Hampo stereo module

Demo and values

Stereo + IMUcam0 + IMU

Stereo fisheye colour module from Dongguan Hampo Electronic Technology (翰普), with an IMU at about 500 Hz. One recording, solved as stereo and as cam0 alone.

The 3D scene MVIS recovered from this recording.

Reprojection median0.28 px

cam0–cam1 baseline65.3 mm

cam0 td−4.74 ms

cam0 lever arm34.5 mm

Reprojection is how far, in pixels, the detected corners lie from where the solve puts them. td is the camera–IMU time offset, and the lever arm is the camera–IMU position offset.

No independent reference, so this shows consistency between the two solves, not accuracy.

Calibration process

The path of the rig around the board, as MVIS solved it. To explore it:

• Press Play or drag the bar to follow the path.
• Use the view buttons to change the view.
• Pick a camera card to put that camera on the frustum, the pyramid that shows its view.

Each card draws the board from the solved pose, with the corners MVIS detected. We publish no camera images.

Solved rig

The solved rig in 3D, to scale. Tap a sensor to see its values. In full screen you can rotate and zoom. Grid squares are 20 mm.

3DFrontTopSide+−

To scale, from above and the front

From above

From the front

Camera	Lever x, y, z (mm)	Distance (mm)	log(R) (rad)	td (ms)	Field of view
cam0	−31.4, −0.7, +14.2	34.5	[+0.004, −0.001, +0.002]	−4.74	~154° × 121°
cam1	+33.9, −0.5, +14.3	36.8	[+0.006, +0.003, +0.002]	−4.45	~153° × 120°

Solved by MVIS. Lever arms (camera–IMU position offsets) are in the IMU frame. Rotation is log(R), camera in the IMU frame.

Specifications

Maker
Maker	Dongguan Hampo Electronic Technology
Published by the maker
Closest published model	USB-3372-V1.0: dual 2MP global shutter, M12 fixed focus, IMU at 100, 200 or 500 Hz, SD storage. The exact model isn't confirmed
Measured in these recordings
Cameras	2 × 1600×1200, H.264, 30 fps, colour
IMU	505 Hz measured, 500 Hz set
Sync	Both cameras share one frame time in the recorder log
Calibrated field of view	cam0 ~154° × 121° · cam1 ~153° × 120°
Not published
Open	Shutter: Not confirmed on this unit; global on the USB-3372 sheet

Sales contact Provided by the maker

Name	周宇华, sales manager
Email	cannychow@dghpdz.cn
Office phone	+86 769 8798 9852

Dataset

Recordings	1 recording. cam0 107.8 s, 3,235 frames. cam1 stops at 57.6 s, 1,728 frames
Format	Unfinalised MP4s, rebuilt, then converted to EuRoC layout
Board	AprilGrid 8×6, tag 50 mm, spacing 0.3
Licence	CC BY-NC 4.0; commercial use by request
Hosted	Calibench community, hampo/ (access by automatic approval)

AprilGrid 8 × 6, 375 × 505 mm. Standard pattern, to scale

Detailed results

Lens Calibrated field of view

Calibrated field of view, horizontal × vertical. cam0: ~154° × 121°, corners reach 72° from the axis · cam1: ~153° × 120°, corners reach 69° from the axis

cam0 cam1

We read these from the calibrated lens fit at the image edges, through the principal point (where the optical axis meets the image). ~ marks an axis past where the corners reached, so the fit is extrapolated there. Past the fit means an edge lies beyond where the fit holds, so we give no value.

IMU Gyro–accel time offset t_ga +0.03 ms

Each bar shows a scale as its deviation from 1. IMU model: calyx. t_ga, the time offset between the gyroscope and accelerometer channels: +0.03 ± 0.98 ms.

Gyro scale x−0.57 %

Gyro scale y−0.34 %

Gyro scale z+0.34 %

Accel scale x+0.12 %

Accel scale y−0.12 %

Accel scale z−0.12 %

−8 %0+8 %

Timing cam0 td −4.74 ms

The time offsets, to scale. td is the camera–IMU time offset, with t_imu = t_cam + td.

Full results Every solved parameter

Rotation is log(R) in rad, camera in the IMU frame.

Parameter	MVIS
cam0
fx px	529.59
fy px	529.52
cx px	837.44
cy px	625.32
k1	0.05578
k2	0.00630
k3	0.00289
k4	−0.00114
Lever x mm	−31.41
Lever y mm	−0.69
Lever z mm	+14.20
log(R) rad	[+0.0036, −0.0014, +0.0022]
td ms	−4.742
Reprojection px	0.444
cam1
fx px	532.83
fy px	532.78
cx px	840.58
cy px	606.22
k1	0.05472
k2	0.00480
k3	0.00547
k4	−0.00184
Lever x mm	+33.88
Lever y mm	−0.50
Lever z mm	+14.29
log(R) rad	[+0.0058, +0.0031, +0.0022]
td ms	−4.448
Reprojection px	0.536
IMU
t_ga ms	+0.03 ± 0.98

Limits

• No independent reference, so this shows consistency between the two solves, not accuracy.
• The recording is H.264 and the USB-3372 sheet lists MJPG and YUY2, so the exact model stays open.
• Frame stamps fall about 5.2 ms after mid-exposure, so td here isn't a physical delay.

How it was run

• cam0 at 30 Hz, cam1 at 10 Hz, default IMU noise, t_ga estimated, camera intrinsics free. Batch of 2026-11-03.