%YAML:1.0

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

# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 1172.771733138536
Camera.fy: 1172.364005984343 
Camera.cx: 617.941545715258
Camera.cy: 507.672727295385

Camera.k1: -0.052628389768906
Camera.k2: 0.100832689624109
Camera.p1: 0.000395112517197
Camera.p2: 0.000362060505238

Camera.width: 1224
Camera.height: 1024

# Camera frames per second 
Camera.fps: 10.0

# stereo baseline times fx (unit: m x pixel)
Camera.bf: 422.197823929873 

#--------------------------------------------------------------------------------------------
# IMU noise
#--------------------------------------------------------------------------------------------
IMU.NoiseGyro: 1.0451440924866223e-02
IMU.NoiseAcc: 1.0919628856399554e-02
IMU.GyroWalk: 8.1770009351257180e-05 
IMU.AccWalk: 2.1851827629113259e-04
IMU.Frequency: 100

# Transformation from left camera to imu
Tic: !!opencv-matrix
   rows: 4
   cols: 4
   dt: d
   data: [ 0.00671209, -0.00971447,  0.99993029,  0.14118513,
          -0.99993865, -0.00887635,  0.00662591,  0.1552482,
           0.00881136, -0.99991342, -0.00977345,  0.01917531,
           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: [-0.052628389768906, 0.100832689624109, 0.000395112517197, 0.000362060505238, 0.0]
LEFT.K: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [1172.771733138536,    0.0,            617.941545715258, 
             0.0,            1172.364005984343, 507.672727295385, 
             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: [1172.771733138536,    0.0,            617.941545715258, 0.0,  
             0.0,            1172.364005984343, 507.672727295385, 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: [-0.052817970234810, 0.100073648217903, 0.000987319404990, 0.000078198322045, 0.0]
RIGHT.K: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [1172.549603999100,    0.0,            617.477465353483, 
             0.0,            1173.241586185178, 516.335518983269, 
             0.0,               0.0,              1.0]
RIGHT.R:  !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [0.999994846143267,   0.003159631643868,  -0.000569574209205,
         -0.003162491376236,   0.999982035625659,  -0.005091863534975,
          0.000553475564009,   0.005093638565765,   0.999986874169337]
RIGHT.P:  !!opencv-matrix
   rows: 3
   cols: 4
   dt: d
   data: [1172.549603999100,    0.0,              617.477465353483, -361.1747016345565 , 
             0.0,              1173.241586185178, 516.335518983269,   -5.2678945955122, 
             0.0,                 0.0,              1.0,              -1.5931129591554]

#--------------------------------------------------------------------------------------------
# Transformation from left camera to lidar
#--------------------------------------------------------------------------------------------
Tlc: !!opencv-matrix
   rows: 4
   cols: 4
   dt: d
   data: [0.016401767702498, -0.010112948899873,  0.999814337905184,  0.128861294507233,
         -0.999053252579189, -0.040462795913874,  0.015980008065579,  0.196875730840019,
          0.040293678501436, -0.999129866639658, -0.010767035870758, -0.126632260291528,
          0.0,                0.0,                0.0,                1.000000000000000]