calibration_odometry: use base (translational) velocity

IntelRealSense · Mar 12, 2019 · ccb018e · ccb018e
1 parent 7495ae7
commit ccb018e
Showing 1 changed file with 4 additions and 40 deletions.
diff --git a/unit-tests/resources/calibration_odometry.json b/unit-tests/resources/calibration_odometry.json
@@ -2,58 +2,22 @@
     "velocimeters": [
         {
             "scale_and_alignment": [
-                0.034,
-                0.0000000000000000,
-                0.0000000000000000,
-                0.0000000000000000,
                 1.0,
                 0.0000000000000000,
                 0.0000000000000000,
                 0.0000000000000000,
-                1.0
-            ],
-            "noise_variance": 0.0001511342857142857,
-            "extrinsics": {
-                "T": [
-                    0.1037,
-                    -0.0898,
-                    -0.1631
-                ],
-                "T_variance": [
-                    9.999999974752427e-7, 
-                    9.999999974752427e-7, 
-                    9.999999974752427e-7
-                ],
-                "W": [
-                    -1.1155,
-                    -1.1690,
-                    -1.2115
-                ],
-                "W_variance": [
-                    9.999999974752427e-5, 
-                    9.999999974752427e-5, 
-                    9.999999974752427e-5
-                ]
-            }
-        },
-        {
-            "scale_and_alignment": [
-                0.034,
-                0.0000000000000000,
-                0.0000000000000000,
-                0.0000000000000000,
                 1.0,
                 0.0000000000000000,
                 0.0000000000000000,
                 0.0000000000000000,
                 1.0
             ],
-            "noise_variance": 0.0001511342857142857,
+            "noise_variance": 0.004445126050420168,
             "extrinsics": {
                 "T": [
-                    -0.1461,
-                    -0.1014,
-                    -0.1631
+                    -0.5059,
+                    -0.6294,
+                    -0.6873
                 ],
                 "T_variance": [
                     9.999999974752427e-7,