intrinsics.yaml

%YAML:1.0
---
camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 458.654, 0., 367.215, 0., 457.296, 248.375, 0., 0., 1. ]
distortion: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]


# Sensor extrinsics wrt. the body-frame.
T_BS:
  cols: 4
  rows: 4
  data: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975,
         0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768,
        -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949,
         0.0, 0.0, 0.0, 1.0]

# Camera specific definitions.
rate_hz: 20
resolution: [752, 480]
camera_model: pinhole
intrinsics: [458.654, 457.296, 367.215, 248.375] #fu, fv, cu, cv
distortion_model: radial-tangential
distortion_coefficients: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05]

# inertial sensor noise model parameters (static)
gyroscope_noise_density: 1.6968e-04     # [ rad / s / sqrt(Hz) ]   ( gyro "white noise" )
gyroscope_random_walk: 1.9393e-05       # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
accelerometer_noise_density: 2.0000e-3  # [ m / s^2 / sqrt(Hz) ]   ( accel "white noise" )
accelerometer_random_walk: 3.0000e-3    # [ m / s^3 / sqrt(Hz) ].  ( accel bias diffusion )