrinsic from the board solve. Board-solve backup in ir_calib_result.board_solve.json | cx,cy set to consensus 155.9,136.0; LiDAR extrinsic replaced with consensus (sess7 lidar solve was 4deg-pitched).", + "n_frames": 30, + "reproj_rms_px": 1.0603113475511523, + "lock_rotation": true, + "per_corner_px": [ + 3.4586056151857942, + 1.7125056777399201, + 0.658155220368891, + 1.0763478069669796, + 1.2222896109060755, + 0.6391753914116343, + 3.0934195935984463, + 2.2776168649077033, + 1.3238465633859948, + 0.36039785427295545, + 0.6891236671560625, + 2.0750131404114986, + 1.273109554037808, + 0.6299586868406469, + 0.43434927536102985, + 1.6453919123983034, + 0.18529737465638604, + 0.8473856576217216, + 1.6830623980485402, + 2.1023812652897007, + 1.2818174820986057, + 1.3660594803897652, + 1.353966574268261, + 1.007420191628305, + 0.6165733032088786, + 1.1551738504786604, + 1.154334407163439, + 1.4534803508839425, + 0.48683259526236916, + 0.3951784756628802, + 0.7603032760678595, + 0.25757465880089864, + 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155.9 + ], + [ + 0, + 369.0, + 136.0 + ], + [ + 0, + 0, + 1 + ] + ], + "dist_ir_k1k2": [ + -0.545, + 0.696 + ], + "IR_T_imgl": [ + [ + 1.0, + 0.0, + 0.0, + -0.1424863636132294 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0009733062268852058 + ], + [ + 0.0, + 0.0, + 1.0, + 0.026916050944818713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "imgl_T_ir": [ + [ + 1.0, + 0.0, + 0.0, + 0.1424863636132294 + ], + [ + 0.0, + 1.0, + 0.0, + -0.0009733062268852058 + ], + [ + 0.0, + 0.0, + 1.0, + -0.026916050944818713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ir_offset_in_imgl_mm": [ + 142.4863636132294, + -0.9733062268852057, + -26.916050944818714 + ], + "board_corners_obj": [ + [ + -0.07966514827663551, + 0.8847337394747509 + ], + [ + 0.8949165206388403, + 0.8961373454876644 + ], + [ + 0.907435602483927, + -0.0782427276688874 + ], + [ + -0.0705313960210607, + -0.08546330250469054 + ] + ], + "board_size_est_m": 0.9751132160996765, + "IR_T_ouster": [ + [ + 0.013205554764861238, + -0.9998586564267034, + 0.010405791269300912, + 0.004920799476724441 + ], + [ + -0.003678134234092134, + -0.010455201705048628, + -0.9999385781566101, + -0.11369951942079497 + ], + [ + 0.9999060379115172, + 0.013166469758244093, + -0.0038156810921501083, + -0.0017349393973184052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "fx_source": "full_fov_lidar_tuning" +} \ No newline at end of file diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/lidar_calibration_results.yaml b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/lidar_calibration_results.yaml new file mode 100644 index 0000000000000000000000000000000000000000..85e52ece6d3e91a20f77eabc2f1c532f24a7b378 --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/lidar_calibration_results.yaml @@ -0,0 +1,22 @@ +rotation_matrix: +- - 0.038391927015290095 + - -0.9992573277241956 + - -0.0032943784773484253 +- - 0.06381339228740623 + - 0.005741792988315175 + - -0.997945330555764 +- - 0.9972230998652338 + - 0.038102818829828244 + - 0.0639864383474737 +translation_vector: +- 0.1418411979547808 +- -0.1090404289171035 +- 0.020060963891382896 +config: + h5_path: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/cam_cal_rosbag2_2026_01_04-16_13_08.h5 + video_path: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/img_left.mp4 + metadata_json_path: /data/rosbags/raw/calibrations/rev7_1.json + kalibr_file: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/calibration-camchain.yaml + cam_name: cam1 + true_radius: 0.432 + filter_dist: 0.01 diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/time_offset.npz b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/time_offset.npz new file mode 100644 index 0000000000000000000000000000000000000000..fb69fe136505551966459fc1be3e512273a0577e --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_04-16_13_08/time_offset.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6eb0fedb525f5e9556ba8b3a09bf273baebc9ba61c119445b6269db31649159 +size 207639 diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/calibration-camchain.yaml b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/calibration-camchain.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aa2cee9bfaa41c9de93efda9310df87c75a2ab8c --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/calibration-camchain.yaml @@ -0,0 +1,47 @@ +cam0: + cam_overlaps: [1, 2, 3] + camera_model: pinhole + distortion_coeffs: [-0.1426568615786943, 0.07628358991356403, -0.000908446598250203, -6.748113073224323e-05] + distortion_model: radtan + intrinsics: [1398.2699754978512, 1400.186224869683, 973.8555741006179, 751.495969115427] + resolution: [1920, 1456] + rostopic: /flir_cam_right +cam1: + T_cn_cnm1: + - [0.9999545009096574, -0.0049176999396421716, -0.008173881441767668, 0.38229768083647114] + - [0.004925522475114707, 0.9999874303998881, 0.0009371609139109687, 0.0018753647043283606] + - [0.008169170023176797, -0.0009773789106922296, 0.9999661541230283, -0.0027115590462577235] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0, 2, 3] + camera_model: pinhole + distortion_coeffs: [-0.1436030205679032, 0.07898677140910257, -0.0004848330496942119, -0.0018099632545118306] + distortion_model: radtan + intrinsics: [1401.7762438243033, 1402.8201774222791, 941.4989575858184, 734.47904421732] + resolution: [1920, 1456] + rostopic: /flir_cam_left +cam2: + T_cn_cnm1: + - [0.999988717481768, 0.0044123705757418905, -0.0017595155745295057, -0.2754415661582165] + - [-0.004406507279129324, 0.9999847720463868, 0.0033224040874964915, 0.0008861766254893126] + - [0.0017741484587443616, -0.0033146132842249176, 0.9999929328430318, 0.0024474959217993986] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0, 1, 3] + camera_model: pinhole + distortion_coeffs: [-0.14880697099123483, 0.08077396406963679, -0.0005375739635001428, 0.00037295846206041196] + distortion_model: radtan + intrinsics: [420.38809104308325, 421.46420981254107, 318.7538807240635, 244.47413174989723] + resolution: [640, 480] + rostopic: /event_camera_right +cam3: + T_cn_cnm1: + - [0.9999898171351708, 0.004500654068547862, -0.00033126864134058346, 0.37948651243408443] + - [-0.0044996844487672875, 0.9999857528676026, 0.0028717419217569994, -0.0006966856410890064] + - [0.0003441886386763681, -0.0028702220748433958, 0.9999958216709767, -0.002890277294159323] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0, 1, 2] + camera_model: pinhole + distortion_coeffs: [-0.13409145089148422, 0.06806644083326019, -0.00045836638913454645, -0.002516334836130025] + distortion_model: radtan + intrinsics: [421.6126479946354, 422.1641646911804, 321.74911305883643, 236.09261887460912] + resolution: [640, 480] + rostopic: /event_camera_left diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/calibration-results-cam.txt b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/calibration-results-cam.txt new file mode 100644 index 0000000000000000000000000000000000000000..7bf2cc18da1f2c6cb9649e569d44dc7948512f53 --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/calibration-results-cam.txt @@ -0,0 +1,50 @@ +Calibration results +==================== +Camera-system parameters: +cam0 (/flir_cam_right): + type: + distortion: [-0.14265686 0.07628359 -0.00090845 -0.00006748] +- [0.00152725 0.0028502 0.00019905 0.00017411] + projection: [1398.2699755 1400.18622487 973.8555741 751.49596912] +- [0.21190694 0.22358612 0.01362437 0.07182291] + reprojection error: [-0.000668, -0.000496] +- [0.530497, 0.326562] + +cam1 (/flir_cam_left): + type: + distortion: [-0.14360302 0.07898677 -0.00048483 -0.00180996] +- [0.00150894 0.00189865 0.00018073 0.00021982] + projection: [1401.77624382 1402.82017742 941.49895759 734.47904422] +- [0.22581272 0.22558942 0.00896132 0.0552479 ] + reprojection error: [0.000086, -0.000453] +- [0.439034, 0.289310] + +cam2 (/event_camera_right): + type: + distortion: [-0.14880697 0.08077396 -0.00053757 0.00037296] +- [0.00353113 0.00598779 0.00043567 0.00028482] + projection: [420.38809104 421.46420981 318.75388072 244.47413175] +- [0.30739548 0.2914447 0.036425 0.11938748] + reprojection error: [0.000001, -0.000350] +- [0.426499, 0.382698] + +cam3 (/event_camera_left): + type: + distortion: [-0.13409145 0.06806644 -0.00045837 -0.00251633] +- [0.00371379 0.00353187 0.00033296 0.00057622] + projection: [421.61264799 422.16416469 321.74911306 236.09261887] +- [0.26061686 0.25674905 0.01049326 0.04571637] + reprojection error: [0.000314, -0.000579] +- [0.426590, 0.412968] + +baseline T_1_0: + q: [ 0.00047864 0.00408581 -0.00246083 0.99998851] +- [0.00010544 0.00006059 0.00008233] + t: [ 0.38229768 0.00187536 -0.00271156] +- [0.00009407 0.00008597 0.0003443 ] + +baseline T_2_1: + q: [0.00165926 0.00088342 0.00220473 0.9999958 ] +- [0.00038649 0.00020076 0.00020658] + t: [-0.27544157 0.00088618 0.0024475 ] +- [0.00024407 0.00026242 0.00087789] + +baseline T_3_2: + q: [0.0014355 0.00016886 0.00225009 0.99999642] +- [0.00041806 0.0002536 0.00028278] + t: [ 0.37948651 -0.00069669 -0.00289028] +- [0.00034212 0.00034187 0.00108567] + + + +Target configuration +==================== + + Type: aprilgrid + Tags: + Rows: 6 + Cols: 6 + Size: 0.1121 [m] + Spacing 0.028025 [m] diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/cam_cal_rosbag2_2026_01_08-15_24_20.h5 b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/cam_cal_rosbag2_2026_01_08-15_24_20.h5 new file mode 100644 index 0000000000000000000000000000000000000000..46c22bc83b6931e4dde684af2658fb247a541e0d --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/cam_cal_rosbag2_2026_01_08-15_24_20.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e311b167e3c42a0b34db50589e1f71677868d247190470702777074c0d4a69f +size 1980232906 diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/img_infrared.mp4 b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/img_infrared.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..eacbef370d22487171f44d73d3e073bd0d252097 --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/img_infrared.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06ed1aa810c454ea876cd4cb1f0d6882bbe0f6f92f658fc1313545b38802ddea +size 7188494 diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/img_left.mp4 b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/img_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..da45f86732e4ac008e6e32504f824a6b8c8b5c8f --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/img_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c443b57dcada7951e34ad98d3815462c3454deb7fb84233b2d5d5df1f895e579 +size 133051221 diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/img_right.mp4 b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/img_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7a985c438a9b9dbeb044aeebac35d2f17ad3b574 --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/img_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca330b0f07573e089fab0a4f6a4833b73037fcfc4eacb082ec9aff5c4d339df2 +size 115032358 diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/ir_calib_result.json b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/ir_calib_result.json new file mode 100644 index 0000000000000000000000000000000000000000..22af6f548ec887ca194dba094525814ad4e7ac68 --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/ir_calib_result.json @@ -0,0 +1,232 @@ +{ + "method": "manually tuned (full-FOV LiDAR overlay): fx=fy=370 (FOV25/9mm lens); cx,cy,distortion,extrinsic from board solve. Board-solve backup in ir_calib_result.board_solve.json", + "n_frames": 25, + "reproj_rms_px": 1.3072880214799218, + "lock_rotation": true, + "per_corner_px": [ + 2.1142890185161227, + 1.1035600472024796, + 0.624600073510562, + 1.3310831420835025, + 0.535790723375995, + 0.8606905526116133, + 1.819368275129702, + 0.6742746954052509, + 1.0566036765897449, + 0.5970231846618801, + 1.0998646399435554, + 1.038053662386867, + 2.0868361659796837, + 1.3343529518157633, + 2.608995579645219, + 1.8215003350075847, + 1.1620796299795493, + 0.43426501390812866, + 1.995412242898972, + 4.199472585783382, + 0.9818357800864126, + 1.24900739608335, + 0.9608506088349323, + 1.2764880238918084, + 1.0159064341356363, + 0.3200765239881183, + 1.2367618424428874, + 1.063475856158881, + 1.7080750669447602, + 0.6865929237922664, + 1.376983841219791, + 1.7833708125808567, + 1.048811005278161, + 1.0814835654930472, + 3.1619804848526427, + 1.0172320090775124, + 1.1993943700018488, + 1.1248937680475324, + 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0.3257059227080739, + 0.05883955988388426, + 1.0557663961921753, + 0.9209555484072252, + 1.1732156597589183, + 0.842771077093091, + 0.4295032296713008, + 1.7444489280487214, + 0.5410779573293882, + 1.8029389611638247, + 0.8223272258267569, + 1.534609714468707, + 1.3061135766488878, + 0.9695456009093559, + 0.9767353082730291, + 2.8527486402604536, + 1.0112474138201615 + ], + "K_ir_native_320x256": [ + [ + 370.0, + 0, + 157.62767562574672 + ], + [ + 0, + 370.0, + 137.38272868825922 + ], + [ + 0, + 0, + 1 + ] + ], + "dist_ir_k1k2": [ + -0.42750974815336473, + 0.30038850771388104 + ], + "IR_T_imgl": [ + [ + 1.0, + 0.0, + 0.0, + -0.13786059477055837 + ], + [ + 0.0, + 1.0, + 0.0, + -0.002689311641643997 + ], + [ + 0.0, + 0.0, + 1.0, + 0.06167481889703724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "imgl_T_ir": [ + [ + 1.0, + 0.0, + 0.0, + 0.13786059477055837 + ], + [ + 0.0, + 1.0, + 0.0, + 0.002689311641643997 + ], + [ + 0.0, + 0.0, + 1.0, + -0.06167481889703724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ir_offset_in_imgl_mm": [ + 137.86059477055838, + 2.689311641643997, + -61.67481889703724 + ], + "board_corners_obj": [ + [ + 0.8894204732167135, + 0.8983952488149295 + ], + [ + 0.8947705894217998, + -0.07988973452016274 + ], + [ + -0.08110884573417361, + -0.09262225393774631 + ], + [ + -0.0865289930150887, + 0.8897311297570488 + ] + ], + "board_size_est_m": 0.9808269087115785, + "IR_T_ouster": [ + [ + 0.00837700055918117, + -0.9999267937283713, + 0.008731153745665354, + 0.015783993196589213 + ], + [ + 0.000769294866470982, + -0.008725013164515794, + -0.9999616404296153, + -0.13701408628969883 + ], + [ + 0.9999646163975202, + 0.00838339605279359, + 0.0006961491091040384, + 0.04779350070062042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "fx_source": "full_fov_lidar_tuning" +} \ No newline at end of file diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/lidar_calibration_results.yaml b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/lidar_calibration_results.yaml new file mode 100644 index 0000000000000000000000000000000000000000..63092326fb2ad44dc02f51cdf8421caa96388ab7 --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/lidar_calibration_results.yaml @@ -0,0 +1,22 @@ +rotation_matrix: +- - 0.00837700055918117 + - -0.9999267937283713 + - 0.008731153745665354 +- - 0.000769294866470982 + - -0.008725013164515794 + - -0.9999616404296153 +- - 0.9999646163975202 + - 0.00838339605279359 + - 0.0006961491091040384 +translation_vector: +- 0.15364458796714758 +- -0.13432477464805484 +- -0.013881318196416826 +config: + h5_path: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/cam_cal_rosbag2_2026_01_08-15_24_20.h5 + video_path: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/img_left.mp4 + metadata_json_path: /data/rosbags/raw/calibrations/rev7_1.json + kalibr_file: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/calibration-camchain.yaml + cam_name: cam1 + true_radius: 0.432 + filter_dist: 0.01 diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/time_offset.npz b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/time_offset.npz new file mode 100644 index 0000000000000000000000000000000000000000..8198303fda3cff2635e4819b2c1e0a6d22bd5316 --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_08-15_24_20/time_offset.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7a86d9014a5364f057aa209d7a5b39703962dcc783711e6e0804f0c97af73ff +size 160180 diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/calibration-camchain.yaml b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/calibration-camchain.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f5db77d3b18a5b1d206408d4aadf15b5229c520d --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/calibration-camchain.yaml @@ -0,0 +1,47 @@ +cam0: + cam_overlaps: [1, 2, 3] + camera_model: pinhole + distortion_coeffs: [-0.14787396747563236, 0.09153047625690433, -0.0008960909329665315, -0.00021796604329297103] + distortion_model: radtan + intrinsics: [1399.1129208969217, 1397.1784349833051, 968.5988768996218, 752.7657075282705] + resolution: [1920, 1456] + rostopic: /flir_cam_right +cam1: + T_cn_cnm1: + - [0.99996091983495, -0.005038352861862628, -0.0072645580221542645, 0.38182213737975873] + - [0.005054929172142473, 0.9999846580425193, 0.0022652528837507927, 0.0021775304865360983] + - [0.007253033426264367, -0.002301886183563151, 0.999971046993908, -0.0054618522845664656] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0, 2, 3] + camera_model: pinhole + distortion_coeffs: [-0.14525155304234266, 0.0808709221398583, -0.0007681430128700377, -0.0017324421257447693] + distortion_model: radtan + intrinsics: [1400.9350120401848, 1397.7861994325692, 936.2239798398818, 736.0012771137447] + resolution: [1920, 1456] + rostopic: /flir_cam_left +cam2: + T_cn_cnm1: + - [0.9999381917251355, 0.005035436091081004, -0.009912472590015695, -0.27513831961636137] + - [-0.005042244400620353, 0.9999870686991309, -0.00066197124794198, 0.00058676373406244] + - [0.009909011094937088, 0.000711911442054441, 0.9999506511229582, 0.0007545452379877609] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0, 1, 3] + camera_model: pinhole + distortion_coeffs: [-0.14687653638039458, 0.08850552106068162, -0.001213295589460522, 0.0007508043789556837] + distortion_model: radtan + intrinsics: [420.5406993281328, 419.73120773720944, 320.36454361767585, 245.9047410606368] + resolution: [640, 480] + rostopic: /event_camera_right +cam3: + T_cn_cnm1: + - [0.9999566369759583, 0.0034988536368112024, 0.008630306539849303, 0.3784857096347118] + - [-0.00357287682021566, 0.9999568367263917, 0.008576668081958781, -0.0007145241314788256] + - [-0.008599925521256465, -0.008607131193882076, 0.9999259765470903, -0.003866475785601903] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0, 1, 2] + camera_model: pinhole + distortion_coeffs: [-0.14123459957364473, 0.07406590366055538, -0.0010618484880483684, -0.0014227224733529868] + distortion_model: radtan + intrinsics: [421.4787713400347, 420.6833344354001, 320.13875692093046, 235.32491748095796] + resolution: [640, 480] + rostopic: /event_camera_left diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/calibration-results-cam.txt b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/calibration-results-cam.txt new file mode 100644 index 0000000000000000000000000000000000000000..d05dc815e63cd5b8df7a46d5e7dc42573b9649ae --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/calibration-results-cam.txt @@ -0,0 +1,50 @@ +Calibration results +==================== +Camera-system parameters: +cam0 (/flir_cam_right): + type: + distortion: [-0.14787397 0.09153048 -0.00089609 -0.00021797] +- [0.00091862 0.00161794 0.00012694 0.00014832] + projection: [1399.1129209 1397.17843498 968.5988769 752.76570753] +- [0.14627228 0.17477558 0.01787351 0.14684089] + reprojection error: [-0.000312, -0.000815] +- [0.400515, 0.315315] + +cam1 (/flir_cam_left): + type: + distortion: [-0.14525155 0.08087092 -0.00076814 -0.00173244] +- [0.00086686 0.00139414 0.00012529 0.00015329] + projection: [1400.93501204 1397.78619943 936.22397984 736.00127711] +- [0.15047087 0.16617003 0.00511123 0.06879126] + reprojection error: [0.000251, -0.000343] +- [0.233766, 0.207064] + +cam2 (/event_camera_right): + type: + distortion: [-0.14687654 0.08850552 -0.0012133 0.0007508 ] +- [0.0023074 0.0037929 0.00024372 0.00020091] + projection: [420.54069933 419.73120774 320.36454362 245.90474106] +- [0.18662603 0.21296056 0.04826654 0.34361981] + reprojection error: [-0.000033, -0.000268] +- [0.381969, 0.350655] + +cam3 (/event_camera_left): + type: + distortion: [-0.1412346 0.0740659 -0.00106185 -0.00142272] +- [0.00235878 0.00284866 0.00020967 0.00029177] + projection: [421.47877134 420.68333444 320.13875692 235.32491748] +- [0.16311444 0.20143687 0.00906464 0.04776329] + reprojection error: [0.000365, -0.000164] +- [0.355173, 0.326639] + +baseline T_1_0: + q: [ 0.0011418 0.00362944 -0.00252335 0.99998958] +- [0.00015518 0.00005714 0.00005809] + t: [ 0.38182214 0.00217753 -0.00546185] +- [0.00006425 0.00004516 0.00023504] + +baseline T_2_1: + q: [-0.00034348 0.00495545 0.00251946 0.99998449] +- [0.00084527 0.00018001 0.00011194] + t: [-0.27513832 0.00058676 0.00075455] +- [0.0001394 0.00012835 0.00046608] + +baseline T_3_2: + q: [ 0.00429604 -0.00430764 0.00176797 0.99997993] +- [0.00087002 0.00022299 0.00016118] + t: [ 0.37848571 -0.00071452 -0.00386648] +- [0.00021161 0.00017684 0.00060106] + + + +Target configuration +==================== + + Type: aprilgrid + Tags: + Rows: 6 + Cols: 6 + Size: 0.1121 [m] + Spacing 0.028025 [m] diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/cam_cal_rosbag2_2026_01_14-08_47_13.h5 b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/cam_cal_rosbag2_2026_01_14-08_47_13.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b18c58b605d0c7127aca2ce385272b3b9f9534f2 --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/cam_cal_rosbag2_2026_01_14-08_47_13.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:021912782aa84329d35d00b93c1e3b0fcbe180ac26e786a224740099c442ffc9 +size 2317839126 diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/img_infrared.mp4 b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/img_infrared.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..091773857e9effee8404fba0d66aea852903a880 --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/img_infrared.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a99d69ffa1cfbffcd9a4787853ee341f93f8af95e2db66a14b44d363ac0e979 +size 9912944 diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/img_left.mp4 b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/img_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e0ce1ca7fbb50aeb0c261d9b53ab28d65cb3a13a --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/img_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f66f4860b0867594147cc5ff6d87b2d1d237090fa94c3a1635550de86a412a53 +size 302171891 diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/img_right.mp4 b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/img_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..594d9ed3b40a35e7fcffa3aae60c922979242163 --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/img_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c677fcd6d1386b2a746b1693fbebfa8ed76d1f02737d49699717e8d769647e1b +size 297469874 diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/ir_calib_result.json b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/ir_calib_result.json new file mode 100644 index 0000000000000000000000000000000000000000..a49fbfbbf789e7694492ffd64b104ead257e79fd --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/ir_calib_result.json @@ -0,0 +1,200 @@ +{ + "method": "manually tuned (full-FOV LiDAR overlay): fx=fy=368 (FOV25/9mm lens); cx,cy,distortion,extrinsic from board solve. Board-solve backup in ir_calib_result.board_solve.json", + "n_frames": 17, + "reproj_rms_px": 2.3440211699141074, + "lock_rotation": true, + "per_corner_px": [ + 2.360139695930028, + 1.3179678418388723, + 6.293247381485206, + 0.8352578134078785, + 0.669686857690713, + 1.0032547383345807, + 1.3557042403768944, + 2.787268526176416, + 5.2973066867405985, + 1.600416331305899, + 1.3150433536256694, + 3.0230170784711183, + 2.9687155551932616, + 1.244697092767438, + 4.645220168670476, + 3.2060852531636375, + 1.5015565953156678, + 0.9439173835669109, + 2.9769131634868784, + 2.371035769477441, + 1.2241880047000024, + 3.2989612605206555, + 2.6344569367678856, + 5.88086198701358, + 2.3536593570087794, + 0.4009189291178868, + 2.2086257730308283, + 3.311940530201254, + 1.9180545487037108, + 0.5965037968125418, + 3.7594294269537665, + 1.2880475288779978, + 3.9703210010686587, + 1.5430533574833487, + 1.7581988466532303, + 1.0459507065817495, + 2.3621625113197164, + 1.0472151807849783, + 1.735370669373729, + 2.1068921492161214, + 2.4689052959602322, + 2.6549497579667416, + 2.3630376201595586, + 1.7068732621343645, + 3.423886239304807, + 1.345046143899596, + 3.207961128493153, + 2.1267565301587417, + 0.8033000044382641, + 0.37829420145719256, + 1.3264758594956974, + 0.7223206462809967, + 1.0510352900128326, + 0.4600345707289576, + 1.2124271062797973, + 0.7603853734151217, + 1.0037457286282099, + 0.8200812341448208, + 0.8996131697925169, + 0.4172063187493084, + 0.6480478073800285, + 1.5740858288157158, + 3.017907227722988, + 1.210213733165056, + 1.9716715361211674, + 1.0462217972585857, + 1.485445861294397, + 1.4587517873082878 + ], + "K_ir_native_320x256": [ + [ + 368.0, + 0, + 156.46137134389298 + ], + [ + 0, + 368.0, + 136.1824635185632 + ], + [ + 0, + 0, + 1 + ] + ], + "dist_ir_k1k2": [ + -0.6272838307917787, + 1.0506116402807764 + ], + "IR_T_imgl": [ + [ + 1.0, + 0.0, + 0.0, + -0.14190002918832384 + ], + [ + 0.0, + 1.0, + 0.0, + 0.001515612163611507 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0062048819177946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "imgl_T_ir": [ + [ + 1.0, + 0.0, + 0.0, + 0.14190002918832384 + ], + [ + 0.0, + 1.0, + 0.0, + -0.001515612163611507 + ], + [ + 0.0, + 0.0, + 1.0, + -0.0062048819177946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ir_offset_in_imgl_mm": [ + 141.90002918832383, + -1.5156121636115072, + -6.2048819177946 + ], + "board_corners_obj": [ + [ + -0.07162283884164608, + -0.09991874729772084 + ], + [ + 0.9018103652882572, + -0.09174406694159663 + ], + [ + 0.879816389201278, + 0.9029263625766222 + ], + [ + -0.06274089306486133, + 0.8843445322424074 + ] + ], + "board_size_est_m": 0.9774801581254215, + "IR_T_ouster": [ + [ + 0.012009213547199415, + -0.9998877384325338, + 0.008960430918799, + 0.008369609699982017 + ], + [ + -0.007298371076940258, + -0.009048488930236631, + -0.9999324270307982, + -0.1136338599963449 + ], + [ + 0.9999012514091585, + 0.011943005499127524, + -0.007406216986205916, + -0.028773554351200097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "fx_source": "full_fov_lidar_tuning" +} \ No newline at end of file diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/lidar_calibration_results.yaml b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/lidar_calibration_results.yaml new file mode 100644 index 0000000000000000000000000000000000000000..759cfe545a7ef8409dc3933fa92618d079c7f49a --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/lidar_calibration_results.yaml @@ -0,0 +1,22 @@ +rotation_matrix: +- - 0.012009213547199415 + - -0.9998877384325338 + - 0.008960430918799 +- - -0.007298371076940258 + - -0.009048488930236631 + - -0.9999324270307982 +- - 0.9999012514091585 + - 0.011943005499127524 + - -0.007406216986205916 +translation_vector: +- 0.15026963888830586 +- -0.11514947215995641 +- -0.034978436268994696 +config: + h5_path: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/cam_cal_rosbag2_2026_01_14-08_47_13.h5 + video_path: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/img_left.mp4 + metadata_json_path: /data/rosbags/raw/calibrations/rev7_1.json + kalibr_file: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/calibration-camchain.yaml + cam_name: cam1 + true_radius: 0.432 + filter_dist: 0.01 diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/time_offset.npz b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/time_offset.npz new file mode 100644 index 0000000000000000000000000000000000000000..3f2c2ff413ca0872f1dadfd2876ce4d7f5abe695 --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_14-08_47_13/time_offset.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5cb5b992444c23cf4a29c5a8d4bb0a43b280481dc509ba6cca36fbe425e291e +size 211156 diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/calibration-camchain.yaml b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/calibration-camchain.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6fb771b5d891b5a8ac73452974e92a04b9a64fef --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/calibration-camchain.yaml @@ -0,0 +1,47 @@ +cam0: + cam_overlaps: [1, 2, 3] + camera_model: pinhole + distortion_coeffs: [-0.15057920800818145, 0.07425854786994802, 0.00025953897477574327, -7.783198349369072e-05] + distortion_model: radtan + intrinsics: [1394.5046922987929, 1394.8473217839635, 969.9602386942076, 747.628445104563] + resolution: [1920, 1456] + rostopic: /flir_cam_right +cam1: + T_cn_cnm1: + - [0.9999833706542005, -0.004776949832482648, -0.0032309697273294642, 0.38272106625805935] + - [0.004783759820713138, 0.9999863458156649, 0.0021032889074449855, 0.002071407601354094] + - [0.0032208783054791168, -0.0021187101142899484, 0.9999925684775912, -0.00602606157437941] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0, 2, 3] + camera_model: pinhole + distortion_coeffs: [-0.1512563064547309, 0.07534917628069317, 0.000464225149620579, -0.001354875103324927] + distortion_model: radtan + intrinsics: [1396.2502568402901, 1396.312688393185, 931.8690619019077, 730.9654164178276] + resolution: [1920, 1456] + rostopic: /flir_cam_left +cam2: + T_cn_cnm1: + - [0.9999617209294615, 0.005019999222104069, -0.0071663298548217185, -0.2757706125249656] + - [-0.005026607761880751, 0.9999869575057067, -0.0009044516992810886, 0.0009029477212918724] + - [0.007161696041178704, 0.0009404394069831432, 0.999973912501483, 0.003399234903134681] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0, 1, 3] + camera_model: pinhole + distortion_coeffs: [-0.15316372865916947, 0.07624613936152609, 0.000264790481912241, -0.0005592383462134972] + distortion_model: radtan + intrinsics: [419.5180205638013, 419.6537725197218, 317.2693706751948, 244.6267898819202] + resolution: [640, 480] + rostopic: /event_camera_right +cam3: + T_cn_cnm1: + - [0.9999528257190756, 0.003487651021337225, 0.00906546340794389, 0.3796858029082968] + - [-0.003571970081011607, 0.9999503590213011, 0.009301640872599552, -0.0010595461838426138] + - [-0.009032572512178476, -0.009333583638443596, 0.9999156448672497, -0.006218068959930722] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0, 1, 2] + camera_model: pinhole + distortion_coeffs: [-0.1514495097877584, 0.07525637261603504, -3.049124428850406e-05, -0.001595897674278915] + distortion_model: radtan + intrinsics: [420.39707529636104, 420.3597888766039, 316.87160989567013, 233.76566847560807] + resolution: [640, 480] + rostopic: /event_camera_left diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/calibration-results-cam.txt b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/calibration-results-cam.txt new file mode 100644 index 0000000000000000000000000000000000000000..d8944005100d4297459e4000f9dbb7009408f06e --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/calibration-results-cam.txt @@ -0,0 +1,50 @@ +Calibration results +==================== +Camera-system parameters: +cam0 (/flir_cam_right): + type: + distortion: [-0.15057921 0.07425855 0.00025954 -0.00007783] +- [0.00092942 0.00148895 0.00013046 0.00012402] + projection: [1394.5046923 1394.84732178 969.96023869 747.6284451 ] +- [0.19437234 0.19730964 0.00562695 0.26932043] + reprojection error: [-0.000181, -0.000407] +- [0.433259, 0.390555] + +cam1 (/flir_cam_left): + type: + distortion: [-0.15125631 0.07534918 0.00046423 -0.00135488] +- [0.00090461 0.00139384 0.00013118 0.00012311] + projection: [1396.25025684 1396.31268839 931.8690619 730.96541642] +- [0.17537326 0.1941718 0.01321986 0.24069265] + reprojection error: [0.000364, -0.000412] +- [0.432571, 0.364378] + +cam2 (/event_camera_right): + type: + distortion: [-0.15316373 0.07624614 0.00026479 -0.00055924] +- [0.00226522 0.00354565 0.00025351 0.00018129] + projection: [419.51802056 419.65377252 317.26937068 244.62678988] +- [0.18895182 0.20122856 0.01139477 0.20701953] + reprojection error: [0.000165, -0.000112] +- [0.345196, 0.320073] + +cam3 (/event_camera_left): + type: + distortion: [-0.15144951 0.07525637 -0.00003049 -0.0015959 ] +- [0.00198844 0.00263227 0.0002315 0.00018831] + projection: [420.3970753 420.35978888 316.8716099 233.76566848] +- [0.1899266 0.21367604 0.01836297 0.36058712] + reprojection error: [0.000462, -0.000099] +- [0.329305, 0.282710] + +baseline T_1_0: + q: [ 0.0010555 0.00161297 -0.00239019 0.99999529] +- [0.00037343 0.00006586 0.00005489] + t: [ 0.38272107 0.00207141 -0.00602606] +- [0.00008227 0.00006532 0.00028082] + +baseline T_2_1: + q: [-0.00046123 0.00358204 0.00251168 0.99999032] +- [0.00050158 0.00015125 0.00010319] + t: [-0.27577061 0.00090295 0.00339923] +- [0.00018988 0.00017214 0.00051828] + +baseline T_3_2: + q: [ 0.00465891 -0.00452461 0.00176495 0.99997735] +- [0.0009751 0.00020856 0.00014923] + t: [ 0.3796858 -0.00105955 -0.00621807] +- [0.00026162 0.00022682 0.00072346] + + + +Target configuration +==================== + + Type: aprilgrid + Tags: + Rows: 6 + Cols: 6 + Size: 0.1121 [m] + Spacing 0.028025 [m] diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/cam_cal_rosbag2_2026_01_20-16_31_50.h5 b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/cam_cal_rosbag2_2026_01_20-16_31_50.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4a6ddf64e784d50bb61f060452ec91e1bb103308 --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/cam_cal_rosbag2_2026_01_20-16_31_50.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44119c9bc38b52ad7c2103c6150526df5fd00c69f7572f003f5581ecd9ca2e24 +size 1997096607 diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/img_infrared.mp4 b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/img_infrared.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6b5dfb20a96cf017a76bd24394a603e17633dbd8 --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/img_infrared.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6c861370b497cddd2f4cc03a5943533cf95c14eb169d9c3dbd0dfa80e02b9b0 +size 7842256 diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/img_left.mp4 b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/img_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d3986ae955316a546b018997da7bcfd9be728f64 --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/img_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3493840af94500d473d70b55088907518b358b6816bd46d9ca5dbe982c4802c +size 260655312 diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/img_right.mp4 b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/img_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c532f63b96f42acfb75e266ae973c69de5271c20 --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/img_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c983d354f9cf678a107adfe76155f402fd4e1defd0e1bd629d090d9d77a51e0 +size 225459718 diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/ir_calib_result.json b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/ir_calib_result.json new file mode 100644 index 0000000000000000000000000000000000000000..ed62106529346484c0a55b46e999613a77b1a13b --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/ir_calib_result.json @@ -0,0 +1,244 @@ +{ + "method": "manually tuned (full-FOV LiDAR overlay): fx=fy=368 (FOV25/9mm lens); cx,cy,distortion,extrinsic from board solve. Board-solve backup in ir_calib_result.board_solve.json", + "n_frames": 28, + "reproj_rms_px": 1.7685287346740437, + "lock_rotation": true, + "per_corner_px": [ + 2.9014139681431934, + 2.500867331638376, + 0.9180965352601026, + 0.3427752857437647, + 3.134300230719611, + 4.2911565701767245, + 0.7119469957665638, + 1.9101505655887265, + 0.6177813357218616, + 1.1178513817941105, + 0.5579140517355576, + 1.9927789960967426, + 1.9050615897147056, + 3.688216412558917, + 2.2709432418377586, + 1.6755630911797081, + 1.4780694332884423, + 2.429542183650544, + 0.17631189259519772, + 0.6695168530947196, + 1.0523357122970285, + 2.170095264879341, + 0.502099150195825, + 0.47840839588077677, + 3.9370162120840626, + 1.0430149338077506, + 1.4012338477950752, + 0.7362850619310226, + 1.8419937028181734, + 0.8547980319719999, + 1.341674346529298, + 0.986268525599009, + 3.1062946608046142, + 1.6133555169406926, + 0.7883040253742541, + 1.1667999220815444, + 0.695262188395646, + 1.7392022667899854, + 1.5128303373380834, + 0.40701245494712507, + 2.16547867895073, + 0.9272189113426761, + 0.2598529052451071, + 2.3238564913230446, + 2.602259960550627, + 0.6306791857114102, + 0.5031118264711825, + 4.74593919341988, + 0.7273371304372122, + 1.2739092639622414, + 1.8794736565161791, + 0.9362064851396924, + 1.4144216069800462, + 1.0663891613649634, + 1.2203768436268791, + 1.1805958428486119, + 1.7893332883944835, + 1.296795264800877, + 0.31224891237843017, + 0.8637762260021378, + 1.4409045617106955, + 1.4352769755368378, + 0.9950806478960753, + 2.214157445049737, + 1.4128699182200304, + 2.420869421219023, + 1.3758192058747618, + 2.3362738623573827, + 1.07136771279252, + 3.6726061541853494, + 0.8633189861355965, + 2.338237619480163, + 0.5598540588591913, + 3.0593900331699326, + 1.5001597079171902, + 0.9473098898220113, + 1.6385029547953713, + 1.8932371831660975, + 0.6628368963958569, + 1.8812842562043492, + 0.8304369790894166, + 0.43510977156781816, + 0.7369663630513072, + 1.1804935539441854, + 1.4535808527488165, + 1.0618374556190517, + 1.4160571383443972, + 0.43139599184156946, + 1.9691988269754517, + 0.8089099541446869, + 1.4282198779487294, + 0.1587184273373876, + 2.4231788202999893, + 1.3726037837457445, + 2.261188611329921, + 0.6898564921167633, + 1.8734390245653758, + 0.6750136427600492, + 1.4605661216123182, + 0.3898477783504815, + 2.050943255863948, + 1.2271150237672965, + 3.3302188524953173, + 0.621372205850771, + 1.040076288530407, + 1.5859860228168723, + 1.3593673452760309, + 1.9648401925722667, + 1.9131573471353283, + 4.09500194874752, + 0.30740211849521276, + 0.47864569881423946 + ], + "K_ir_native_320x256": [ + [ + 368.0, + 0, + 153.9296761830366 + ], + [ + 0, + 368.0, + 135.8367481313126 + ], + [ + 0, + 0, + 1 + ] + ], + "dist_ir_k1k2": [ + -0.6121878896841695, + 1.1246841766179114 + ], + "IR_T_imgl": [ + [ + 1.0, + 0.0, + 0.0, + -0.14132768214857785 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0001455524286967849 + ], + [ + 0.0, + 0.0, + 1.0, + 0.030036777057586082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "imgl_T_ir": [ + [ + 1.0, + 0.0, + 0.0, + 0.14132768214857785 + ], + [ + 0.0, + 1.0, + 0.0, + -0.0001455524286967849 + ], + [ + 0.0, + 0.0, + 1.0, + -0.030036777057586082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ir_offset_in_imgl_mm": [ + 141.32768214857785, + -0.1455524286967849, + -30.036777057586082 + ], + "board_corners_obj": [ + [ + -0.06884459937039829, + -0.0849784620704947 + ], + [ + 0.8993561641694505, + -0.07278231391911678 + ], + [ + 0.8983877284155453, + 0.8932569231458526 + ], + [ + -0.0675056353109874, + 0.878561742019818 + ] + ], + "board_size_est_m": 0.972749413981728, + "IR_T_ouster": [ + [ + 0.01845442237506867, + -0.9997348805716272, + 0.013769635552070725, + 0.0011642833639455286 + ], + [ + -0.009376369859973921, + -0.013944423822591756, + -0.9998588083987183, + -0.10137516842062079 + ], + [ + 0.9997857360370028, + 0.018322707569849606, + -0.009631220289155473, + -0.01792936195242934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "fx_source": "full_fov_lidar_tuning" +} \ No newline at end of file diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/lidar_calibration_results.yaml b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/lidar_calibration_results.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c5ad5d72890d7ee9d8ecf4aa5f1f4d8e3194971f --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/lidar_calibration_results.yaml @@ -0,0 +1,22 @@ +rotation_matrix: +- - 0.01845442237506867 + - -0.9997348805716272 + - 0.013769635552070725 +- - -0.009376369859973921 + - -0.013944423822591756 + - -0.9998588083987183 +- - 0.9997857360370028 + - 0.018322707569849606 + - -0.009631220289155473 +translation_vector: +- 0.14249196551252338 +- -0.10152072084931757 +- -0.047966139010015424 +config: + h5_path: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/cam_cal_rosbag2_2026_01_20-16_31_50.h5 + video_path: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/img_left.mp4 + metadata_json_path: /data/rosbags/raw/calibrations/rev7_1.json + kalibr_file: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/calibration-camchain.yaml + cam_name: cam1 + true_radius: 0.432 + filter_dist: 0.01 diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/time_offset.npz b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/time_offset.npz new file mode 100644 index 0000000000000000000000000000000000000000..bbd62faf789016fdb7ded808d1553d05bd634346 --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_01_20-16_31_50/time_offset.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f303989301640851fc61d9866914f58a4abf74693c42324a700854f024ddb7c5 +size 203380 diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/calibration-camchain.yaml b/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/calibration-camchain.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6cb73d5b502b47ba119be486dbf0d4f2e979c432 --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/calibration-camchain.yaml @@ -0,0 +1,47 @@ +cam0: + cam_overlaps: [1, 2, 3] + camera_model: pinhole + distortion_coeffs: [-0.1554359514433866, 0.0655399682995906, -0.0004923723374585663, -0.0004813524454894719] + distortion_model: radtan + intrinsics: [1401.3330677935874, 1402.3580366829, 979.1011654994055, 736.0102509319549] + resolution: [1920, 1456] + rostopic: /flir_cam_right +cam1: + T_cn_cnm1: + - [0.9999843483197418, -0.0053747418258000695, -0.0015541125526817084, 0.3836692950340756] + - [0.005377012543751407, 0.9999844770207401, 0.0014606346703982965, 0.00217609086011549] + - [0.0015462378939695982, -0.0014689682917016478, 0.9999977256376699, -0.004404449483459246] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0, 2, 3] + camera_model: pinhole + distortion_coeffs: [-0.15265826841492536, 0.06270859675813797, -2.531577575372254e-05, -0.0007931321618872502] + distortion_model: radtan + intrinsics: [1403.0924205367137, 1404.4065149128899, 935.954623179377, 720.4616727020557] + resolution: [1920, 1456] + rostopic: /flir_cam_left +cam2: + T_cn_cnm1: + - [0.9998993746331619, 0.005535671805293441, -0.013061276578867232, -0.2772352111450309] + - [-0.005518100542089398, 0.99998382164129, 0.0013809497029069711, 0.000441358260666466] + - [0.013068709753184478, -0.0013087373069663082, 0.9999137442959979, 0.0020565038042740327] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0, 1, 3] + camera_model: pinhole + distortion_coeffs: [-0.1561544157217615, 0.06634974106156304, -0.0007914339874798666, -0.0007719766204322734] + distortion_model: radtan + intrinsics: [421.6828357409248, 422.69999930284297, 320.11444417194963, 240.2869434582657] + resolution: [640, 480] + rostopic: /event_camera_right +cam3: + T_cn_cnm1: + - [0.9998428538201524, 0.0023754883288630785, 0.017567718120537056, 0.38152246849497] + - [-0.0024934516841711224, 0.9999744733046574, 0.0066959269531191, -0.00038134179027356457] + - [-0.017551363578420763, -0.006738678970112609, 0.9998232543016119, -0.008718874903323194] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0, 1, 2] + camera_model: pinhole + distortion_coeffs: [-0.15128607737031705, 0.06436865074657545, -0.00018876046347510376, -0.00031489747087819073] + distortion_model: radtan + intrinsics: [421.8291293383839, 422.43446331912327, 318.6584437728111, 230.45012064577492] + resolution: [640, 480] + rostopic: /event_camera_left diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/calibration-results-cam.txt b/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/calibration-results-cam.txt new file mode 100644 index 0000000000000000000000000000000000000000..64f72f01d075695fb5bffa3bb0e68d852f083a8b --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/calibration-results-cam.txt @@ -0,0 +1,50 @@ +Calibration results +==================== +Camera-system parameters: +cam0 (/flir_cam_right): + type: + distortion: [-0.15543595 0.06553997 -0.00049237 -0.00048135] +- [0.00086249 0.00138737 0.00011111 0.00013337] + projection: [1401.33306779 1402.35803668 979.1011655 736.01025093] +- [0.153871 0.16778615 0.00757047 0.28023474] + reprojection error: [-0.000207, 0.000352] +- [0.657523, 0.424299] + +cam1 (/flir_cam_left): + type: + distortion: [-0.15265827 0.0627086 -0.00002532 -0.00079313] +- [0.00080033 0.00127483 0.00011218 0.00013096] + projection: [1403.09242054 1404.40651491 935.95462318 720.4616727 ] +- [0.1529555 0.16739499 0.00799525 0.26448932] + reprojection error: [0.000103, 0.000312] +- [0.494104, 0.339989] + +cam2 (/event_camera_right): + type: + distortion: [-0.15615442 0.06634974 -0.00079143 -0.00077198] +- [0.0024486 0.00411231 0.00023218 0.00018833] + projection: [421.68283574 422.6999993 320.11444417 240.28694346] +- [0.17276198 0.18679575 0.01162953 0.07754404] + reprojection error: [0.000138, 0.000107] +- [0.452299, 0.401975] + +cam3 (/event_camera_left): + type: + distortion: [-0.15128608 0.06436865 -0.00018876 -0.0003149 ] +- [0.00163841 0.00202318 0.00020278 0.00018959] + projection: [421.82912934 422.43446332 318.65844377 230.45012065] +- [0.14338769 0.18211748 0.02023667 0.33990138] + reprojection error: [0.000361, 0.000108] +- [0.404852, 0.341270] + +baseline T_1_0: + q: [ 0.0007324 0.00077509 -0.00268795 0.99999582] +- [0.00040003 0.0000509 0.00005239] + t: [ 0.3836693 0.00217609 -0.00440445] +- [0.00005134 0.00003897 0.00020092] + +baseline T_2_1: + q: [0.00067244 0.00653266 0.00276351 0.99997462] +- [0.00020654 0.00012678 0.0001088 ] + t: [-0.27723521 0.00044136 0.0020565 ] +- [0.00012372 0.00011302 0.00034946] + +baseline T_3_2: + q: [ 0.0033588 -0.00878016 0.00121729 0.99995507] +- [0.00086615 0.00017584 0.0001541 ] + t: [ 0.38152247 -0.00038134 -0.00871887] +- [0.00018821 0.00014847 0.00050552] + + + +Target configuration +==================== + + Type: aprilgrid + Tags: + Rows: 6 + Cols: 6 + Size: 0.1121 [m] + Spacing 0.028025 [m] diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/cam_cal_rosbag2_2026_02_01-08_50_41.h5 b/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/cam_cal_rosbag2_2026_02_01-08_50_41.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9e0f29db2a32808ffdf59239fc2e37503a555273 --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/cam_cal_rosbag2_2026_02_01-08_50_41.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59c306ee8079f95a4c43a93e8b901ef8818b374ccc34f16c637096bfa3d55a2b +size 1736030407 diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/img_infrared.mp4 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a/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/img_right.mp4 b/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/img_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4ddc1200e0cfaa5dec33c9d1efb0ab8fa500da99 --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/img_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3975706a0345ee7e51bab19b9efaf4af4e914876b18092845935334202a2af1c +size 187184575 diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/ir_calib_result.json b/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/ir_calib_result.json new file mode 100644 index 0000000000000000000000000000000000000000..1a23f447e60e5b07bb93c6ee3edf15e378581aa0 --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/ir_calib_result.json @@ -0,0 +1,232 @@ +{ + "method": "manually tuned (full-FOV LiDAR overlay): fx=fy=368 (FOV25/9mm lens); cx,cy,distortion,extrinsic from board solve. Board-solve backup in ir_calib_result.board_solve.json", + "n_frames": 25, + "reproj_rms_px": 1.4962850486077985, + "lock_rotation": true, + "per_corner_px": [ + 0.5410485160968467, + 1.1938704877735757, + 2.812856744501865, + 0.9937312171550984, + 3.083728824020881, + 5.421477850508231, + 1.3227636443464599, + 1.6586723735237472, + 2.0371493495985247, + 1.6518484226070227, + 1.9864137573699487, + 0.9518549515944146, + 0.802072912622475, + 1.7824068433526707, + 0.3962383246518873, + 1.1645665771611367, + 0.2977132347586884, + 2.092780247903429, + 0.8148485370864403, + 1.259680800556319, + 0.6545025096302953, + 2.029327386403824, + 0.49188206100324916, + 0.7315017133741313, + 2.5408070056029985, + 1.5426784862290772, + 1.815206117441099, + 0.7206411390860177, + 2.544394492903873, + 2.0155168836746458, + 0.6125266118563564, + 1.6023639583394418, + 0.9406423297661117, + 0.8172044007632824, + 0.06460475076434492, + 1.2491878766960738, + 1.798207255110569, + 3.3474574636355254, + 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1.727519317944055, + 1.9934880824912047, + 1.318581493226028, + 0.35926317403245883, + 0.7905822743386294, + 1.1186045005106298, + 1.065710845327981, + 1.4790261249370107, + 0.5272542031878097, + 0.808211554688162, + 1.546705588213766, + 0.7990939150180071, + 0.5844665852239757, + 1.6331255869012336, + 0.7462499525246375, + 0.446764752749549, + 0.9748209644582546 + ], + "K_ir_native_320x256": [ + [ + 368.0, + 0, + 155.32597121002593 + ], + [ + 0, + 368.0, + 133.69240124100384 + ], + [ + 0, + 0, + 1 + ] + ], + "dist_ir_k1k2": [ + -0.5450054063110733, + 0.5503612379640556 + ], + "IR_T_imgl": [ + [ + 1.0, + 0.0, + 0.0, + -0.1319893565852256 + ], + [ + 0.0, + 1.0, + 0.0, + -0.003947322628841935 + ], + [ + 0.0, + 0.0, + 1.0, + 0.007717546668509178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "imgl_T_ir": [ + [ + 1.0, + 0.0, + 0.0, + 0.1319893565852256 + ], + [ + 0.0, + 1.0, + 0.0, + 0.003947322628841935 + ], + [ + 0.0, + 0.0, + 1.0, + -0.007717546668509178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "ir_offset_in_imgl_mm": [ + 131.98935658522558, + 3.9473226288419347, + -7.717546668509178 + ], + "board_corners_obj": [ + [ + -0.08059991145255258, + -0.08351811476382756 + ], + [ + 0.8917822091438378, + -0.07046183653070147 + ], + [ + 0.8836171960595331, + 0.88603831657655 + ], + [ + -0.07703499065851101, + 0.8803973117783179 + ] + ], + "board_size_est_m": 0.9668904550083379, + "IR_T_ouster": [ + [ + 0.013992610881249645, + -0.9998506845593221, + 0.010139794227758958, + 0.011233103406612904 + ], + [ + 0.0012070938720981639, + -0.010123888455294938, + -0.9999480235526891, + -0.1116436575622338 + ], + [ + 0.9999013700186186, + 0.01400412327852385, + 0.0010652540025848367, + -0.010060521224612356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "fx_source": "full_fov_lidar_tuning" +} \ No newline at end of file diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/lidar_calibration_results.yaml b/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/lidar_calibration_results.yaml new file mode 100644 index 0000000000000000000000000000000000000000..53b073460b1bae3cb3f6d74c1b5b4acad4a50717 --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/lidar_calibration_results.yaml @@ -0,0 +1,22 @@ +rotation_matrix: +- - 0.013992610881249645 + - -0.9998506845593221 + - 0.010139794227758958 +- - 0.0012070938720981639 + - -0.010123888455294938 + - -0.9999480235526891 +- - 0.9999013700186186 + - 0.01400412327852385 + - 0.0010652540025848367 +translation_vector: +- 0.1432224599918385 +- -0.10769633493339185 +- -0.017778067893121533 +config: + h5_path: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/cam_cal_rosbag2_2026_02_01-08_50_41.h5 + video_path: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/img_left.mp4 + metadata_json_path: /data/rosbags/raw/calibrations/rev7_1.json + kalibr_file: /data/rosbags/processed/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/calibration-camchain.yaml + cam_name: cam1 + true_radius: 0.432 + filter_dist: 0.01 diff --git a/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/time_offset.npz b/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/time_offset.npz new file mode 100644 index 0000000000000000000000000000000000000000..57d25c38c6ab79a5f3641d36e7c7d11e9d0c9277 --- /dev/null +++ b/calibrations/cam_cals/cam_cal_rosbag2_2026_02_01-08_50_41/time_offset.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e944c3ca1d9243d1117020b0cebe06937ce0532ccc60ad89af970e52a4a1352b +size 208348 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/calibration-camchain-imucam.yaml b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/calibration-camchain-imucam.yaml new file mode 100644 index 0000000000000000000000000000000000000000..01f83be7b6f728beb81b28118e63458f49444aa9 --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/calibration-camchain-imucam.yaml @@ -0,0 +1,33 @@ +cam0: + T_cam_imu: + - [0.008762102800190325, -0.9992339617232646, 0.038140730110303334, -0.24609711676445237] + - [-0.01971015828748829, -0.038307367472059595, -0.9990715966624422, -0.05010749445813287] + - [0.9997673405421883, 0.008002208207032124, -0.02003071264359446, -0.03411604197561325] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [1, 2, 3] + camera_model: pinhole + distortion_coeffs: [-0.15385396380802188, 0.0749641388870442, 0.001000267559278542, 0.002804201584318143] + distortion_model: radtan + intrinsics: [1417.501796249508, 1413.430442569655, 988.1439401050002, 733.8064858691746] + resolution: [1920, 1456] + rostopic: /flir_cam_right + timeshift_cam_imu: 0.004370749975378334 +cam1: + T_cam_imu: + - [0.0376120157492085, -0.9982754604345894, 0.04507151390169101, 0.1372816601219756] + - [0.043065769718079905, -0.04344223602746777, -0.9981273023054341, -0.05256923258411103] + - [0.998363999626324, 0.03948261925256247, 0.041357551028640194, -0.025686080174765594] + - [0.0, 0.0, 0.0, 1.0] + T_cn_cnm1: + - [0.9995593640170656, -0.007529703240476868, 0.02871204233227203, 0.3838725843195073] + - [0.005717000260326085, 0.9980159621480531, 0.0627013174159818, 0.0009849047658489283] + - [-0.029127198866407675, -0.06250954220586345, 0.9976192477189835, -0.0019515762440131853] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0, 2, 3] + camera_model: pinhole + distortion_coeffs: [-0.15589065459647117, 0.06084534489493509, -0.00234409054407442, -0.0026530574846732736] + distortion_model: radtan + intrinsics: [1428.3251206496743, 1423.8837606531902, 902.691023138746, 632.4383854230887] + resolution: [1920, 1456] + rostopic: /flir_cam_left + timeshift_cam_imu: 0.004239598403763752 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/calibration-imu.yaml b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/calibration-imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5eb4c2637eb341162c06c9ae94b51f156e20144b --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/calibration-imu.yaml @@ -0,0 +1,14 @@ +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: 0.001372 + accelerometer_random_walk: 5.0e-05 + gyroscope_noise_density: 6.10866e-05 + gyroscope_random_walk: 4.0e-06 + model: calibrated + rostopic: /imu/data + time_offset: 0.0 + update_rate: 400.0 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/calibration-results-imucam.txt b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/calibration-results-imucam.txt new file mode 100644 index 0000000000000000000000000000000000000000..39343e3e9c2382e5de0bdec5c22c27a5dd3348a9 --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/calibration-results-imucam.txt @@ -0,0 +1,120 @@ +Calibration results +=================== +Normalized Residuals +---------------------------- +Reprojection error (cam0): mean 1.898110734869543, median 1.6339976015190572, std: 1.236595649857134 +Reprojection error (cam1): mean 2.084584674084913, median 1.7567915462644819, std: 1.328938375074656 +Gyroscope error (imu0): mean 0.8405573801381114, median 0.783460713322519, std: 0.4464555928560292 +Accelerometer error (imu0): mean 2.052844931465704, median 1.8657613168768599, std: 1.2113983699199764 + +Residuals +---------------------------- +Reprojection error (cam0) [px]: mean 1.898110734869543, median 1.6339976015190572, std: 1.236595649857134 +Reprojection error (cam1) [px]: mean 2.084584674084913, median 1.7567915462644819, std: 1.328938375074656 +Gyroscope error (imu0) [rad/s]: mean 0.0010269358491508955, median 0.0009571790242089478, std: 0.0005454490843711823 +Accelerometer error (imu0) [m/s^2]: mean 0.05633006491941892, median 0.05119649053510103, std: 0.03324077127060415 + +Transformation (cam0): +----------------------- +T_ci: (imu0 to cam0): +[[ 0.0087621 -0.99923396 0.03814073 -0.24609712] + [-0.01971016 -0.03830737 -0.9990716 -0.05010749] + [ 0.99976734 0.00800221 -0.02003071 -0.03411604] + [ 0. 0. 0. 1. ]] + +T_ic: (cam0 to imu0): +[[ 0.0087621 -0.01971016 0.99976734 0.03527681] + [-0.99923396 -0.03830737 0.00800221 -0.24755508] + [ 0.03814073 -0.9990716 -0.02003071 -0.04135802] + [ 0. 0. 0. 1. ]] + +timeshift cam0 to imu0: [s] (t_imu = t_cam + shift) +0.004370749975378334 + + +Transformation (cam1): +----------------------- +T_ci: (imu0 to cam1): +[[ 0.03761202 -0.99827546 0.04507151 0.13728166] + [ 0.04306577 -0.04344224 -0.9981273 -0.05256923] + [ 0.998364 0.03948262 0.04135755 -0.02568608] + [ 0. 0. 0. 1. ]] + +T_ic: (cam1 to imu0): +[[ 0.03761202 0.04306577 0.998364 0.02274455] + [-0.99827546 -0.04344224 0.03948262 0.13577534] + [ 0.04507151 -0.9981273 0.04135755 -0.05759597] + [ 0. 0. 0. 1. ]] + +timeshift cam1 to imu0: [s] (t_imu = t_cam + shift) +0.004239598403763752 + +Baselines: +---------- +Baseline (cam0 to cam1): +[[ 0.99955936 -0.0075297 0.02871204 0.38387258] + [ 0.005717 0.99801596 0.06270132 0.0009849 ] + [-0.0291272 -0.06250954 0.99761925 -0.00195158] + [ 0. 0. 0. 1. ]] +baseline norm: 0.38387880858334866 [m] + + +Gravity vector in target coords: [m/s^2] +[-0.26905059 -9.72870178 -1.20349341] + + +Calibration configuration +========================= + +cam0 +----- + Camera model: pinhole + Focal length: [1417.501796249508, 1413.430442569655] + Principal point: [988.1439401050002, 733.8064858691746] + Distortion model: radtan + Distortion coefficients: [-0.15385396380802188, 0.0749641388870442, 0.001000267559278542, 0.002804201584318143] + Type: aprilgrid + Tags: + Rows: 6 + Cols: 6 + Size: 0.1121 [m] + Spacing 0.028025 [m] + +cam1 +----- + Camera model: pinhole + Focal length: [1428.3251206496743, 1423.8837606531902] + Principal point: [902.691023138746, 632.4383854230887] + Distortion model: radtan + Distortion coefficients: [-0.15589065459647117, 0.06084534489493509, -0.00234409054407442, -0.0026530574846732736] + Type: aprilgrid + Tags: + Rows: 6 + Cols: 6 + Size: 0.1121 [m] + Spacing 0.028025 [m] + + + +IMU configuration +================= + +IMU0: + ---------------------------- + Model: calibrated + Update rate: 400.0 + Accelerometer: + Noise density: 0.001372 + Noise density (discrete): 0.02744 + Random walk: 5e-05 + Gyroscope: + Noise density: 6.10866e-05 + Noise density (discrete): 0.0012217320000000001 + Random walk: 4e-06 + T_ib (imu0 to imu0) + [[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] + diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/img_infrared.mp4 b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/img_infrared.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..45d056f12ac47f9aabfefa5d8e6d3e91903f94cb --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/img_infrared.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0052716e18512e33d38fc56e8a7006b37419b418df50fbb8b0b45269b0748411 +size 4634770 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/img_left.mp4 b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/img_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..566e6296faa84323a86bccec16bfd1bad2ab5bdb --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/img_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7c253d8b873f7d735b82c1711584648fde8aa3deeaba70280df34fac3d79535 +size 178161080 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/img_right.mp4 b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/img_right.mp4 new file mode 100644 index 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a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/timeSync.log b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/timeSync.log new file mode 100644 index 0000000000000000000000000000000000000000..f871a4591f20ac022185848d1118508fffad3a96 --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/timeSync.log @@ -0,0 +1,66 @@ +2026-01-05 02:05:24,512 INFO:__main__:-------------------------------- +2026-01-05 02:05:24,512 WARNING:__main__:MISSING GPS Time Mark Messages +2026-01-05 02:05:24,512 INFO:__main__:-------------------------------- +2026-01-05 02:05:42,848 INFO:root:Got All Sync Pulses +2026-01-05 02:05:42,850 INFO:timeSync_calibration:FLIR Total Pulses: 70 +2026-01-05 02:05:42,850 INFO:timeSync_calibration:FLIR Publishing Rate: 100.00Hz +2026-01-05 02:05:42,850 INFO:timeSync_calibration:FLIR First Pulse Time: 40.05ms +2026-01-05 02:05:42,850 INFO:timeSync_calibration:FLIR Second Pulse Time: 0.052 +2026-01-05 02:05:42,850 WARNING:root:FLIR Dropped Packets: 0 +2026-01-05 02:05:42,850 INFO:timeSync_calibration:FLIR Time Range: 0.0 to 63.0 +2026-01-05 02:05:42,850 INFO:__main__:-------------------------------- +2026-01-05 02:05:45,840 INFO:root:Got All Sync Pulses +2026-01-05 02:05:45,841 INFO:timeSync_calibration:FLIR Total Pulses: 70 +2026-01-05 02:05:45,842 INFO:timeSync_calibration:FLIR Publishing Rate: 100.00Hz +2026-01-05 02:05:45,842 INFO:timeSync_calibration:FLIR First Pulse Time: 40.05ms +2026-01-05 02:05:45,842 INFO:timeSync_calibration:FLIR Second Pulse Time: 0.052 +2026-01-05 02:05:45,842 WARNING:root:FLIR Dropped Packets: 0 +2026-01-05 02:05:45,842 INFO:timeSync_calibration:FLIR Time Range: 0.0 to 63.0 +2026-01-05 02:05:45,842 INFO:__main__:-------------------------------- +2026-01-05 02:05:54,144 INFO:root:Got All Sync Pulses +2026-01-05 02:05:54,146 INFO:timeSync_calibration:/event_camera_0/events Total Pulses: 64 +2026-01-05 02:05:54,146 INFO:timeSync_calibration:/event_camera_0/events Publishing Rate: 1.00Hz +2026-01-05 02:05:54,146 INFO:timeSync_calibration:/event_camera_0/events First Pulse Time: 1.00ms +2026-01-05 02:05:54,146 INFO:timeSync_calibration:/event_camera_0/events Second Pulse Time: 1.00 +2026-01-05 02:05:54,146 WARNING:root:/event_camera_0/events Dropped Packets: 0 +2026-01-05 02:05:54,147 INFO:root:/event_camera_0/events Time Range: 0.0 to 63.0 +2026-01-05 02:05:54,147 INFO:__main__:-------------------------------- +2026-01-05 02:06:02,632 INFO:root:Got All Sync Pulses +2026-01-05 02:06:02,633 INFO:timeSync_calibration:/event_camera_1/events Total Pulses: 64 +2026-01-05 02:06:02,633 INFO:timeSync_calibration:/event_camera_1/events Publishing Rate: 1.00Hz +2026-01-05 02:06:02,633 INFO:timeSync_calibration:/event_camera_1/events First Pulse Time: 1.00ms +2026-01-05 02:06:02,633 INFO:timeSync_calibration:/event_camera_1/events Second Pulse Time: 1.00 +2026-01-05 02:06:02,633 WARNING:root:/event_camera_1/events Dropped Packets: 0 +2026-01-05 02:06:02,633 INFO:root:/event_camera_1/events Time Range: 0.0 to 63.0 +2026-01-05 02:06:02,633 INFO:__main__:-------------------------------- +2026-01-05 02:06:05,931 INFO:root:Got All Sync Pulses +2026-01-05 02:06:05,933 INFO:timeSync_calibration:IMU Total Pulses: 64 +2026-01-05 02:06:05,933 INFO:timeSync_calibration:IMU Trigger Publishing Rate: 1.00Hz +2026-01-05 02:06:05,933 INFO:timeSync_calibration:IMU Device Publishing Rate: 400.00Hz +2026-01-05 02:06:05,933 INFO:timeSync_calibration:IMU First Pulse Time: 1000.00ms +2026-01-05 02:06:05,933 INFO:timeSync_calibration:IMU Second Pulse Time: 1.00s +2026-01-05 02:06:05,933 WARNING:root:IMU Dropped Packets: 0 +2026-01-05 02:06:05,933 INFO:timeSync_calibration:IMU Time Range: 0.0 to 63.0 +2026-01-05 02:06:05,933 INFO:__main__:-------------------------------- +2026-01-05 02:06:08,839 INFO:root:Got All Sync Pulses +2026-01-05 02:06:08,840 INFO:timeSync_calibration:FLIR Total Pulses: 70 +2026-01-05 02:06:08,840 INFO:timeSync_calibration:FLIR Publishing Rate: 49.99Hz +2026-01-05 02:06:08,840 INFO:timeSync_calibration:FLIR First Pulse Time: 60.01ms +2026-01-05 02:06:08,840 INFO:timeSync_calibration:FLIR Second Pulse Time: 0.082 +2026-01-05 02:06:08,840 WARNING:root:FLIR Dropped Packets: 0 +2026-01-05 02:06:08,840 INFO:timeSync_calibration:FLIR Time Range: 0.0 to 63.0 +2026-01-05 02:06:12,117 INFO:root:Got All Sync Pulses +2026-01-05 02:06:12,119 INFO:__main__:-------------------------------- +2026-01-05 02:06:12,121 INFO:__main__:Saved time offset objects to /data/rosbags/processed/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59//time_offset.npz +2026-01-05 02:06:12,128 INFO:timeSync_process:Processed /data/rosbags/raw/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59 to /data/rosbags/processed/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/ +2026-01-05 02:06:19,856 INFO:timeSync_process:process_infrared_camera completed in 7.67s +2026-01-05 02:06:19,917 WARNING:timeSync_process:IMU topic counts don't match: IMU=29592, Trigger=29589. Will match by time and process only messages with valid trigger matches. +2026-01-05 02:06:26,529 INFO:timeSync_process:IMU topic to trigger time difference: 0.00s +2026-01-05 02:06:36,127 INFO:timeSync_process:parse_imu completed in 16.27s +2026-01-05 02:07:22,647 INFO:timeSync_process:Ev/right camera: 913,611,319 events stored in 46.52s +2026-01-05 02:08:09,489 INFO:timeSync_process:Ev/left camera: 938,651,681 events stored in 46.82s +2026-01-05 02:08:35,134 INFO:timeSync_process:_process_flir_camera(img_right) completed in 25.62s +2026-01-05 02:08:59,829 INFO:timeSync_process:_process_flir_camera(img_left) completed in 24.69s +2026-01-05 02:08:59,835 INFO:root:Bag date 2026-01-04 >= cutoff 2025-12-01, using rev7_1 metadata: /data/rosbags/raw/calibrations/rev7_1.json +2026-01-05 02:09:13,302 INFO:timeSync_process:parse_lidar completed in 13.47s +2026-01-05 02:09:13,626 INFO:timeSync_process:Finished processing /data/rosbags/raw/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59 in 181.50s diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/time_offset.npz b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/time_offset.npz new file mode 100644 index 0000000000000000000000000000000000000000..9215cacfb5dc789f261d98a95693254031545b06 --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_04-16_18_59/time_offset.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ad6e00a34d69d1e079b761c96fef70b14ca1c75bba57e9607dc6f466bc5674e +size 108063 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/calibration-camchain-imucam.yaml b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/calibration-camchain-imucam.yaml new file mode 100644 index 0000000000000000000000000000000000000000..446af533e20bedfba5f7b00684f5dc3398fde4db --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/calibration-camchain-imucam.yaml @@ -0,0 +1,33 @@ +cam0: + T_cam_imu: + - [0.025313164036402797, -0.9990025547764871, 0.0367850414777085, -0.25877504946613533] + - [-0.009662133088720937, -0.037039605373558104, -0.9992670868281142, -0.08393699318291829] + - [0.9996328760653288, 0.024939189718626686, -0.010590085246887149, -0.044802659977724764] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [1, 2, 3] + camera_model: pinhole + distortion_coeffs: [-0.1426568615786943, 0.07628358991356403, -0.000908446598250203, -6.748113073224323e-05] + distortion_model: radtan + intrinsics: [1398.2699754978512, 1400.186224869683, 973.8555741006179, 751.495969115427] + resolution: [1920, 1456] + rostopic: /flir_cam_right + timeshift_cam_imu: 0.004385482531619741 +cam1: + T_cam_imu: + - [0.017188647167521443, -0.998978801383898, 0.04178402558563021, 0.1243133939769333] + - [-0.008600514221485278, -0.04193637730294986, -0.9990832655058488, -0.08337716304806565] + - [0.999815273719939, 0.016813525635475057, -0.009312560981209028, -0.04954464176854576] + - [0.0, 0.0, 0.0, 1.0] + T_cn_cnm1: + - [0.9999545009096568, -0.004917699939642172, -0.008173881441767668, 0.38229768083647114] + - [0.004925522475114708, 0.9999874303998875, 0.0009371609139109689, 0.0018753647043283606] + - [0.008169170023176797, -0.0009773789106922298, 0.9999661541230276, -0.0027115590462577235] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0, 2, 3] + camera_model: pinhole + distortion_coeffs: [-0.1436030205679032, 0.07898677140910257, -0.0004848330496942119, -0.0018099632545118306] + distortion_model: radtan + intrinsics: [1401.7762438243033, 1402.8201774222791, 941.4989575858184, 734.47904421732] + resolution: [1920, 1456] + rostopic: /flir_cam_left + timeshift_cam_imu: 0.004421032586926354 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/calibration-imu.yaml b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/calibration-imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5eb4c2637eb341162c06c9ae94b51f156e20144b --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/calibration-imu.yaml @@ -0,0 +1,14 @@ +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: 0.001372 + accelerometer_random_walk: 5.0e-05 + gyroscope_noise_density: 6.10866e-05 + gyroscope_random_walk: 4.0e-06 + model: calibrated + rostopic: /imu/data + time_offset: 0.0 + update_rate: 400.0 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/calibration-results-imucam.txt b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/calibration-results-imucam.txt new file mode 100644 index 0000000000000000000000000000000000000000..5346ea139920f8bf0125e85ba480a4020f89560b --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/calibration-results-imucam.txt @@ -0,0 +1,120 @@ +Calibration results +=================== +Normalized Residuals +---------------------------- +Reprojection error (cam0): mean 0.657714331773647, median 0.5949294940113462, std: 0.3765344606414184 +Reprojection error (cam1): mean 0.6079673505445207, median 0.5789272102600939, std: 0.293092489540099 +Gyroscope error (imu0): mean 0.9758646802733909, median 0.9302785444004955, std: 0.44545055798895083 +Accelerometer error (imu0): mean 4.122935174984458, median 3.630587773759513, std: 2.327267750940309 + +Residuals +---------------------------- +Reprojection error (cam0) [px]: mean 0.657714331773647, median 0.5949294940113462, std: 0.3765344606414184 +Reprojection error (cam1) [px]: mean 0.6079673505445207, median 0.5789272102600939, std: 0.293092489540099 +Gyroscope error (imu0) [rad/s]: mean 0.0011922451075597705, median 0.0011365510666075064, std: 0.0005442212011129569 +Accelerometer error (imu0) [m/s^2]: mean 0.11313334120157356, median 0.09962332851196103, std: 0.06386022708580207 + +Transformation (cam0): +----------------------- +T_ci: (imu0 to cam0): +[[ 0.02531316 -0.99900255 0.03678504 -0.25877505] + [-0.00966213 -0.03703961 -0.99926709 -0.08393699] + [ 0.99963288 0.02493919 -0.01059009 -0.04480266] + [ 0. 0. 0. 1. ]] + +T_ic: (cam0 to imu0): +[[ 0.02531316 -0.00966213 0.99963288 0.05052562] + [-0.99900255 -0.03703961 0.02493919 -0.26050859] + [ 0.03678504 -0.99926709 -0.01059009 -0.07483089] + [ 0. 0. 0. 1. ]] + +timeshift cam0 to imu0: [s] (t_imu = t_cam + shift) +0.004385482531619741 + + +Transformation (cam1): +----------------------- +T_ci: (imu0 to cam1): +[[ 0.01718865 -0.9989788 0.04178403 0.12431339] + [-0.00860051 -0.04193638 -0.99908327 -0.08337716] + [ 0.99981527 0.01681353 -0.00931256 -0.04954464] + [ 0. 0. 0. 1. ]] + +T_ic: (cam1 to imu0): +[[ 0.01718865 -0.00860051 0.99981527 0.04668162] + [-0.9989788 -0.04193638 0.01681353 0.12152293] + [ 0.04178403 -0.99908327 -0.00931256 -0.08895643] + [ 0. 0. 0. 1. ]] + +timeshift cam1 to imu0: [s] (t_imu = t_cam + shift) +0.004421032586926354 + +Baselines: +---------- +Baseline (cam0 to cam1): +[[ 0.9999545 -0.0049177 -0.00817388 0.38229768] + [ 0.00492552 0.99998743 0.00093716 0.00187536] + [ 0.00816917 -0.00097738 0.99996615 -0.00271156] + [ 0. 0. 0. 1. ]] +baseline norm: 0.38231189664746235 [m] + + +Gravity vector in target coords: [m/s^2] +[-0.18837708 -9.59862185 -1.99984887] + + +Calibration configuration +========================= + +cam0 +----- + Camera model: pinhole + Focal length: [1398.2699754978512, 1400.186224869683] + Principal point: [973.8555741006179, 751.495969115427] + Distortion model: radtan + Distortion coefficients: [-0.1426568615786943, 0.07628358991356403, -0.000908446598250203, -6.748113073224323e-05] + Type: aprilgrid + Tags: + Rows: 6 + Cols: 6 + Size: 0.1121 [m] + Spacing 0.028025 [m] + +cam1 +----- + Camera model: pinhole + Focal length: [1401.7762438243033, 1402.8201774222791] + Principal point: [941.4989575858184, 734.47904421732] + Distortion model: radtan + Distortion coefficients: [-0.1436030205679032, 0.07898677140910257, -0.0004848330496942119, -0.0018099632545118306] + Type: aprilgrid + Tags: + Rows: 6 + Cols: 6 + Size: 0.1121 [m] + Spacing 0.028025 [m] + + + +IMU configuration +================= + +IMU0: + ---------------------------- + Model: calibrated + Update rate: 400.0 + Accelerometer: + Noise density: 0.001372 + Noise density (discrete): 0.02744 + Random walk: 5e-05 + Gyroscope: + Noise density: 6.10866e-05 + Noise density (discrete): 0.0012217320000000001 + Random walk: 4e-06 + T_ib (imu0 to imu0) + [[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] + diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/img_infrared.mp4 b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/img_infrared.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..94b9514fb101a91a2810b5227ddb2fa99924a438 --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/img_infrared.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8297987c6393d91bc050f6f41871d7f01f2a30e010be537a27b8df34fc8a0a9 +size 4264916 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/img_left.mp4 b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/img_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e00bbf637a1622217a08f5219f1f2f6cc9a01878 --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/img_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fea8bd2995fe319504e8a06603da1e2d73e043a691cf2eac896d6e52eea15e3c +size 116305228 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/img_right.mp4 b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/img_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dd289d068c16d66fc86bab7676cc0ed8d5ac2aea --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/img_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8ae6493b265769376207b34abd4cf443ca85f1804148d3f382ae6640be5be9d +size 100644140 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/imu_cal_rosbag2_2026_01_08-15_27_23.h5 b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/imu_cal_rosbag2_2026_01_08-15_27_23.h5 new file mode 100644 index 0000000000000000000000000000000000000000..651913c0782801cf66feecad8414f6381760a811 --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/imu_cal_rosbag2_2026_01_08-15_27_23.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ef2962aede61c7706f50179db33573f0f83edc5ecbbe655344a2151470b347d +size 4098302617 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/timeSync.log b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/timeSync.log new file mode 100644 index 0000000000000000000000000000000000000000..958a65f95b4b2631ce90806100235f27552b1b12 --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/timeSync.log @@ -0,0 +1,63 @@ +2026-01-08 21:23:09,464 INFO:__main__:-------------------------------- +2026-01-08 21:23:09,464 WARNING:__main__:MISSING GPS Time Mark Messages +2026-01-08 21:23:09,464 INFO:__main__:-------------------------------- +2026-01-08 21:23:31,538 INFO:root:Got All Sync Pulses +2026-01-08 21:23:31,540 INFO:timeSync_calibration:FLIR Total Pulses: 65 +2026-01-08 21:23:31,540 INFO:timeSync_calibration:FLIR Publishing Rate: 100.00Hz +2026-01-08 21:23:31,540 INFO:timeSync_calibration:FLIR First Pulse Time: 40.05ms +2026-01-08 21:23:31,541 INFO:timeSync_calibration:FLIR Second Pulse Time: 0.052 +2026-01-08 21:23:31,541 WARNING:root:FLIR Dropped Packets: 0 +2026-01-08 21:23:31,541 INFO:timeSync_calibration:FLIR Time Range: 0.0 to 58.0 +2026-01-08 21:23:31,541 INFO:__main__:-------------------------------- +2026-01-08 21:23:34,198 INFO:root:Got All Sync Pulses +2026-01-08 21:23:34,200 INFO:timeSync_calibration:FLIR Total Pulses: 65 +2026-01-08 21:23:34,200 INFO:timeSync_calibration:FLIR Publishing Rate: 100.00Hz +2026-01-08 21:23:34,200 INFO:timeSync_calibration:FLIR First Pulse Time: 40.04ms +2026-01-08 21:23:34,200 INFO:timeSync_calibration:FLIR Second Pulse Time: 0.052 +2026-01-08 21:23:34,200 WARNING:root:FLIR Dropped Packets: 0 +2026-01-08 21:23:34,200 INFO:timeSync_calibration:FLIR Time Range: 0.0 to 58.0 +2026-01-08 21:23:34,200 INFO:__main__:-------------------------------- +2026-01-08 21:23:41,678 INFO:root:Got All Sync Pulses +2026-01-08 21:23:41,680 INFO:timeSync_calibration:/event_camera_0/events Total Pulses: 59 +2026-01-08 21:23:41,680 INFO:timeSync_calibration:/event_camera_0/events Publishing Rate: 1.00Hz +2026-01-08 21:23:41,680 INFO:timeSync_calibration:/event_camera_0/events First Pulse Time: 1.00ms +2026-01-08 21:23:41,680 INFO:timeSync_calibration:/event_camera_0/events Second Pulse Time: 1.00 +2026-01-08 21:23:41,680 WARNING:root:/event_camera_0/events Dropped Packets: 0 +2026-01-08 21:23:41,680 INFO:root:/event_camera_0/events Time Range: 0.0 to 58.0 +2026-01-08 21:23:41,680 INFO:__main__:-------------------------------- +2026-01-08 21:23:49,317 INFO:root:Got All Sync Pulses +2026-01-08 21:23:49,318 INFO:timeSync_calibration:/event_camera_1/events Total Pulses: 59 +2026-01-08 21:23:49,318 INFO:timeSync_calibration:/event_camera_1/events Publishing Rate: 1.00Hz +2026-01-08 21:23:49,319 INFO:timeSync_calibration:/event_camera_1/events First Pulse Time: 1.00ms +2026-01-08 21:23:49,319 INFO:timeSync_calibration:/event_camera_1/events Second Pulse Time: 1.00 +2026-01-08 21:23:49,319 WARNING:root:/event_camera_1/events Dropped Packets: 0 +2026-01-08 21:23:49,319 INFO:root:/event_camera_1/events Time Range: 0.0 to 58.0 +2026-01-08 21:23:49,319 INFO:__main__:-------------------------------- +2026-01-08 21:23:52,479 INFO:root:Got All Sync Pulses +2026-01-08 21:23:52,481 INFO:timeSync_calibration:IMU Total Pulses: 59 +2026-01-08 21:23:52,481 INFO:timeSync_calibration:IMU Trigger Publishing Rate: 1.00Hz +2026-01-08 21:23:52,481 INFO:timeSync_calibration:IMU Device Publishing Rate: 400.00Hz +2026-01-08 21:23:52,481 INFO:timeSync_calibration:IMU First Pulse Time: 1000.00ms +2026-01-08 21:23:52,481 INFO:timeSync_calibration:IMU Second Pulse Time: 1.00s +2026-01-08 21:23:52,481 WARNING:root:IMU Dropped Packets: 0 +2026-01-08 21:23:52,481 INFO:timeSync_calibration:IMU Time Range: 0.0 to 58.0 +2026-01-08 21:23:52,481 INFO:__main__:-------------------------------- +2026-01-08 21:23:52,481 INFO:__main__:Infrared camera will use system time calibration +2026-01-08 21:23:55,647 INFO:root:Got All Sync Pulses +2026-01-08 21:23:55,648 INFO:__main__:-------------------------------- +2026-01-08 21:23:55,651 INFO:__main__:Saved time offset objects to /data/rosbags/processed/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23//time_offset.npz +2026-01-08 21:23:55,667 INFO:timeSync_process:Writing to local temp: /tmp/timeSync_imu_cal_rosbag2_2026_01_08-15_27_23_1/imu_cal_rosbag2_2026_01_08-15_27_23.h5, will copy to /data/rosbags/processed/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23//imu_cal_rosbag2_2026_01_08-15_27_23.h5 +2026-01-08 21:24:03,707 INFO:timeSync_process:process_infrared_camera completed in 7.98s +2026-01-08 21:24:03,790 WARNING:timeSync_process:IMU topic counts don't match: IMU=27316, Trigger=27312. Will match by time and process only messages with valid trigger matches. +2026-01-08 21:24:10,060 INFO:timeSync_process:IMU topic to trigger time difference: 0.00s +2026-01-08 21:24:19,333 INFO:timeSync_process:parse_imu completed in 15.62s +2026-01-08 21:25:03,178 INFO:timeSync_process:Ev/right camera: 688,237,991 events stored in 43.84s +2026-01-08 21:27:21,854 INFO:timeSync_process:Ev/left camera: 717,199,456 events stored in 138.65s +2026-01-08 21:27:44,970 INFO:timeSync_process:_process_flir_camera(img_right) completed in 23.09s +2026-01-08 21:28:08,215 INFO:timeSync_process:_process_flir_camera(img_left) completed in 23.24s +2026-01-08 21:28:08,221 INFO:root:Bag date 2026-01-08 >= cutoff 2025-12-01, using rev7_1 metadata: /data/rosbags/raw/calibrations/rev7_1.json +2026-01-08 21:28:20,811 INFO:timeSync_process:parse_lidar completed in 12.59s +2026-01-08 21:28:20,830 INFO:timeSync_process:Copying /tmp/timeSync_imu_cal_rosbag2_2026_01_08-15_27_23_1/imu_cal_rosbag2_2026_01_08-15_27_23.h5 to /data/rosbags/processed/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23//imu_cal_rosbag2_2026_01_08-15_27_23.h5... +2026-01-08 21:28:25,978 INFO:timeSync_process:Copy completed in 5.15s +2026-01-08 21:28:26,592 INFO:timeSync_process:Cleaned up temp directory: /tmp/timeSync_imu_cal_rosbag2_2026_01_08-15_27_23_1 +2026-01-08 21:28:26,592 INFO:timeSync_process:Finished processing /data/rosbags/raw/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23 in 270.92s diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/time_offset.npz b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/time_offset.npz new file mode 100644 index 0000000000000000000000000000000000000000..2d46a698d370337b611eb1a34210c8fb4225208a --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_08-15_27_23/time_offset.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:645baa528d7274b47d574368159789ff51ea712075f1e1d590d86ced5b5c1ca3 +size 86308 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/calibration-camchain-imucam.yaml b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/calibration-camchain-imucam.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f261df98737c982b96de18755bec00c106891f00 --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/calibration-camchain-imucam.yaml @@ -0,0 +1,33 @@ +cam0: + T_cam_imu: + - [0.030238960076149235, -0.9988707087680709, 0.036645769997176725, -0.24315128377177497] + - [-0.011205511219547604, -0.036999002051789964, -0.999252475786516, -0.0834668691843551] + - [0.9994798856464411, 0.029805721134449403, -0.012311668279879562, 0.004938984287917484] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [1, 2, 3] + camera_model: pinhole + distortion_coeffs: [-0.1549983869693657, 0.10957048240902369, -0.0007222172707068381, 0.0004942709268413487] + distortion_model: radtan + intrinsics: [1428.9843740701897, 1428.1039981389576, 957.0066275283547, 749.6524452929293] + resolution: [1920, 1456] + rostopic: /flir_cam_right + timeshift_cam_imu: 0.0040900002477410255 +cam1: + T_cam_imu: + - [0.024820084583993318, -0.9988249734540284, 0.04162494211170509, 0.13919659210523155] + - [-0.009684667455723106, -0.041876055187548555, -0.9990758746052282, -0.08254158627426313] + - [0.9996450223041756, 0.02439402399131324, -0.010712654946172628, -0.0014692482210495296] + - [0.0, 0.0, 0.0, 1.0] + T_cn_cnm1: + - [0.9999729207708676, -0.004916420953662996, -0.0054759957985987, 0.38195797912029483] + - [0.004924005942541688, 0.9999869350994898, 0.001372514410269371, 0.0021146919628717907] + - [0.005469176396652545, -0.0013994410794908015, 0.9999840647101368, -0.005195123508313471] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0, 2, 3] + camera_model: pinhole + distortion_coeffs: [-0.1493379803151672, 0.08746670613358704, -0.0003104124194446932, -0.0022109926794701626] + distortion_model: radtan + intrinsics: [1433.7051267448244, 1429.9336115097803, 922.2129594040571, 734.1264794875541] + resolution: [1920, 1456] + rostopic: /flir_cam_left + timeshift_cam_imu: 0.0041048833160395645 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/calibration-imu.yaml b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/calibration-imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5eb4c2637eb341162c06c9ae94b51f156e20144b --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/calibration-imu.yaml @@ -0,0 +1,14 @@ +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: 0.001372 + accelerometer_random_walk: 5.0e-05 + gyroscope_noise_density: 6.10866e-05 + gyroscope_random_walk: 4.0e-06 + model: calibrated + rostopic: /imu/data + time_offset: 0.0 + update_rate: 400.0 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/calibration-results-imucam.txt b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/calibration-results-imucam.txt new file mode 100644 index 0000000000000000000000000000000000000000..44e84e04075dfd7f79f6db63358196b0ca197875 --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/calibration-results-imucam.txt @@ -0,0 +1,120 @@ +Calibration results +=================== +Normalized Residuals +---------------------------- +Reprojection error (cam0): mean 0.552265988254115, median 0.43688056368086425, std: 0.5023141751347794 +Reprojection error (cam1): mean 0.3908435792746531, median 0.32866282278964204, std: 0.3448846314992877 +Gyroscope error (imu0): mean 0.7553707426858655, median 0.7025708874248588, std: 0.443828207468934 +Accelerometer error (imu0): mean 2.0166015962560357, median 1.7375800269776995, std: 1.4814415819944915 + +Residuals +---------------------------- +Reprojection error (cam0) [px]: mean 0.552265988254115, median 0.43688056368086425, std: 0.5023141751347794 +Reprojection error (cam1) [px]: mean 0.3908435792746531, median 0.32866282278964204, std: 0.3448846314992877 +Gyroscope error (imu0) [rad/s]: mean 0.0009228606082030878, median 0.0008583533354353478, std: 0.0005422391235674356 +Accelerometer error (imu0) [m/s^2]: mean 0.05533554780126563, median 0.04767919594026807, std: 0.040650757009928845 + +Transformation (cam0): +----------------------- +T_ci: (imu0 to cam0): +[[ 0.03023896 -0.99887071 0.03664577 -0.24315128] + [-0.01120551 -0.036999 -0.99925248 -0.08346687] + [ 0.99947989 0.02980572 -0.01231167 0.00493898] + [ 0. 0. 0. 1. ]] + +T_ic: (cam0 to imu0): +[[ 0.03023896 -0.01120551 0.99947989 0.00148094] + [-0.99887071 -0.036999 0.02980572 -0.2461121 ] + [ 0.03664577 -0.99925248 -0.01231167 -0.0744332 ] + [ 0. 0. 0. 1. ]] + +timeshift cam0 to imu0: [s] (t_imu = t_cam + shift) +0.0040900002477410255 + + +Transformation (cam1): +----------------------- +T_ci: (imu0 to cam1): +[[ 0.02482008 -0.99882497 0.04162494 0.13919659] + [-0.00968467 -0.04187606 -0.99907587 -0.08254159] + [ 0.99964502 0.02439402 -0.01071265 -0.00146925] + [ 0. 0. 0. 1. ]] + +T_ic: (cam1 to imu0): +[[ 0.02482008 -0.00968467 0.99964502 -0.00278553] + [-0.99882497 -0.04187606 0.02439402 0.13561236] + [ 0.04162494 -0.99907587 -0.01071265 -0.0882751 ] + [ 0. 0. 0. 1. ]] + +timeshift cam1 to imu0: [s] (t_imu = t_cam + shift) +0.0041048833160395645 + +Baselines: +---------- +Baseline (cam0 to cam1): +[[ 0.99997292 -0.00491642 -0.005476 0.38195798] + [ 0.00492401 0.99998694 0.00137251 0.00211469] + [ 0.00546918 -0.00139944 0.99998406 -0.00519512] + [ 0. 0. 0. 1. ]] +baseline norm: 0.38199916105146625 [m] + + +Gravity vector in target coords: [m/s^2] +[-0.27925198 -9.71933364 -1.27475284] + + +Calibration configuration +========================= + +cam0 +----- + Camera model: pinhole + Focal length: [1428.9843740701897, 1428.1039981389576] + Principal point: [957.0066275283547, 749.6524452929293] + Distortion model: radtan + Distortion coefficients: [-0.1549983869693657, 0.10957048240902369, -0.0007222172707068381, 0.0004942709268413487] + Type: aprilgrid + Tags: + Rows: 6 + Cols: 6 + Size: 0.1121 [m] + Spacing 0.028025 [m] + +cam1 +----- + Camera model: pinhole + Focal length: [1433.7051267448244, 1429.9336115097803] + Principal point: [922.2129594040571, 734.1264794875541] + Distortion model: radtan + Distortion coefficients: [-0.1493379803151672, 0.08746670613358704, -0.0003104124194446932, -0.0022109926794701626] + Type: aprilgrid + Tags: + Rows: 6 + Cols: 6 + Size: 0.1121 [m] + Spacing 0.028025 [m] + + + +IMU configuration +================= + +IMU0: + ---------------------------- + Model: calibrated + Update rate: 400.0 + Accelerometer: + Noise density: 0.001372 + Noise density (discrete): 0.02744 + Random walk: 5e-05 + Gyroscope: + Noise density: 6.10866e-05 + Noise density (discrete): 0.0012217320000000001 + Random walk: 4e-06 + T_ib (imu0 to imu0) + [[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] + diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/img_infrared.mp4 b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/img_infrared.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..309a224a12950f7526e1944f34315f482d5732a1 --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/img_infrared.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e135617a92f453a1d060e2e2d8ecf4359906b53447ba2acceb5a5f55573e7ee8 +size 6007736 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/img_left.mp4 b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/img_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2a323ea2534610907362661b745193173b60318d --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/img_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7592e0cf7fea7b180d33e758df495f955d24fc5f422639b8ff8b761aa33ec8b3 +size 181007668 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/img_right.mp4 b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/img_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1b67df2a7c6aaf44431441c8d59a1e2ce9ef8f3c --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/img_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58f97175ff3ec7e278616105ed9989e851df8bce1f23d9f6dbe11a8b066d0488 +size 167149241 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/imu_cal_rosbag2_2026_01_14-08_55_16.h5 b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/imu_cal_rosbag2_2026_01_14-08_55_16.h5 new file mode 100644 index 0000000000000000000000000000000000000000..15c14180b15c9652acb2d51bda1442307984f49c --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/imu_cal_rosbag2_2026_01_14-08_55_16.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8ef69954ee4198f85c6d9dbc0c100c5eb38ff4357cccb3c5557f80a0c2c6d1e +size 4748164190 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/timeSync.log b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/timeSync.log new file mode 100644 index 0000000000000000000000000000000000000000..f5b0822763ba622e7a9216a213322e28af2baac7 --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/timeSync.log @@ -0,0 +1,81 @@ +2026-01-14 15:33:19,954 INFO:__main__:Infrared camera will use system time calibration +2026-01-14 15:33:42,199 INFO:timeSync_calibration:Sys Message Duration: 69.0 +2026-01-14 15:33:42,200 INFO:timeSync_calibration:Sys Total Pulses: 69 +2026-01-14 15:33:42,200 INFO:timeSync_calibration:Sys Time Range: 0.0 to 68.0 +2026-01-14 15:33:42,200 INFO:timeSync_calibration:Sys Dropped Packets: 0 +2026-01-14 15:33:42,200 INFO:__main__:-------------------------------- +2026-01-14 15:33:45,562 INFO:timeSync_calibration:IMU Total Pulses: 69 +2026-01-14 15:33:45,562 INFO:timeSync_calibration:IMU Time Range: 0.0 to 68.0 +2026-01-14 15:33:45,562 INFO:timeSync_calibration:IMU Message Duration: 69.0 +2026-01-14 15:33:45,562 INFO:timeSync_calibration:IMU Clock Drift: 0.00 ppm +2026-01-14 15:33:45,562 INFO:timeSync_calibration:IMU First Pulse Duration: 16.00ms +2026-01-14 15:33:45,562 INFO:timeSync_calibration:IMU Second Pulse Duration: 20.00ms +2026-01-14 15:33:45,562 INFO:__main__:-------------------------------- +2026-01-14 15:33:48,599 INFO:timeSync_calibration:FLIR Total Pulses: 69 +2026-01-14 15:33:48,599 INFO:timeSync_calibration:FLIR Time Range: 0.0 to 68.0 +2026-01-14 15:33:48,599 INFO:timeSync_calibration:FLIR Message Duration: 69.0 +2026-01-14 15:33:48,599 INFO:timeSync_calibration:FLIR Dropped/Missed Syncs: 0 +2026-01-14 15:33:48,599 INFO:timeSync_calibration:FLIR Clock Drift: -4.68 ppm +2026-01-14 15:33:48,600 INFO:timeSync_calibration:FLIR First Pulse Duration: 4.00ms +2026-01-14 15:33:48,600 INFO:timeSync_calibration:FLIR Second Pulse Duration: 5.00ms +2026-01-14 15:33:48,600 INFO:__main__:-------------------------------- +2026-01-14 15:33:51,680 INFO:timeSync_calibration:FLIR Total Pulses: 69 +2026-01-14 15:33:51,680 INFO:timeSync_calibration:FLIR Time Range: 0.0 to 68.0 +2026-01-14 15:33:51,680 INFO:timeSync_calibration:FLIR Message Duration: 69.0 +2026-01-14 15:33:51,681 INFO:timeSync_calibration:FLIR Dropped/Missed Syncs: 0 +2026-01-14 15:33:51,681 INFO:timeSync_calibration:FLIR Clock Drift: -2.05 ppm +2026-01-14 15:33:51,681 INFO:timeSync_calibration:FLIR First Pulse Duration: 4.00ms +2026-01-14 15:33:51,681 INFO:timeSync_calibration:FLIR Second Pulse Duration: 5.00ms +2026-01-14 15:33:51,681 INFO:__main__:-------------------------------- +2026-01-14 15:33:59,978 INFO:timeSync_calibration:/event_camera_0/events Total Pulses: 70 +2026-01-14 15:33:59,978 INFO:root:/event_camera_0/events Time Range: 0.0 to 69.0 +2026-01-14 15:33:59,979 INFO:timeSync_calibration:/event_camera_0/events Message Duration: 69.0s +2026-01-14 15:33:59,979 INFO:root:/event_camera_0/events Dropped Packets: 0 +2026-01-14 15:33:59,979 INFO:timeSync_calibration:/event_camera_0/events Trig Publishing Rate: 1.00Hz +2026-01-14 15:33:59,979 INFO:timeSync_calibration:/event_camera_0/events First Pulse Duration: 30.00ms +2026-01-14 15:33:59,979 INFO:timeSync_calibration:/event_camera_0/events Second Pulse Duration: 40.00ms +2026-01-14 15:33:59,979 INFO:__main__:-------------------------------- +2026-01-14 15:34:08,511 INFO:timeSync_calibration:/event_camera_1/events Total Pulses: 70 +2026-01-14 15:34:08,512 INFO:root:/event_camera_1/events Time Range: 0.0 to 69.0 +2026-01-14 15:34:08,512 INFO:timeSync_calibration:/event_camera_1/events Message Duration: 69.0s +2026-01-14 15:34:08,512 INFO:root:/event_camera_1/events Dropped Packets: 0 +2026-01-14 15:34:08,512 INFO:timeSync_calibration:/event_camera_1/events Trig Publishing Rate: 1.00Hz +2026-01-14 15:34:08,512 INFO:timeSync_calibration:/event_camera_1/events First Pulse Duration: 30.00ms +2026-01-14 15:34:08,512 INFO:timeSync_calibration:/event_camera_1/events Second Pulse Duration: 40.00ms +2026-01-14 15:34:08,512 INFO:__main__:-------------------------------- +2026-01-14 15:34:08,514 INFO:__main__:Saved time offset objects to /data/rosbags/processed/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16//time_offset.npz +2026-01-14 15:34:08,528 INFO:timeSync_process:Writing to local temp: /tmp/timeSync_imu_cal_rosbag2_2026_01_14-08_55_16_1/imu_cal_rosbag2_2026_01_14-08_55_16.h5, will copy to /data/rosbags/processed/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16//imu_cal_rosbag2_2026_01_14-08_55_16.h5 +2026-01-14 15:34:17,855 INFO:timeSync_process:process_infrared_camera completed in 9.26s +2026-01-14 15:34:17,926 WARNING:timeSync_process:IMU topic counts don't match: IMU=31714, Trigger=31709. Will match by time and process only messages with valid trigger matches. +2026-01-14 15:34:24,800 INFO:timeSync_process:IMU topic to trigger time difference: 0.00s +2026-01-14 15:34:34,717 INFO:timeSync_process:parse_imu completed in 16.86s +2026-01-14 15:35:11,261 INFO:__main__:Loaded time offset objects from memory. +2026-01-14 15:35:11,302 INFO:timeSync_process:Writing to local temp: /tmp/timeSync_imu_cal_rosbag2_2026_01_14-08_55_16_1/imu_cal_rosbag2_2026_01_14-08_55_16.h5, will copy to /data/rosbags/processed/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16//imu_cal_rosbag2_2026_01_14-08_55_16.h5 +2026-01-14 15:35:20,618 INFO:timeSync_process:Bad diffs: 0 out of 0 events +2026-01-14 15:35:21,798 INFO:timeSync_process:Ev/right camera: 780,046,449 events stored in 47.08s +2026-01-14 15:35:21,832 INFO:timeSync_process:process_infrared_camera completed in 10.46s +2026-01-14 15:35:21,907 WARNING:timeSync_process:IMU topic counts don't match: IMU=31714, Trigger=31709. Will match by time and process only messages with valid trigger matches. +2026-01-14 15:35:29,393 INFO:timeSync_process:IMU topic to trigger time difference: 0.00s +2026-01-14 15:35:40,295 INFO:timeSync_process:parse_imu completed in 18.46s +2026-01-14 15:36:19,945 INFO:timeSync_process:Bad diffs: 0 out of 0 events +2026-01-14 15:36:20,681 INFO:timeSync_process:Ev/left camera: 817,325,120 events stored in 58.87s +2026-01-14 15:36:35,151 INFO:timeSync_process:Bad diffs: 0 out of 0 events +2026-01-14 15:36:36,373 INFO:timeSync_process:Ev/right camera: 780,046,449 events stored in 56.07s +2026-01-14 15:36:49,865 INFO:timeSync_process:_process_flir_camera(img_right) completed in 29.16s +2026-01-14 15:37:19,273 INFO:timeSync_process:_process_flir_camera(img_left) completed in 29.40s +2026-01-14 15:37:19,282 INFO:root:Bag date 2026-01-14 >= cutoff 2025-12-01, using rev7_1 metadata: /data/rosbags/raw/calibrations/rev7_1.json +2026-01-14 15:37:27,500 INFO:timeSync_process:Bad diffs: 0 out of 0 events +2026-01-14 15:37:28,217 INFO:timeSync_process:Ev/left camera: 817,325,120 events stored in 51.82s +2026-01-14 15:37:36,565 INFO:timeSync_process:parse_lidar completed in 17.28s +2026-01-14 15:37:36,614 INFO:timeSync_process:Copying /tmp/timeSync_imu_cal_rosbag2_2026_01_14-08_55_16_1/imu_cal_rosbag2_2026_01_14-08_55_16.h5 to /data/rosbags/processed/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16//imu_cal_rosbag2_2026_01_14-08_55_16.h5... +2026-01-14 15:37:43,765 INFO:timeSync_process:Copy completed in 7.15s +2026-01-14 15:37:44,314 INFO:timeSync_process:Cleaned up temp directory: /tmp/timeSync_imu_cal_rosbag2_2026_01_14-08_55_16_1 +2026-01-14 15:37:44,314 INFO:timeSync_process:Finished processing /data/rosbags/raw/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16 in 215.79s +2026-01-14 15:37:59,113 INFO:timeSync_process:_process_flir_camera(img_right) completed in 30.87s +2026-01-14 15:38:27,679 INFO:timeSync_process:_process_flir_camera(img_left) completed in 28.56s +2026-01-14 15:38:27,690 INFO:root:Bag date 2026-01-14 >= cutoff 2025-12-01, using rev7_1 metadata: /data/rosbags/raw/calibrations/rev7_1.json +2026-01-14 15:38:44,945 INFO:timeSync_process:parse_lidar completed in 17.25s +2026-01-14 15:38:44,965 INFO:timeSync_process:Copying /tmp/timeSync_imu_cal_rosbag2_2026_01_14-08_55_16_1/imu_cal_rosbag2_2026_01_14-08_55_16.h5 to /data/rosbags/processed/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16//imu_cal_rosbag2_2026_01_14-08_55_16.h5... +2026-01-14 15:38:52,643 INFO:timeSync_process:Copy completed in 7.68s +2026-01-14 15:38:53,372 INFO:timeSync_process:Cleaned up temp directory: /tmp/timeSync_imu_cal_rosbag2_2026_01_14-08_55_16_1 +2026-01-14 15:38:53,372 INFO:timeSync_process:Finished processing /data/rosbags/raw/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16 in 222.07s diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/time_offset.npz b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/time_offset.npz new file mode 100644 index 0000000000000000000000000000000000000000..1656d5da136a29589450bda3b47afc72eac3a6ae --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_14-08_55_16/time_offset.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d87ef8ddd97c12ebd6c9b987c2b3d04bcec5719300c3fcae5d92b6519ffcfc6 +size 99700 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/calibration-camchain-imucam.yaml b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/calibration-camchain-imucam.yaml new file mode 100644 index 0000000000000000000000000000000000000000..68b409096068334eea2df9065cd90594787529f9 --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/calibration-camchain-imucam.yaml @@ -0,0 +1,33 @@ +cam0: + T_cam_imu: + - [0.027434031401497, -0.998937599636336, 0.03702763770288503, -0.2565077455518202] + - [-0.011616441328580973, -0.03735766538330154, -0.9992344385217956, -0.07950311623108697] + - [0.9995561175901633, 0.026982899582952746, -0.012628971382301124, -0.05474620399345386] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [1, 2, 3] + camera_model: pinhole + distortion_coeffs: [-0.15057920800818145, 0.07425854786994802, 0.00025953897477574327, -7.783198349369072e-05] + distortion_model: radtan + intrinsics: [1394.5046922987929, 1394.8473217839635, 969.9602386942076, 747.628445104563] + resolution: [1920, 1456] + rostopic: /flir_cam_right + timeshift_cam_imu: 0.004060602075185899 +cam1: + T_cam_imu: + - [0.024259530792259926, -0.998829713195865, 0.041841118565424495, 0.12677425198779335] + - [-0.009382689603915029, -0.042079080014008396, -0.999070225840492, -0.07877284160998463] + - [0.9996616629147766, 0.0238443926792275, -0.010392527903394011, -0.06142959489654987] + - [0.0, 0.0, 0.0, 1.0] + T_cn_cnm1: + - [0.9999833706541965, -0.004776949832482648, -0.0032309697273294642, 0.38272106625805935] + - [0.004783759820713138, 0.9999863458156609, 0.0021032889074449855, 0.002071407601354094] + - [0.0032208783054791168, -0.0021187101142899484, 0.9999925684775872, -0.00602606157437941] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0, 2, 3] + camera_model: pinhole + distortion_coeffs: [-0.1512563064547309, 0.07534917628069317, 0.000464225149620579, -0.001354875103324927] + distortion_model: radtan + intrinsics: [1396.2502568402901, 1396.312688393185, 931.8690619019077, 730.9654164178276] + resolution: [1920, 1456] + rostopic: /flir_cam_left + timeshift_cam_imu: 0.004058146073125466 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/calibration-imu.yaml b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/calibration-imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5eb4c2637eb341162c06c9ae94b51f156e20144b --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/calibration-imu.yaml @@ -0,0 +1,14 @@ +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: 0.001372 + accelerometer_random_walk: 5.0e-05 + gyroscope_noise_density: 6.10866e-05 + gyroscope_random_walk: 4.0e-06 + model: calibrated + rostopic: /imu/data + time_offset: 0.0 + update_rate: 400.0 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/calibration-results-imucam.txt b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/calibration-results-imucam.txt new file mode 100644 index 0000000000000000000000000000000000000000..304cc2ffb295e629985ccbe8a95de0daf5faa769 --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/calibration-results-imucam.txt @@ -0,0 +1,120 @@ +Calibration results +=================== +Normalized Residuals +---------------------------- +Reprojection error (cam0): mean 0.7305289398294299, median 0.5842454708707064, std: 0.6453682907322674 +Reprojection error (cam1): mean 0.7026987114237607, median 0.5854683859698965, std: 0.6267214519959282 +Gyroscope error (imu0): mean 0.684416917612437, median 0.6461334433249004, std: 0.33242483646255416 +Accelerometer error (imu0): mean 1.718518746893892, median 1.52716993602002, std: 1.0161597615079732 + +Residuals +---------------------------- +Reprojection error (cam0) [px]: mean 0.7305289398294299, median 0.5842454708707064, std: 0.6453682907322674 +Reprojection error (cam1) [px]: mean 0.7026987114237607, median 0.5854683859698965, std: 0.6267214519959282 +Gyroscope error (imu0) [rad/s]: mean 0.0008361740495884779, median 0.0007894019039802172, std: 0.0004061340603010693 +Accelerometer error (imu0) [m/s^2]: mean 0.0471561544147684, median 0.04190554304438934, std: 0.027883423855778782 + +Transformation (cam0): +----------------------- +T_ci: (imu0 to cam0): +[[ 0.02743403 -0.9989376 0.03702764 -0.25650775] + [-0.01161644 -0.03735767 -0.99923444 -0.07950312] + [ 0.99955612 0.0269829 -0.01262897 -0.0547462 ] + [ 0. 0. 0. 1. ]] + +T_ic: (cam0 to imu0): +[[ 0.02743403 -0.01161644 0.99955612 0.0608354 ] + [-0.9989376 -0.03735767 0.0269829 -0.25772807] + [ 0.03702764 -0.99923444 -0.01262897 -0.07063576] + [ 0. 0. 0. 1. ]] + +timeshift cam0 to imu0: [s] (t_imu = t_cam + shift) +0.004060602075185899 + + +Transformation (cam1): +----------------------- +T_ci: (imu0 to cam1): +[[ 0.02425953 -0.99882971 0.04184112 0.12677425] + [-0.00938269 -0.04207908 -0.99907023 -0.07877284] + [ 0.99966166 0.02384439 -0.01039253 -0.06142959] + [ 0. 0. 0. 1. ]] + +T_ic: (cam1 to imu0): +[[ 0.02425953 -0.00938269 0.99966166 0.05759423] + [-0.99882971 -0.04207908 0.02384439 0.12477595] + [ 0.04184112 -0.99907023 -0.01039253 -0.08464239] + [ 0. 0. 0. 1. ]] + +timeshift cam1 to imu0: [s] (t_imu = t_cam + shift) +0.004058146073125466 + +Baselines: +---------- +Baseline (cam0 to cam1): +[[ 0.99998337 -0.00477695 -0.00323097 0.38272107] + [ 0.00478376 0.99998635 0.00210329 0.00207141] + [ 0.00322088 -0.00211871 0.99999257 -0.00602606] + [ 0. 0. 0. 1. ]] +baseline norm: 0.3827741092410183 [m] + + +Gravity vector in target coords: [m/s^2] +[-0.04975173 -9.72072941 -1.29358701] + + +Calibration configuration +========================= + +cam0 +----- + Camera model: pinhole + Focal length: [1394.5046922987929, 1394.8473217839635] + Principal point: [969.9602386942076, 747.628445104563] + Distortion model: radtan + Distortion coefficients: [-0.15057920800818145, 0.07425854786994802, 0.00025953897477574327, -7.783198349369072e-05] + Type: aprilgrid + Tags: + Rows: 6 + Cols: 6 + Size: 0.1121 [m] + Spacing 0.028025 [m] + +cam1 +----- + Camera model: pinhole + Focal length: [1396.2502568402901, 1396.312688393185] + Principal point: [931.8690619019077, 730.9654164178276] + Distortion model: radtan + Distortion coefficients: [-0.1512563064547309, 0.07534917628069317, 0.000464225149620579, -0.001354875103324927] + Type: aprilgrid + Tags: + Rows: 6 + Cols: 6 + Size: 0.1121 [m] + Spacing 0.028025 [m] + + + +IMU configuration +================= + +IMU0: + ---------------------------- + Model: calibrated + Update rate: 400.0 + Accelerometer: + Noise density: 0.001372 + Noise density (discrete): 0.02744 + Random walk: 5e-05 + Gyroscope: + Noise density: 6.10866e-05 + Noise density (discrete): 0.0012217320000000001 + Random walk: 4e-06 + T_ib (imu0 to imu0) + [[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] + diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/img_infrared.mp4 b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/img_infrared.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9eab389c6bf3b1e18530355664c55a3c81ec9a9d --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/img_infrared.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b32240700712ab537b569db9302883ec87587e87bc54a3c8fdb2700220a58ea1 +size 5655098 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/img_left.mp4 b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/img_left.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b820395f15dfe479c6ca0cb6eb7d03916928bdf7 --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/img_left.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b6a3af3b01e1fcb68319b0e3d3c433ba9a94a32010c0f9887aac6b037212744 +size 201987467 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/img_right.mp4 b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/img_right.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..abd6897388cc54161c76449368c48964a3758c9b --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/img_right.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32d189e26970b49c57f46f1ece016b16d4c875ab2cfad2f49c4da3d6ee70ac5b +size 194820965 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/imu_cal_rosbag2_2026_01_20-16_37_28.h5 b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/imu_cal_rosbag2_2026_01_20-16_37_28.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6abe496c86cbba64671bae1d4ccc9f4cceb74a2f --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/imu_cal_rosbag2_2026_01_20-16_37_28.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed5eae2b9b5341336baf49a6606ce133fa8d95958c7fd1839ce1c86b2afcd9d3 +size 3809859403 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/timeSync.log b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/timeSync.log new file mode 100644 index 0000000000000000000000000000000000000000..21824b84959ce768c5dbd775e925b8a47cd345c0 --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/timeSync.log @@ -0,0 +1,63 @@ +2026-01-21 11:06:53,862 INFO:__main__:Infrared camera will use system time calibration +2026-01-21 11:07:23,639 INFO:timeSync_calibration:Sys Message Duration: 75.0 +2026-01-21 11:07:23,639 INFO:timeSync_calibration:Sys Total Pulses: 75 +2026-01-21 11:07:23,639 INFO:timeSync_calibration:Sys Time Range: 0.0 to 74.0 +2026-01-21 11:07:23,639 INFO:timeSync_calibration:Sys Dropped Packets: 0 +2026-01-21 11:07:23,639 INFO:__main__:-------------------------------- +2026-01-21 11:07:39,012 INFO:timeSync_calibration:IMU Total Pulses: 75 +2026-01-21 11:07:39,012 INFO:timeSync_calibration:IMU Time Range: 0.0 to 74.0 +2026-01-21 11:07:39,012 INFO:timeSync_calibration:IMU Message Duration: 75.0 +2026-01-21 11:07:39,012 INFO:timeSync_calibration:IMU Clock Drift: 67.57 ppm +2026-01-21 11:07:39,012 INFO:timeSync_calibration:IMU First Pulse Duration: 16.00ms +2026-01-21 11:07:39,012 INFO:timeSync_calibration:IMU Second Pulse Duration: 20.00ms +2026-01-21 11:07:39,012 INFO:__main__:-------------------------------- +2026-01-21 11:07:45,648 INFO:timeSync_calibration:FLIR Total Pulses: 75 +2026-01-21 11:07:45,648 INFO:timeSync_calibration:FLIR Time Range: 0.0 to 74.0 +2026-01-21 11:07:45,648 INFO:timeSync_calibration:FLIR Message Duration: 75.0 +2026-01-21 11:07:45,648 INFO:timeSync_calibration:FLIR Dropped/Missed Syncs: 0 +2026-01-21 11:07:45,648 INFO:timeSync_calibration:FLIR Clock Drift: 47.83 ppm +2026-01-21 11:07:45,648 INFO:timeSync_calibration:FLIR First Pulse Duration: 4.00ms +2026-01-21 11:07:45,648 INFO:timeSync_calibration:FLIR Second Pulse Duration: 5.00ms +2026-01-21 11:07:45,648 INFO:__main__:-------------------------------- +2026-01-21 11:07:51,669 INFO:timeSync_calibration:FLIR Total Pulses: 75 +2026-01-21 11:07:51,669 INFO:timeSync_calibration:FLIR Time Range: 0.0 to 74.0 +2026-01-21 11:07:51,669 INFO:timeSync_calibration:FLIR Message Duration: 75.0 +2026-01-21 11:07:51,669 INFO:timeSync_calibration:FLIR Dropped/Missed Syncs: 0 +2026-01-21 11:07:51,669 INFO:timeSync_calibration:FLIR Clock Drift: 50.37 ppm +2026-01-21 11:07:51,669 INFO:timeSync_calibration:FLIR First Pulse Duration: 4.00ms +2026-01-21 11:07:51,669 INFO:timeSync_calibration:FLIR Second Pulse Duration: 5.00ms +2026-01-21 11:07:51,669 INFO:__main__:-------------------------------- +2026-01-21 11:08:04,976 INFO:timeSync_calibration:/event_camera_0/events Total Pulses: 76 +2026-01-21 11:08:04,976 INFO:root:/event_camera_0/events Time Range: 0.0 to 75.0 +2026-01-21 11:08:04,976 INFO:timeSync_calibration:/event_camera_0/events Message Duration: 75.0s +2026-01-21 11:08:04,976 INFO:root:/event_camera_0/events Dropped Packets: 0 +2026-01-21 11:08:04,976 INFO:timeSync_calibration:/event_camera_0/events Trig Publishing Rate: 1.00Hz +2026-01-21 11:08:04,976 INFO:timeSync_calibration:/event_camera_0/events First Pulse Duration: 30.00ms +2026-01-21 11:08:04,976 INFO:timeSync_calibration:/event_camera_0/events Second Pulse Duration: 40.00ms +2026-01-21 11:08:04,976 INFO:__main__:-------------------------------- +2026-01-21 11:08:16,364 INFO:timeSync_calibration:/event_camera_1/events Total Pulses: 76 +2026-01-21 11:08:16,364 INFO:root:/event_camera_1/events Time Range: 0.0 to 75.0 +2026-01-21 11:08:16,364 INFO:timeSync_calibration:/event_camera_1/events Message Duration: 75.0s +2026-01-21 11:08:16,364 INFO:root:/event_camera_1/events Dropped Packets: 0 +2026-01-21 11:08:16,364 INFO:timeSync_calibration:/event_camera_1/events Trig Publishing Rate: 1.00Hz +2026-01-21 11:08:16,364 INFO:timeSync_calibration:/event_camera_1/events First Pulse Duration: 30.00ms +2026-01-21 11:08:16,364 INFO:timeSync_calibration:/event_camera_1/events Second Pulse Duration: 40.00ms +2026-01-21 11:08:16,364 INFO:__main__:-------------------------------- +2026-01-21 11:08:16,367 INFO:__main__:Saved time offset objects to /data/rosbags/processed/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28//time_offset.npz +2026-01-21 11:08:16,417 INFO:timeSync_process:Writing to local temp: /tmp/timeSync_imu_cal_rosbag2_2026_01_20-16_37_28_1/imu_cal_rosbag2_2026_01_20-16_37_28.h5, will copy to /data/rosbags/processed/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28//imu_cal_rosbag2_2026_01_20-16_37_28.h5 +2026-01-21 11:08:30,806 INFO:timeSync_process:process_infrared_camera completed in 14.31s +2026-01-21 11:08:30,895 WARNING:timeSync_process:IMU topic counts don't match: IMU=34019, Trigger=34016. Will match by time and process only messages with valid trigger matches. +2026-01-21 11:08:45,664 INFO:timeSync_process:IMU topic to trigger time difference: 0.00s +2026-01-21 11:08:59,246 INFO:timeSync_process:parse_imu completed in 28.43s +2026-01-21 11:10:36,726 INFO:timeSync_process:Bad diffs: 0 out of 0 events +2026-01-21 11:10:38,403 INFO:timeSync_process:Ev/right camera: 930,047,523 events stored in 99.15s +2026-01-21 11:12:24,773 INFO:timeSync_process:Bad diffs: 0 out of 0 events +2026-01-21 11:12:28,184 INFO:timeSync_process:Ev/left camera: 947,119,438 events stored in 109.71s +2026-01-21 11:12:59,418 INFO:timeSync_process:_process_flir_camera(img_right) completed in 31.16s +2026-01-21 11:13:30,912 INFO:timeSync_process:_process_flir_camera(img_left) completed in 31.49s +2026-01-21 11:13:30,922 INFO:root:Bag date 2026-01-20 >= cutoff 2025-12-01, using rev7_1 metadata: /data/rosbags/raw/calibrations/rev7_1.json +2026-01-21 11:13:49,433 INFO:timeSync_process:parse_lidar completed in 18.51s +2026-01-21 11:13:49,476 INFO:timeSync_process:Copying /tmp/timeSync_imu_cal_rosbag2_2026_01_20-16_37_28_1/imu_cal_rosbag2_2026_01_20-16_37_28.h5 to /data/rosbags/processed/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28//imu_cal_rosbag2_2026_01_20-16_37_28.h5... +2026-01-21 11:13:54,708 INFO:timeSync_process:Copy completed in 5.23s +2026-01-21 11:13:55,309 INFO:timeSync_process:Cleaned up temp directory: /tmp/timeSync_imu_cal_rosbag2_2026_01_20-16_37_28_1 +2026-01-21 11:13:55,309 INFO:timeSync_process:Finished processing /data/rosbags/raw/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28 in 338.89s diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/time_offset.npz b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/time_offset.npz new file mode 100644 index 0000000000000000000000000000000000000000..da6fac1c1b8700ea9b5cf63fc317a0b015bba0db --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_01_20-16_37_28/time_offset.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ada1603839b256a048d4bfe8edb52b6e6137719efbddb9a0043f21a0c3d692a +size 107476 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_02_01-08_57_08/calibration-camchain-imucam.yaml b/calibrations/imu_cals/imu_cal_rosbag2_2026_02_01-08_57_08/calibration-camchain-imucam.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4db8b68cf3295066711b6cc10dbd6add3d5ecff6 --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_02_01-08_57_08/calibration-camchain-imucam.yaml @@ -0,0 +1,33 @@ +cam0: + T_cam_imu: + - [0.024106802935546956, -0.9990562769748956, 0.0361305617073544, -0.26150668453632425] + - [-0.00667404597920207, -0.036301090855845125, -0.9993186118115407, -0.0724882510103341] + - [0.9996871106313694, 0.023849239814675904, -0.007542850771948079, -0.04622137197113162] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [1, 2, 3] + camera_model: pinhole + distortion_coeffs: [-0.1554359514433866, 0.0655399682995906, -0.0004923723374585663, -0.0004813524454894719] + distortion_model: radtan + intrinsics: [1401.3330677935874, 1402.3580366829, 979.1011654994055, 736.0102509319549] + resolution: [1920, 1456] + rostopic: /flir_cam_right + timeshift_cam_imu: 0.0031820486283634618 +cam1: + T_cam_imu: + - [0.02258867061026104, -0.998882595477121, 0.041512798182626987, 0.12262814236572722] + - [-0.00508414214301206, -0.04163763046143665, -0.9991198422753031, -0.07178467217804342] + - [0.9997319157947949, 0.022357732050618084, -0.006018999819071724, -0.05092358493334541] + - [0.0, 0.0, 0.0, 1.0] + T_cn_cnm1: + - [0.9999843483197465, -0.00537474182580007, -0.0015541125526817084, 0.3836692950340756] + - [0.005377012543751408, 0.9999844770207448, 0.0014606346703982965, 0.00217609086011549] + - [0.0015462378939695982, -0.0014689682917016478, 0.9999977256376745, -0.004404449483459246] + - [0.0, 0.0, 0.0, 1.0] + cam_overlaps: [0, 2, 3] + camera_model: pinhole + distortion_coeffs: [-0.15265826841492536, 0.06270859675813797, -2.531577575372254e-05, -0.0007931321618872502] + distortion_model: radtan + intrinsics: [1403.0924205367137, 1404.4065149128899, 935.954623179377, 720.4616727020557] + resolution: [1920, 1456] + rostopic: /flir_cam_left + timeshift_cam_imu: 0.003137068269548867 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_02_01-08_57_08/calibration-imu.yaml b/calibrations/imu_cals/imu_cal_rosbag2_2026_02_01-08_57_08/calibration-imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5eb4c2637eb341162c06c9ae94b51f156e20144b --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_02_01-08_57_08/calibration-imu.yaml @@ -0,0 +1,14 @@ +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: 0.001372 + accelerometer_random_walk: 5.0e-05 + gyroscope_noise_density: 6.10866e-05 + gyroscope_random_walk: 4.0e-06 + model: calibrated + rostopic: /imu/data + time_offset: 0.0 + update_rate: 400.0 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_02_01-08_57_08/calibration-results-imucam.txt b/calibrations/imu_cals/imu_cal_rosbag2_2026_02_01-08_57_08/calibration-results-imucam.txt new file mode 100644 index 0000000000000000000000000000000000000000..44f0abf492ca135e96a6987046ff07870a84e20c --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_02_01-08_57_08/calibration-results-imucam.txt @@ -0,0 +1,120 @@ +Calibration results +=================== +Normalized Residuals +---------------------------- +Reprojection error (cam0): mean 0.8801391667046974, median 0.7420352908385353, std: 0.7111925366311681 +Reprojection error (cam1): mean 0.8368268931991205, median 0.7470383874941796, std: 0.6712323822274899 +Gyroscope error (imu0): mean 0.735214136028234, median 0.6994148956503362, std: 0.3370651676031152 +Accelerometer error (imu0): mean 1.2256456482168676, median 1.1373150462717856, std: 0.6265074316286077 + +Residuals +---------------------------- +Reprojection error (cam0) [px]: mean 0.8801391667046974, median 0.7420352908385353, std: 0.7111925366311681 +Reprojection error (cam1) [px]: mean 0.8368268931991205, median 0.7470383874941796, std: 0.6712323822274899 +Gyroscope error (imu0) [rad/s]: mean 0.0008982346368380465, median 0.0008544975592926767, std: 0.0004118033013460893 +Accelerometer error (imu0) [m/s^2]: mean 0.03363171658707085, median 0.031207924869697798, std: 0.017191363923888994 + +Transformation (cam0): +----------------------- +T_ci: (imu0 to cam0): +[[ 0.0241068 -0.99905628 0.03613056 -0.26150668] + [-0.00667405 -0.03630109 -0.99931861 -0.07248825] + [ 0.99968711 0.02384924 -0.00754285 -0.04622137] + [ 0. 0. 0. 1. ]] + +T_ic: (cam0 to imu0): +[[ 0.0241068 -0.00667405 0.99968711 0.05202721] + [-0.99905628 -0.03630109 0.02384924 -0.26278895] + [ 0.03613056 -0.99931861 -0.00754285 -0.06333912] + [ 0. 0. 0. 1. ]] + +timeshift cam0 to imu0: [s] (t_imu = t_cam + shift) +0.0031820486283634618 + + +Transformation (cam1): +----------------------- +T_ci: (imu0 to cam1): +[[ 0.02258867 -0.9988826 0.0415128 0.12262814] + [-0.00508414 -0.04163763 -0.99911984 -0.07178467] + [ 0.99973192 0.02235773 -0.006019 -0.05092358] + [ 0. 0. 0. 1. ]] + +T_ic: (cam1 to imu0): +[[ 0.02258867 -0.00508414 0.99973192 0.04777496] + [-0.9988826 -0.04163763 0.02235773 0.12064071] + [ 0.0415128 -0.99911984 -0.006019 -0.07711864] + [ 0. 0. 0. 1. ]] + +timeshift cam1 to imu0: [s] (t_imu = t_cam + shift) +0.003137068269548867 + +Baselines: +---------- +Baseline (cam0 to cam1): +[[ 0.99998435 -0.00537474 -0.00155411 0.3836693 ] + [ 0.00537701 0.99998448 0.00146063 0.00217609] + [ 0.00154624 -0.00146897 0.99999773 -0.00440445] + [ 0. 0. 0. 1. ]] +baseline norm: 0.38370074602302817 [m] + + +Gravity vector in target coords: [m/s^2] +[-0.03563986 -9.74196478 -1.12306498] + + +Calibration configuration +========================= + +cam0 +----- + Camera model: pinhole + Focal length: [1401.3330677935874, 1402.3580366829] + Principal point: [979.1011654994055, 736.0102509319549] + Distortion model: radtan + Distortion coefficients: [-0.1554359514433866, 0.0655399682995906, -0.0004923723374585663, -0.0004813524454894719] + Type: aprilgrid + Tags: + Rows: 6 + Cols: 6 + Size: 0.1121 [m] + Spacing 0.028025 [m] + +cam1 +----- + Camera model: pinhole + Focal length: [1403.0924205367137, 1404.4065149128899] + Principal point: [935.954623179377, 720.4616727020557] + Distortion model: radtan + Distortion coefficients: [-0.15265826841492536, 0.06270859675813797, -2.531577575372254e-05, -0.0007931321618872502] + Type: aprilgrid + Tags: + Rows: 6 + Cols: 6 + Size: 0.1121 [m] + Spacing 0.028025 [m] + + + +IMU configuration +================= + +IMU0: + ---------------------------- + Model: calibrated + Update rate: 400.0 + Accelerometer: + Noise density: 0.001372 + Noise density (discrete): 0.02744 + Random walk: 5e-05 + Gyroscope: + Noise density: 6.10866e-05 + Noise density (discrete): 0.0012217320000000001 + Random walk: 4e-06 + T_ib (imu0 to imu0) + [[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] + diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_02_01-08_57_08/img_infrared.mp4 b/calibrations/imu_cals/imu_cal_rosbag2_2026_02_01-08_57_08/img_infrared.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f39851d33a82e67dd239da97967cefddd9ed15de --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_02_01-08_57_08/img_infrared.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f44c1b3f2d084680491d401d39c6315ce62004fb28e4fa7c9d8a37c75855bf0b +size 4482116 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_02_01-08_57_08/img_left.mp4 b/calibrations/imu_cals/imu_cal_rosbag2_2026_02_01-08_57_08/img_left.mp4 new file mode 100644 index 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b/calibrations/imu_cals/imu_cal_rosbag2_2026_02_01-08_57_08/imu_cal_rosbag2_2026_02_01-08_57_08.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ec58e4b16112aaa38005b85165ce1b4d78c1614f --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_02_01-08_57_08/imu_cal_rosbag2_2026_02_01-08_57_08.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5698d9cbba63aed7d57dbac84300b62a276e22abe23c2f4177254c264ac6122a +size 2169330423 diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_02_01-08_57_08/timeSync.log b/calibrations/imu_cals/imu_cal_rosbag2_2026_02_01-08_57_08/timeSync.log new file mode 100644 index 0000000000000000000000000000000000000000..98a9c5ef30e591f16b27ebe05fbc19ce62d60815 --- /dev/null +++ b/calibrations/imu_cals/imu_cal_rosbag2_2026_02_01-08_57_08/timeSync.log @@ -0,0 +1,63 @@ +2026-02-04 03:25:10,178 INFO:__main__:Infrared camera will use system time calibration +2026-02-04 03:25:37,031 INFO:timeSync_calibration:Sys Message Duration: 56.0 +2026-02-04 03:25:37,031 INFO:timeSync_calibration:Sys Total Pulses: 56 +2026-02-04 03:25:37,031 INFO:timeSync_calibration:Sys Time Range: 0.0 to 55.0 +2026-02-04 03:25:37,031 INFO:timeSync_calibration:Sys Dropped Packets: 0 +2026-02-04 03:25:37,031 INFO:__main__:-------------------------------- +2026-02-04 03:25:56,571 INFO:timeSync_calibration:IMU Total Pulses: 56 +2026-02-04 03:25:56,572 INFO:timeSync_calibration:IMU Time Range: 0.0 to 55.0 +2026-02-04 03:25:56,572 INFO:timeSync_calibration:IMU Message Duration: 56.0 +2026-02-04 03:25:56,572 INFO:timeSync_calibration:IMU Clock Drift: 0.00 ppm +2026-02-04 03:25:56,572 INFO:timeSync_calibration:IMU First Pulse Duration: 16.00ms +2026-02-04 03:25:56,572 INFO:timeSync_calibration:IMU Second Pulse Duration: 20.00ms +2026-02-04 03:25:56,572 INFO:__main__:-------------------------------- +2026-02-04 03:26:04,267 INFO:timeSync_calibration:FLIR Total Pulses: 56 +2026-02-04 03:26:04,267 INFO:timeSync_calibration:FLIR Time Range: 0.0 to 55.0 +2026-02-04 03:26:04,267 INFO:timeSync_calibration:FLIR Message Duration: 56.0 +2026-02-04 03:26:04,267 INFO:timeSync_calibration:FLIR Dropped/Missed Syncs: 0 +2026-02-04 03:26:04,267 INFO:timeSync_calibration:FLIR Clock Drift: -1.33 ppm +2026-02-04 03:26:04,267 INFO:timeSync_calibration:FLIR First Pulse Duration: 4.00ms +2026-02-04 03:26:04,267 INFO:timeSync_calibration:FLIR Second Pulse Duration: 5.00ms +2026-02-04 03:26:04,267 INFO:__main__:-------------------------------- +2026-02-04 03:26:15,724 INFO:timeSync_calibration:FLIR Total Pulses: 56 +2026-02-04 03:26:15,724 INFO:timeSync_calibration:FLIR Time Range: 0.0 to 55.0 +2026-02-04 03:26:15,724 INFO:timeSync_calibration:FLIR Message Duration: 56.0 +2026-02-04 03:26:15,724 INFO:timeSync_calibration:FLIR Dropped/Missed Syncs: 0 +2026-02-04 03:26:15,724 INFO:timeSync_calibration:FLIR Clock Drift: 1.39 ppm +2026-02-04 03:26:15,724 INFO:timeSync_calibration:FLIR First Pulse Duration: 4.00ms +2026-02-04 03:26:15,724 INFO:timeSync_calibration:FLIR Second Pulse Duration: 5.00ms +2026-02-04 03:26:15,724 INFO:__main__:-------------------------------- +2026-02-04 03:26:24,520 INFO:timeSync_calibration:/event_camera_0/events Total Pulses: 57 +2026-02-04 03:26:24,521 INFO:root:/event_camera_0/events Time Range: 0.0 to 56.0 +2026-02-04 03:26:24,521 INFO:timeSync_calibration:/event_camera_0/events Message Duration: 56.0s +2026-02-04 03:26:24,521 INFO:root:/event_camera_0/events Dropped Packets: 0 +2026-02-04 03:26:24,521 INFO:timeSync_calibration:/event_camera_0/events Trig Publishing Rate: 1.00Hz +2026-02-04 03:26:24,521 INFO:timeSync_calibration:/event_camera_0/events First Pulse Duration: 30.00ms +2026-02-04 03:26:24,521 INFO:timeSync_calibration:/event_camera_0/events Second Pulse Duration: 40.00ms +2026-02-04 03:26:24,521 INFO:__main__:-------------------------------- +2026-02-04 03:26:30,822 INFO:timeSync_calibration:/event_camera_1/events Total Pulses: 57 +2026-02-04 03:26:30,823 INFO:root:/event_camera_1/events Time Range: 0.0 to 56.0 +2026-02-04 03:26:30,823 INFO:timeSync_calibration:/event_camera_1/events Message Duration: 56.0s +2026-02-04 03:26:30,823 INFO:root:/event_camera_1/events Dropped Packets: 0 +2026-02-04 03:26:30,823 INFO:timeSync_calibration:/event_camera_1/events Trig Publishing Rate: 1.00Hz +2026-02-04 03:26:30,823 INFO:timeSync_calibration:/event_camera_1/events First Pulse Duration: 30.00ms +2026-02-04 03:26:30,823 INFO:timeSync_calibration:/event_camera_1/events Second Pulse Duration: 40.00ms +2026-02-04 03:26:30,823 INFO:__main__:-------------------------------- +2026-02-04 03:26:30,826 INFO:__main__:Saved time offset objects to /data/rosbags/processed/calibrations/imu_cals/imu_cal_rosbag2_2026_02_01-08_57_08//time_offset.npz +2026-02-04 03:26:30,861 INFO:timeSync_process:Writing to local temp: /tmp/timeSync_imu_cal_rosbag2_2026_02_01-08_57_08_1/imu_cal_rosbag2_2026_02_01-08_57_08.h5, will copy to /data/rosbags/processed/calibrations/imu_cals/imu_cal_rosbag2_2026_02_01-08_57_08//imu_cal_rosbag2_2026_02_01-08_57_08.h5 +2026-02-04 03:26:56,754 INFO:timeSync_process:process_infrared_camera completed in 25.84s +2026-02-04 03:26:56,813 WARNING:timeSync_process:IMU topic counts don't match: IMU=26575, Trigger=26567. Will match by time and process only messages with valid trigger matches. +2026-02-04 03:27:24,705 INFO:timeSync_process:IMU topic to trigger time difference: 0.00s +2026-02-04 03:28:17,353 INFO:timeSync_process:parse_imu completed in 80.59s +2026-02-04 03:29:29,293 INFO:timeSync_process:Bad diffs: 0 out of 0 events +2026-02-04 03:29:29,652 INFO:timeSync_process:Ev/right camera: 457,827,291 events stored in 72.29s +2026-02-04 03:30:48,481 INFO:timeSync_process:Bad diffs: 0 out of 0 events +2026-02-04 03:30:49,134 INFO:timeSync_process:Ev/left camera: 466,309,133 events stored in 79.31s +2026-02-04 03:31:13,862 INFO:timeSync_process:_process_flir_camera(img_right) completed in 24.70s +2026-02-04 03:31:37,006 INFO:timeSync_process:_process_flir_camera(img_left) completed in 23.14s +2026-02-04 03:31:37,023 INFO:root:Bag date 2026-02-01 >= cutoff 2025-12-01, using rev7_1 metadata: /data/rosbags/raw/calibrations/rev7_1.json +2026-02-04 03:31:50,032 INFO:timeSync_process:parse_lidar completed in 13.01s +2026-02-04 03:31:50,060 INFO:timeSync_process:Copying /tmp/timeSync_imu_cal_rosbag2_2026_02_01-08_57_08_1/imu_cal_rosbag2_2026_02_01-08_57_08.h5 to /data/rosbags/processed/calibrations/imu_cals/imu_cal_rosbag2_2026_02_01-08_57_08//imu_cal_rosbag2_2026_02_01-08_57_08.h5... +2026-02-04 03:31:53,293 INFO:timeSync_process:Copy completed in 3.23s +2026-02-04 03:31:53,604 INFO:timeSync_process:Cleaned up temp directory: /tmp/timeSync_imu_cal_rosbag2_2026_02_01-08_57_08_1 +2026-02-04 03:31:53,604 INFO:timeSync_process:Finished processing /data/rosbags/raw/calibrations/imu_cals/imu_cal_rosbag2_2026_02_01-08_57_08 in 322.74s diff --git a/calibrations/imu_cals/imu_cal_rosbag2_2026_02_01-08_57_08/time_offset.npz b/calibrations/imu_cals/imu_cal_rosbag2_2026_02_01-08_57_08/time_offset.npz new file mode 100644 index 0000000000000000000000000000000000000000..6865dd9585150fac83b762d730b59f889298a905 --- /dev/null +++ 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