Calibration output
The calibration output consists of either a calibration zip file containing the following:
- Sensor extrinsics
- Camera intrinsics
- Time offsets
- Ground detection (if the robot moves in a plane on flat ground)
- Wheel intrinsics (if encoders or wheel speeds were included)
- Metadata
Sensor extrinsics
| Filename | Description |
|---|---|
extrinsics.urdf |
NVIDIA Isaac Perceptor compatible URDF |
extrinsics.yaml |
YAML describing 6DoF extrinsics |
The YAML includes transforms between the reference frame and the 6DoF pose of each sensor. The transforms are specified as positions [x,y,z] in meters with quaternions [x,y,z,w].
Camera intrinsics
| Filename | Description |
|---|---|
<sensor_name>.intrinsics.yaml |
OpenCV-compatible camera intrinsics model |
Each imaging sensor has a corresponding YAML file that includes a projection matrix and a distortion model. MSA calibration supports fisheye, equidistant, ftheta3, rational polynomial, and plumbob (linear) models.
Readout time is included for rolling shutter cameras.
Sensor time offsets
| Filename | Description |
|---|---|
time_offsets.yaml |
YAML describing time offsets |
The YAML includes time offsets for all sensors which were timestamped in the same time domain in the input data. For instance, if all the sensors report timestamps in Unix time, there will be an entry for every sensor.
Ground detection
| Filename | Description |
|---|---|
ground.yaml |
YAML specifying transforms between the ground plane and each sensor |
Wheel intrinsics
| Filename | Description |
|---|---|
wheels_cal.yaml |
YAML describing wheel intrinsics |
The YAML includes an axle track estimate (in meters) and corrective gain factors for either left and right wheel speeds or meters-per-tick.
Metadata
| Filename | Description |
|---|---|
msa_metadata.tar |
Reflected metadata file (if provided in upload) |
If a file named msa_metadata.tar was included in the log, it will be included in the output zip file. This file is not unpacked or analyzed by Calibration Anywhere.