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@Wihmajster Wihmajster released this 15 Apr 15:34
v1.0.0-data
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This release is dedicated to distributing bag files used in the firo_calibration package for generating calibration files. The aim of this release is to allow users to utilize these bag files for verification of calibration processes and for other relevant applications. All files are licensed under the same Apache Licence, Version 2.0, as the firo_calibration package.

Hardware and Recording Settings (Common for All Files)

  • Camera: Luxonis Oak-d W (RGB camera: OV9782, IMU sensor: BNO086)
  • Robot: FIRO
  • IMU Output Types Used: GYROSCOPE_UNCALIBRATED, ACCELEROMETER
  • IMU Rate: 200Hz
  • Calibration Target: Details are provided in the package source code (path: firo_calibration/kalibr/target.yaml)

Recommended Usage

For calibration purposes, it is advised to unpack these files in the bag folder of the firo_calibration package.

Content of the Release

  1. camimu.zip.001, camimu.zip.002, camimu.zip.003:
    Left, right and RGB camera images (20fps), along with gyroscope and accelerometer data, recording about 2 minutes of camera movement focused on the calibration target.

    • Calibration: Use with kalibr Camera IMU calibration to estimate the IMU's position and temporal offset relative to the cameras.
    • Results:
      • firo_calibration/kalibr/camimu/raw
      • firo_calibration/kalibr/camimu/inflated (generated with inflated IMU noise parameters)

  2. imu.zip:
    24-hour recording of a stationary IMU (accelerometer and gyroscope).

    • Calibration: Use with allan_variance_ros package to estimate IMU noise model parameters (noise density and random walk).
    • Results:
      • firo_calibration/allan_variance_ros/raw
      • firo_calibration/allan_variance_ros/inflated (manually inflated noise parameters).

  3. multicam.zip:
    Streams from left, right, and RGB cameras focused on the calibration target from various perspectives, containing 192 images.

    • Calibration: Use with kalibr Multiple camera calibration to estimate cameras' intrinsics and extrinsics.
    • Results:
      • firo_calibration/kalibr/multicam/pinhole-equi (pinhole-equi model)
      • firo_calibration/kalibr/multicam/pinhole-radtan (pinhole-radtan model)
Assets 7
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