Update calibrations (#4)

- rename calib sequence to have the same format (3df7ccf0cb941cbeae4ff2fd01f9a92a433eff57)
- move calibration files to Oct24 calib sequence (055235a6c5e0daa6d8a27262fedb1ed09ddeccd0)
- add Mar24 calib files (fe37554a6798f8e2c489e1a202c058f2f8ab0911)
- move imu calibration to oct folder (3efa1ff893e4ff7e1ca3c0ffc8f8a1a33cba6db7)
- add (duplicate) calibration results to march folder (633b36f062627d79e01bcc45b9cd73f34c0bc51b)
- add June calibration results (7ff10b3ddade7b93508b0ddb4c829e7a80bd1514)
- use june imu calib as main (861bf7d4710674e64ee0bfd7d242102a9ec23b68)
- rename folder to be the same as paper figure (4caa42ff45627639715d39959cbdcba462ab93c2)
- add cam-imu from June (c0f04c4110265d57647b27a1e7e7841c969a2013)
- add June sequence rosbags (8c7564acd265e79c19e80fac4135a629cdbac14b)
- update README (54f62a9a6efe000e284f856e5c61b194ea56ce04)
- make README markdown (4382e704e42bac4792f26cf8d77f72e490be4a09)

calibration/README.md

@@ -0,0 +1,59 @@
+# File Format
+
+cam<n>.yaml: Cameras intrinsics obtained from Kalibr (https://github.com/ethz-asl/kalibr)
+- camera_matrix (3x3) 
+- distortion_coefficients ([k1, k2, k3, k4])
+- distortion_model (equidistant, see https://github.com/ethz-asl/kalibr/wiki/supported-models)
+- projection_matrix (3x4, same as camera matrix)
+- rectification_matrix
+- image_width, image_height
+
+imu.yaml: IMU intrinsics obtained from Allen Variance ROS (https://github.com/ori-drs/allan_variance_ros)
+- accelerometer_noise_density
+- accelerometer_random_walk
+- gyroscope_noise_density
+- gyroscope_random_walk
+- rostopic
+- update_rate
+
+cam-lidar-imu.yaml: Camera-LiDAR-IMU extrinsics obtained from DiffCal (https://github.com/ori-drs/diffcal)
+- T_cam_lidar: 4x4 homogeneous matrix that converts points in lidar frame to camera<n> frame
+- C_r_CL: translation (x,y,z) of T_cam<n>_lidar
+- C_q_CL: rotation quaternion (x,y,z,w) of T_cam<n>_lidar
+- C_r_CI: translation (x,y,z) of T_cam<n>_imu
+- C_q_CI: rotation quaternion (x,y,z,w) of T_cam<n>_imu
+- rostopic
+
+Intra-camera calibration and IMU-LiDAR can be inferred from the transformations above.
+
+# Base Frame
+An artificial frame that is located at the bottom of the device with the x-axis forward (same direction as the front camera), y-axis to the left, and z-axis to the top. It is designed to make the visualisation of the sensor pose more intuitive.
+
+The base frame is manually set with respect to the lidar as
+T_base_lidar_t_xyz_q_xyzw = [0.0, 0.0, 0.124, 0.0, 0.0, 1.0, 0.0]
+
+The processed (undistorted) point clouds from VILENS are provided in the base frame, not the lidar frame. 
+
+# Calibration sequences
+There are three sequences recorded for calibration
+- 2024-03-19
+- 2024-06-29 (although imu calibration is done on 2024-06-27)
+- 2024-10-29
+ 
+
+The default calibration files provided in this folder are obtained from these sequences.
+- cam<n>.yaml: 2024-03-19 sequence
+- imu.yaml: 2024-06-29 sequence
+- cam-lidar-imu.yaml
+  - cam-lidar: 2024-03-19 sequence
+  - cam-imu: 2024-06-29 sequence 
+  
+The rationale is that 
+- most sequences we have are collected in March (2024-03-xx)
+- for these sequences, the closest IMU calibration we did is in June (2024-06-29)
+
+
+We recommend using the calibration that is closest to the sequence that you are testing.
+- 2024-03-xx sequences (the majority): use the default calibration files
+- 2024-05-20 sequences (bodleian library-02): either calibration from 2024-03-19 or 2024-06-29 
+- 2024-07-09 sequences (new college): use calibration from 2024-06-29 

calibration/README.txt

@@ -1,12 +0,0 @@
-camx.yaml: Cameras intrinsic
-imu.yaml: IMU intrinsic
-
-Cam-lidar-imu.yaml:
-
-T_cam_lidar: Camera-LiDAR extrinsic (homogeneous transformation matrix)
-C_r_CL: Camera-LiDAR extrinsic (translation: x, y, z)
-C_q_CL: Camera-LiDAR extrinsic (rotation quaternion: x, y, z, w)
-C_r_CI: Camera-IMU extrinsic (translation: x, y, z)
-C_q_CI: Camera-IMU extrinsic (rotation quaternion: x, y, z, w)
-
-Intra-camera calibration and IMU-LiDAR can be inferred from the transformations above.

calibration/calibration-sequences-2024-03-19/cam-lidar.yaml

@@ -0,0 +1,24 @@
+cam0:
+  C_q_CL: [0.5034725628949727, 0.5003337192107279, -0.4947539264483171, 0.5013981452864594]
+  C_r_CL: [0.00035060884033447846, -0.079574053851818, -0.053826061545697405]
+  T_cam_lidar: [[0.009769443369467168, 0.9999460020163569, 0.0035427429705001123,
+      0.00035060884033447846], [0.007671197638838445, 0.003467861351881818, -0.9999645627043141,
+      -0.079574053851818], [-0.9999228523756403, 0.009796274248324188, -0.007636904334543504,
+      -0.053826061545697405], [0.0, 0.0, 0.0, 1.0]]
+  rostopic: /alphasense_driver_ros/cam0
+cam1:
+  C_q_CL: [0.005222551021921984, 0.7078744176660065, -0.7063115244548896, 0.0032502610734581453]
+  C_r_CL: [3.388762063794015e-05, -0.07994358595369325, -0.05600121569499821]
+  T_cam_lidar: [[-0.9999243215275544, 0.011985214234089332, -0.0027759426184009632,
+      3.388762063794015e-05], [0.0028024268194067766, 0.0021935107660662244, -0.9999936674371688,
+      -0.07994358595369325], [-0.01197904927694765, -0.9999257688200062, -0.002226932450328148,
+      -0.05600121569499821], [0.0, 0.0, 0.0, 1.0]]
+  rostopic: /alphasense_driver_ros/cam1
+cam2:
+  C_q_CL: [0.7066174394729171, -0.001174547005383393, 0.0015977924498378243, 0.7075930057111628]
+  C_r_CL: [-0.0006070783260079121, -0.07992015242752262, -0.054798558347406996]
+  T_cam_lidar: [[0.9999921349972399, -0.0039210843191359555, 0.0005958535276505602,
+      -0.0006070783260079121], [0.0006012627291974449, 0.0013784825840519252, -0.9999988691338099,
+      -0.07992015242752262], [0.003920258511203686, 0.9999913624044613, 0.0013808293441417744,
+      -0.054798558347406996], [0.0, 0.0, 0.0, 1.0]]
+  rostopic: /alphasense_driver_ros/cam2

calibration/calibration-sequences-2024-03-19/cam0.yaml

@@ -0,0 +1,23 @@
+# Created by Kalibr and DiffCal using joined-camchain.yaml
+camera_matrix:
+  cols: 3
+  data: [698.1692094914263, 0.0, 712.7646767255006, 0.0, 698.5147584873237, 560.5751284820508,
+    0.0, 0.0, 1.0]
+  rows: 3
+camera_name: cam0_sensor_frame
+distortion_coefficients:
+  cols: 4
+  data: [-0.04114225009462773, -0.002421765984053725, 0.003400355152679783, -0.0018518822347983275]
+  rows: 1
+distortion_model: equidistant
+image_height: 1080
+image_width: 1440
+projection_matrix:
+  cols: 4
+  data: [698.1692094914263, 0.0, 712.7646767255006, 0.0, 0.0, 698.5147584873237, 560.5751284820508,
+    0.0, 0.0, 0.0, 1.0, 0.0]
+  rows: 3
+rectification_matrix:
+  cols: 3
+  data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
+  rows: 3

calibration/calibration-sequences-2024-03-19/cam1.yaml

@@ -0,0 +1,23 @@
+# Created by Kalibr and DiffCal using joined-camchain.yaml
+camera_matrix:
+  cols: 3
+  data: [697.4908124760002, 0.0, 719.1718975625936, 0.0, 696.9171455329763, 543.7401536075661,
+    0.0, 0.0, 1.0]
+  rows: 3
+camera_name: cam1_sensor_frame
+distortion_coefficients:
+  cols: 4
+  data: [-0.04417827343575797, 0.006234275291082348, -0.0028153029005502637, -0.0005652124301059104]
+  rows: 1
+distortion_model: equidistant
+image_height: 1080
+image_width: 1440
+projection_matrix:
+  cols: 4
+  data: [697.4908124760002, 0.0, 719.1718975625936, 0.0, 0.0, 696.9171455329763, 543.7401536075661,
+    0.0, 0.0, 0.0, 1.0, 0.0]
+  rows: 3
+rectification_matrix:
+  cols: 3
+  data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
+  rows: 3

calibration/calibration-sequences-2024-03-19/cam2.yaml

@@ -0,0 +1,23 @@
+# Created by Kalibr and DiffCal using joined-camchain.yaml
+camera_matrix:
+  cols: 3
+  data: [698.4588137038655, 0.0, 708.6474762128631, 0.0, 699.3937128891818, 533.7390355049014,
+    0.0, 0.0, 1.0]
+  rows: 3
+camera_name: cam2_sensor_frame
+distortion_coefficients:
+  cols: 4
+  data: [-0.042476719963857094, -0.00421520261588724, 0.006942403828737165, -0.0034076218162515594]
+  rows: 1
+distortion_model: equidistant
+image_height: 1080
+image_width: 1440
+projection_matrix:
+  cols: 4
+  data: [698.4588137038655, 0.0, 708.6474762128631, 0.0, 0.0, 699.3937128891818, 533.7390355049014,
+    0.0, 0.0, 0.0, 1.0, 0.0]
+  rows: 3
+rectification_matrix:
+  cols: 3
+  data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
+  rows: 3

calibration/calibration-sequences-2024-06-29/calibration-sequences-2024-06.zip

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1044b37f88e9492a927a81dc092cc74c2e21c38c7e90397090c39c2bf3da67b5
+size 17427616421

calibration/calibration-sequences-2024-06-29/cam-lidar-imu.yaml

@@ -0,0 +1,26 @@
+cam0:
+  C_q_CI: [0.0042909719518877815, -0.7085293318962699, 0.705668106144218, 0.0005453193252705428]
+  C_q_CL: [0.5010332822647401, 0.5004607602930475, -0.4971711039916009, 0.5013238183307264]
+  C_r_CI: [-0.0008544600980918986, 0.005115741648037186, -0.06898747851173177]
+  C_r_CL: [-0.00015374290652726507, -0.07845558325130414, -0.05051542218698944]
+  T_cam_lidar: [[0.004719841525355484, 0.9999824271822094, 0.003587258389425585, -0.00015374290652726507],
+    [0.00300756231512167, 0.003573086837588335, -0.9999890937502125, -0.07845558325130414],
+    [-0.99998433870981, 0.004730578952731601, -0.0029906450601474566, -0.05051542218698944],
+    [0.0, 0.0, 0.0, 1.0]]
+  rostopic: /alphasense_driver_ros/cam0
+cam1:
+  C_q_CL: [-0.002398458674940145, -0.7060065175095258, 0.7081822346043468, -0.005192997289645015]
+  C_r_CL: [0.004875137466372477, -0.07887512846833249, -0.05421207113440782]
+  T_cam_lidar: [[-0.9999345603502748, 0.01074183176272035, 0.003935488215746646, 0.004875137466372477],
+    [-0.00396852193678023, -0.0030556600264459474, -0.9999874568090602, -0.07887512846833249],
+    [-0.010729671511847857, -0.9999376360514672, 0.0030980892601155316, -0.05421207113440782],
+    [0.0, 0.0, 0.0, 1.0]]
+  rostopic: /alphasense_driver_ros/cam1
+cam2:
+  C_q_CL: [0.7066984758294482, -0.002300555481434012, 0.0005120724821567539, 0.7075109253478595]
+  C_r_CL: [-0.005178330950377591, -0.07833689411523856, -0.054848922156481815]
+  T_cam_lidar: [[0.9999888904525023, -0.0039761918559729405, -0.002531574589658226,
+      -0.005178330950377591], [-0.0025270043531893356, 0.0011540040842165657, -0.9999961412543437,
+      -0.07833689411523856], [0.0039790979602756646, 0.9999914290497212, 0.0011439434096243589,
+      -0.054848922156481815], [0.0, 0.0, 0.0, 1.0]]
+  rostopic: /alphasense_driver_ros/cam2

calibration/calibration-sequences-2024-06-29/cam0.yaml

@@ -0,0 +1,23 @@
+# Created by Kalibr and DiffCal using 3cams_imu-camchain.yaml
+camera_matrix:
+  cols: 3
+  data: [700.0151358992393, 0.0, 712.7829085438963, 0.0, 698.788447974813, 559.9781983734637,
+    0.0, 0.0, 1.0]
+  rows: 3
+camera_name: cam0_sensor_frame
+distortion_coefficients:
+  cols: 4
+  data: [-0.04658465759124592, 0.013323145313815198, -0.012646081097413825, 0.003538082549451833]
+  rows: 1
+distortion_model: equidistant
+image_height: 1080
+image_width: 1440
+projection_matrix:
+  cols: 4
+  data: [700.0151358992393, 0.0, 712.7829085438963, 0.0, 0.0, 698.788447974813, 559.9781983734637,
+    0.0, 0.0, 0.0, 1.0, 0.0]
+  rows: 3
+rectification_matrix:
+  cols: 3
+  data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
+  rows: 3

calibration/calibration-sequences-2024-06-29/cam1.yaml

@@ -0,0 +1,23 @@
+# Created by Kalibr and DiffCal using 3cams_imu-camchain.yaml
+camera_matrix:
+  cols: 3
+  data: [697.757801163887, 0.0, 718.8702962779893, 0.0, 696.4057434481674, 539.1725883866554,
+    0.0, 0.0, 1.0]
+  rows: 3
+camera_name: cam1_sensor_frame
+distortion_coefficients:
+  cols: 4
+  data: [-0.037778089524138386, 0.0013604913732881336, -0.003398333425629159, 0.001157727394381312]
+  rows: 1
+distortion_model: equidistant
+image_height: 1080
+image_width: 1440
+projection_matrix:
+  cols: 4
+  data: [697.757801163887, 0.0, 718.8702962779893, 0.0, 0.0, 696.4057434481674, 539.1725883866554,
+    0.0, 0.0, 0.0, 1.0, 0.0]
+  rows: 3
+rectification_matrix:
+  cols: 3
+  data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
+  rows: 3

calibration/calibration-sequences-2024-06-29/cam2.yaml

@@ -0,0 +1,23 @@
+# Created by Kalibr and DiffCal using 3cams_imu-camchain.yaml
+camera_matrix:
+  cols: 3
+  data: [699.1796326565628, 0.0, 715.1591529587915, 0.0, 697.8422036787862, 533.8283288384044,
+    0.0, 0.0, 1.0]
+  rows: 3
+camera_name: cam2_sensor_frame
+distortion_coefficients:
+  cols: 4
+  data: [-0.0435199255383212, 0.011051684250503362, -0.011566589093654815, 0.0032561769303031127]
+  rows: 1
+distortion_model: equidistant
+image_height: 1080
+image_width: 1440
+projection_matrix:
+  cols: 4
+  data: [699.1796326565628, 0.0, 715.1591529587915, 0.0, 0.0, 697.8422036787862, 533.8283288384044,
+    0.0, 0.0, 0.0, 1.0, 0.0]
+  rows: 3
+rectification_matrix:
+  cols: 3
+  data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
+  rows: 3

calibration/calibration-sequences-2024-06-29/imu.yaml

@@ -0,0 +1,11 @@
+#Accelerometer
+accelerometer_noise_density: 0.0011002607647952406 
+accelerometer_random_walk: 3.390710627779767e-05 
+
+#Gyroscope
+gyroscope_noise_density: 0.00022632861789099884 
+gyroscope_random_walk: 8.252445860125436e-06 
+
+rostopic: '/alphasense_driver_ros/imu' #Make sure this is correct
+update_rate: 400.0 #Make sure this is correct
+

calibration/calibration-sequences-2024-10-29/cam-lidar-imu.yaml

@@ -0,0 +1,26 @@
+cam0:
+  C_q_CI: [-0.003150684959962717, 0.7095105504964175, -0.7046875827967661, 0.0005124164367280889]
+  C_q_CL: [0.5023769275907106, 0.49990425097844265, -0.49648618825384844, 0.5012131556048427]
+  C_r_CI: [-0.005000230026155717, -0.0031440163748744266, -0.07336562959794378]
+  C_r_CL: [0.003242860366163889, -0.07368532755947366, -0.05485800045216396]
+  T_cam_lidar: [[0.007194409453692541, 0.9999715416500337, 0.002270762573978069, 0.003242860366163889],
+    [0.004589905134308125, 0.0022377749953642057, -0.9999869624819755, -0.07368532755947366],
+    [-0.999963585958744, 0.007204738241246789, -0.004573675043599734, -0.05485800045216396],
+    [0.0, 0.0, 0.0, 1.0]]
+  rostopic: /alphasense_driver_ros/cam0
+cam1:
+  C_q_CL: [-0.002146608381201245, -0.706035772724336, 0.7081636530342621, -0.0036221854144666624]
+  C_r_CL: [0.002445973115576358, -0.07369303566179404, -0.057386869899386704]
+  T_cam_lidar: [[-0.999964543690561, 0.00816136472446813, 0.0020744848903766324, 0.002445973115576358],
+    [-0.0020990354958363975, -0.003000734812745681, -0.9999932947978047, -0.07369303566179404],
+    [-0.008155085021838376, -0.9999621931435289, 0.003017759412014723, -0.057386869899386704],
+    [0.0, 0.0, 0.0, 1.0]]
+  rostopic: /alphasense_driver_ros/cam1
+cam2:
+  C_q_CL: [0.7066311099992131, -0.0012270682629631486, 0.00012163090437164773, 0.7075810581768573]
+  C_r_CL: [-0.002246894712629628, -0.07344206996606042, -0.05028255821151065]
+  T_cam_lidar: [[0.9999969590188027, -0.0019062966654495807, -0.00156460415799267,
+      -0.002246894712629628], [-0.0015620417693603859, 0.0013449191744065846, -0.9999978756067066,
+      -0.07344206996606042], [0.001908396881858144, 0.9999972786090163, 0.0013419373695164598,
+      -0.05028255821151065], [0.0, 0.0, 0.0, 1.0]]
+  rostopic: /alphasense_driver_ros/cam2

calibration/calibration-sequences-2024-10-29/cam0.yaml

@@ -0,0 +1,23 @@
+# Created by Kalibr and DiffCal using kalibr-intrinsics-extrinsics.yaml
+camera_matrix:
+  cols: 3
+  data: [698.3946772032825, 0.0, 718.431814292891, 0.0, 698.4629665854908, 559.7771701003702,
+    0.0, 0.0, 1.0]
+  rows: 3
+camera_name: cam0_sensor_frame
+distortion_coefficients:
+  cols: 4
+  data: [-0.04707469981321094, 0.011515146787673071, -0.008908394423298474, 0.0018561099343051583]
+  rows: 1
+distortion_model: equidistant
+image_height: 1080
+image_width: 1440
+projection_matrix:
+  cols: 4
+  data: [698.3946772032825, 0.0, 718.431814292891, 0.0, 0.0, 698.4629665854908, 559.7771701003702,
+    0.0, 0.0, 0.0, 1.0, 0.0]
+  rows: 3
+rectification_matrix:
+  cols: 3
+  data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
+  rows: 3

calibration/calibration-sequences-2024-10-29/cam1.yaml

@@ -0,0 +1,23 @@
+# Created by Kalibr and DiffCal using kalibr-intrinsics-extrinsics.yaml
+camera_matrix:
+  cols: 3
+  data: [698.7077057399946, 0.0, 720.4468046683089, 0.0, 699.7213977428826, 539.6639557186915,
+    0.0, 0.0, 1.0]
+  rows: 3
+camera_name: cam1_sensor_frame
+distortion_coefficients:
+  cols: 4
+  data: [-0.04010020519601471, -0.00044301230334375594, -7.327926294282181e-05, -0.00017811009939676002]
+  rows: 1
+distortion_model: equidistant
+image_height: 1080
+image_width: 1440
+projection_matrix:
+  cols: 4
+  data: [698.7077057399946, 0.0, 720.4468046683089, 0.0, 0.0, 699.7213977428826, 539.6639557186915,
+    0.0, 0.0, 0.0, 1.0, 0.0]
+  rows: 3
+rectification_matrix:
+  cols: 3
+  data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
+  rows: 3

calibration/calibration-sequences-2024-10-29/cam2.yaml

@@ -0,0 +1,23 @@
+# Created by Kalibr and DiffCal using kalibr-intrinsics-extrinsics.yaml
+camera_matrix:
+  cols: 3
+  data: [698.6954304056306, 0.0, 714.6369903593052, 0.0, 697.3997961335664, 532.530974606606,
+    0.0, 0.0, 1.0]
+  rows: 3
+camera_name: cam2_sensor_frame
+distortion_coefficients:
+  cols: 4
+  data: [-0.036603475396788196, -0.007341373813717986, 0.005371575306265293, -0.0018297510848552124]
+  rows: 1
+distortion_model: equidistant
+image_height: 1080
+image_width: 1440
+projection_matrix:
+  cols: 4
+  data: [698.6954304056306, 0.0, 714.6369903593052, 0.0, 0.0, 697.3997961335664, 532.530974606606,
+    0.0, 0.0, 0.0, 1.0, 0.0]
+  rows: 3
+rectification_matrix:
+  cols: 3
+  data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
+  rows: 3

calibration/calibration-sequences-2024-10-29/imu.yaml

@@ -0,0 +1,11 @@
+#Accelerometer
+accelerometer_noise_density: 0.0009432782069138238 
+accelerometer_random_walk: 4.981034600256154e-05 
+
+#Gyroscope
+gyroscope_noise_density: 0.00023031229571253504 
+gyroscope_random_walk: 4.46264879417123e-06 
+
+rostopic: '/alphasense_driver_ros/imu' #Make sure this is correct
+update_rate: 400.0 #Make sure this is correct
+

calibration/cam-lidar-imu.yaml

@@ -1,26 +1,26 @@
 cam0:
-  C_q_CI: [-0.003150684959962717, 0.7095105504964175, -0.7046875827967661, 0.0005124164367280889]
-  C_q_CL: [0.5023769275907106, 0.49990425097844265, -0.49648618825384844, 0.5012131556048427]
-  C_r_CI: [-0.005000230026155717, -0.0031440163748744266, -0.07336562959794378]
-  C_r_CL: [0.003242860366163889, -0.07368532755947366, -0.05485800045216396]
-  T_cam_lidar: [[0.007194409453692541, 0.9999715416500337, 0.002270762573978069, 0.003242860366163889],
-    [0.004589905134308125, 0.0022377749953642057, -0.9999869624819755, -0.07368532755947366],
-    [-0.999963585958744, 0.007204738241246789, -0.004573675043599734, -0.05485800045216396],
-    [0.0, 0.0, 0.0, 1.0]]
+  C_q_CI: [0.0042909719518877815, -0.7085293318962699, 0.705668106144218, 0.0005453193252705428]
+  C_q_CL: [0.5034725628949727, 0.5003337192107279, -0.4947539264483171, 0.5013981452864594]
+  C_r_CI: [-0.0008544600980918986, 0.005115741648037186, -0.06898747851173177]
+  C_r_CL: [0.00035060884033447846, -0.079574053851818, -0.053826061545697405]
+  T_cam_lidar: [[0.009769443369467168, 0.9999460020163569, 0.0035427429705001123,
+      0.00035060884033447846], [0.007671197638838445, 0.003467861351881818, -0.9999645627043141,
+      -0.079574053851818], [-0.9999228523756403, 0.009796274248324188, -0.007636904334543504,
+      -0.053826061545697405], [0.0, 0.0, 0.0, 1.0]]
   rostopic: /alphasense_driver_ros/cam0
 cam1:
-  C_q_CL: [-0.002146608381201245, -0.706035772724336, 0.7081636530342621, -0.0036221854144666624]
-  C_r_CL: [0.002445973115576358, -0.07369303566179404, -0.057386869899386704]
-  T_cam_lidar: [[-0.999964543690561, 0.00816136472446813, 0.0020744848903766324, 0.002445973115576358],
-    [-0.0020990354958363975, -0.003000734812745681, -0.9999932947978047, -0.07369303566179404],
-    [-0.008155085021838376, -0.9999621931435289, 0.003017759412014723, -0.057386869899386704],
-    [0.0, 0.0, 0.0, 1.0]]
+  C_q_CL: [0.005222551021921984, 0.7078744176660065, -0.7063115244548896, 0.0032502610734581453]
+  C_r_CL: [3.388762063794015e-05, -0.07994358595369325, -0.05600121569499821]
+  T_cam_lidar: [[-0.9999243215275544, 0.011985214234089332, -0.0027759426184009632,
+      3.388762063794015e-05], [0.0028024268194067766, 0.0021935107660662244, -0.9999936674371688,
+      -0.07994358595369325], [-0.01197904927694765, -0.9999257688200062, -0.002226932450328148,
+      -0.05600121569499821], [0.0, 0.0, 0.0, 1.0]]
   rostopic: /alphasense_driver_ros/cam1
 cam2:
-  C_q_CL: [0.7066311099992131, -0.0012270682629631486, 0.00012163090437164773, 0.7075810581768573]
-  C_r_CL: [-0.002246894712629628, -0.07344206996606042, -0.05028255821151065]
-  T_cam_lidar: [[0.9999969590188027, -0.0019062966654495807, -0.00156460415799267,
-      -0.002246894712629628], [-0.0015620417693603859, 0.0013449191744065846, -0.9999978756067066,
-      -0.07344206996606042], [0.001908396881858144, 0.9999972786090163, 0.0013419373695164598,
-      -0.05028255821151065], [0.0, 0.0, 0.0, 1.0]]
+  C_q_CL: [0.7066174394729171, -0.001174547005383393, 0.0015977924498378243, 0.7075930057111628]
+  C_r_CL: [-0.0006070783260079121, -0.07992015242752262, -0.054798558347406996]
+  T_cam_lidar: [[0.9999921349972399, -0.0039210843191359555, 0.0005958535276505602,
+      -0.0006070783260079121], [0.0006012627291974449, 0.0013784825840519252, -0.9999988691338099,
+      -0.07992015242752262], [0.003920258511203686, 0.9999913624044613, 0.0013808293441417744,
+      -0.054798558347406996], [0.0, 0.0, 0.0, 1.0]]
   rostopic: /alphasense_driver_ros/cam2

calibration/cam0.yaml

@@ -1,20 +1,20 @@
-# Created by Kalibr and DiffCal using kalibr-intrinsics-extrinsics.yaml
+# Created by Kalibr and DiffCal using joined-camchain.yaml
 camera_matrix:
   cols: 3
-  data: [698.3946772032825, 0.0, 718.431814292891, 0.0, 698.4629665854908, 559.7771701003702,
+  data: [698.1692094914263, 0.0, 712.7646767255006, 0.0, 698.5147584873237, 560.5751284820508,
     0.0, 0.0, 1.0]
   rows: 3
 camera_name: cam0_sensor_frame
 distortion_coefficients:
   cols: 4
-  data: [-0.04707469981321094, 0.011515146787673071, -0.008908394423298474, 0.0018561099343051583]
+  data: [-0.04114225009462773, -0.002421765984053725, 0.003400355152679783, -0.0018518822347983275]
   rows: 1
 distortion_model: equidistant
 image_height: 1080
 image_width: 1440
 projection_matrix:
   cols: 4
-  data: [698.3946772032825, 0.0, 718.431814292891, 0.0, 0.0, 698.4629665854908, 559.7771701003702,
+  data: [698.1692094914263, 0.0, 712.7646767255006, 0.0, 0.0, 698.5147584873237, 560.5751284820508,
     0.0, 0.0, 0.0, 1.0, 0.0]
   rows: 3
 rectification_matrix:

calibration/cam1.yaml

@@ -1,20 +1,20 @@
-# Created by Kalibr and DiffCal using kalibr-intrinsics-extrinsics.yaml
+# Created by Kalibr and DiffCal using joined-camchain.yaml
 camera_matrix:
   cols: 3
-  data: [698.7077057399946, 0.0, 720.4468046683089, 0.0, 699.7213977428826, 539.6639557186915,
+  data: [697.4908124760002, 0.0, 719.1718975625936, 0.0, 696.9171455329763, 543.7401536075661,
     0.0, 0.0, 1.0]
   rows: 3
 camera_name: cam1_sensor_frame
 distortion_coefficients:
   cols: 4
-  data: [-0.04010020519601471, -0.00044301230334375594, -7.327926294282181e-05, -0.00017811009939676002]
+  data: [-0.04417827343575797, 0.006234275291082348, -0.0028153029005502637, -0.0005652124301059104]
   rows: 1
 distortion_model: equidistant
 image_height: 1080
 image_width: 1440
 projection_matrix:
   cols: 4
-  data: [698.7077057399946, 0.0, 720.4468046683089, 0.0, 0.0, 699.7213977428826, 539.6639557186915,
+  data: [697.4908124760002, 0.0, 719.1718975625936, 0.0, 0.0, 696.9171455329763, 543.7401536075661,
     0.0, 0.0, 0.0, 1.0, 0.0]
   rows: 3
 rectification_matrix:

calibration/cam2.yaml

@@ -1,20 +1,20 @@
-# Created by Kalibr and DiffCal using kalibr-intrinsics-extrinsics.yaml
+# Created by Kalibr and DiffCal using joined-camchain.yaml
 camera_matrix:
   cols: 3
-  data: [698.6954304056306, 0.0, 714.6369903593052, 0.0, 697.3997961335664, 532.530974606606,
+  data: [698.4588137038655, 0.0, 708.6474762128631, 0.0, 699.3937128891818, 533.7390355049014,
     0.0, 0.0, 1.0]
   rows: 3
 camera_name: cam2_sensor_frame
 distortion_coefficients:
   cols: 4
-  data: [-0.036603475396788196, -0.007341373813717986, 0.005371575306265293, -0.0018297510848552124]
+  data: [-0.042476719963857094, -0.00421520261588724, 0.006942403828737165, -0.0034076218162515594]
   rows: 1
 distortion_model: equidistant
 image_height: 1080
 image_width: 1440
 projection_matrix:
   cols: 4
-  data: [698.6954304056306, 0.0, 714.6369903593052, 0.0, 0.0, 697.3997961335664, 532.530974606606,
+  data: [698.4588137038655, 0.0, 708.6474762128631, 0.0, 0.0, 699.3937128891818, 533.7390355049014,
     0.0, 0.0, 0.0, 1.0, 0.0]
   rows: 3
 rectification_matrix:

calibration/imu.yaml

@@ -1,10 +1,10 @@
 #Accelerometer
-accelerometer_noise_density: 0.0009432782069138238 
-accelerometer_random_walk: 4.981034600256154e-05 
+accelerometer_noise_density: 0.0011002607647952406 
+accelerometer_random_walk: 3.390710627779767e-05 
 
 #Gyroscope
-gyroscope_noise_density: 0.00023031229571253504 
-gyroscope_random_walk: 4.46264879417123e-06 
+gyroscope_noise_density: 0.00022632861789099884 
+gyroscope_random_walk: 8.252445860125436e-06 
 
 rostopic: '/alphasense_driver_ros/imu' #Make sure this is correct
 update_rate: 400.0 #Make sure this is correct