sensor.yaml

%YAML:1.0

camera:
   model: 0 # 0: pinhole; 1: equidistant
   scale: 0.5
   width: 1280
   height: 1024
   fx: 1299.4613338436232
   fy: 1295.8863918432958
   cx: 625.8584662418021
   cy: 526.5097843650361

   d0: -0.08627823835637148
   d1: 0.14498567174218893
   d2: 0.0007064224773052699
   d3: 0.0034718345415729822
   d4: 0.0


extrinsic:
   # lidar to camera
   T_C_L: !!opencv-matrix
      rows: 4
      cols: 4
      dt: d
      data: [ -0.0163232, -0.999801, -0.0114645, 0.0192731,
              0.00201814, 0.011433, -0.999933, -0.0596309,
              0.999865, -0.0163452, 0.00183112, -0.166228,
              0.0, 0.0, 0.0, 1.0 ]

   # lidar to base(imu)
   T_B_L: !!opencv-matrix
      rows: 4
      cols: 4
      dt: d
      data: [ 1.0, 0.0, 0.0, 0.04165, 
              0.0, 1.0, 0.0, 0.02326,
              0.0, 0.0, 1.0, -0.0284,
              0.0, 0.0, 0.0, 1.0 ]
   # imu to camera (T_CI)
   T_cam_imu: !!opencv-matrix
      rows: 4
      cols: 4
      dt: d
      data: [ -0.0163232, -0.999801,  -0.0114645,  0.04288274,
               0.00201814, 0.011433,  -0.999933,  -0.08837898,
               0.999865,  -0.0163452, 0.00183112, -0.20744018,
               0.0,        0.0,        0.0,        1.0 ]