%YAML:1.0

#--------------------------------------------------------------------------------------------
# Left Camera Parameters.
#--------------------------------------------------------------------------------------------
Camera.type: "PinHole"

# Camera calibration and distortion parameters (OpenCV) (equal for both cameras after stereo rectification)
Camera.fx: 1176.371989001733
Camera.fy: 1176.092984580754
Camera.cx: 621.676298301324
Camera.cy: 508.182115727477

Camera.k1: -0.052418753922603
Camera.k2: 0.104682361259496
Camera.p1: 0.000650517607061
Camera.p2: 0.000103793518711

Camera.width: 1224
Camera.height: 1024

# Camera frames per second 
Camera.fps: 10.0

# stereo baseline times fx (unit: m x pixel)
Camera.bf: 423.4939160406239 

#--------------------------------------------------------------------------------------------
# IMU noise
#--------------------------------------------------------------------------------------------
IMU.NoiseGyro: 1.0084886221461694e-02
IMU.NoiseAcc: 1.0557715622632996e-02
IMU.GyroWalk: 9.8778648600726277e-05
IMU.AccWalk: 2.3084619195565281e-04
IMU.Frequency: 100

# Transformation from left camera to imu
Tic: !!opencv-matrix
   rows: 4
   cols: 4
   dt: d
   data: [0.0004156,  -0.01277515,  0.99991831,  0.15076999,
         -0.99999158, -0.00408635,  0.00036342,  0.1531545,
          0.00408138, -0.99991004, -0.01277674,  0.01004714,
          0.0,         0.0,         0.0,         1.0]

#--------------------------------------------------------------------------------------------
# Stereo Rectification. Only if you need to pre-rectify the images.
#--------------------------------------------------------------------------------------------
LEFT.height: 1024
LEFT.width: 1224
LEFT.D: !!opencv-matrix
   rows: 1
   cols: 5
   dt: d
   data: [-0.052418753922603, 0.104682361259496, 0.000650517607061, 0.000103793518711, 0.0]
LEFT.K: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [1176.371989001733,    0.0,            621.676298301324, 
             0.0,            1176.092984580754, 508.182115727477, 
             0.0,               0.0,              1.0]
LEFT.R:  !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [1.0, 0.0, 0.0,
          0.0, 1.0, 0.0,
          0.0, 0.0, 1.0]
LEFT.Rf:  !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [1.0, 0.0, 0.0, 
          0.0, 1.0, 0.0, 
          0.0, 0.0, 1.0]
LEFT.P:  !!opencv-matrix
   rows: 3
   cols: 4
   dt: d
   data: [1176.371989001733,    0.0,            621.676298301324, 0.0,  
             0.0,            1176.092984580754, 508.182115727477, 0.0,  
             0.0,               0.0,              1.0,            0.0]

RIGHT.height: 1024
RIGHT.width: 1224
RIGHT.D: !!opencv-matrix
   rows: 1
   cols: 5
   dt: d
   data: [-0.053314338222019, 0.099513356190201, -0.000114531609168, 0.001057111311330, 0.0]
RIGHT.K: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [1170.903035724522,    0.0,            602.239017335193, 
             0.0,            1170.731039292330, 505.701781863552, 
             0.0,               0.0,              1.0]
RIGHT.R:  !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [0.999988904147781,   0.002977057860333,  -0.003650850286635,
         -0.002963513067231,   0.999988727228776,   0.003709852513600,
          0.003661853577021,  -0.003698992007094,   0.999986454051510]
RIGHT.P:  !!opencv-matrix
   rows: 3
   cols: 4
   dt: d
   data: [1170.903035724522,    0.0,            602.239017335193, -364.7958668586873, 
             0.0,            1170.731039292330, 505.701781863552,    1.3954592304343, 
             0.0,               0.0,              1.0,             -12.6923711243586]

#--------------------------------------------------------------------------------------------
# Transformation from left camera to lidar
#--------------------------------------------------------------------------------------------
Tlc: !!opencv-matrix
   rows: 4
   cols: 4
   dt: d
   data: [0.017870010543876, -0.017600720528060,  0.999685389190047,  0.132943148638482,
         -0.999728769020931, -0.015249506692405,  0.017602299211548,  0.201060820335298,
          0.014934895883679, -0.999728796815682, -0.017868455512781, -0.083131958281528,
          0.0,                0.0,                0.0,                1.000000000000000]