%YAML:1.0
imu:
  # inertial sensor noise model parameters (static)
  gyroscope_noise_density: 0.01       # [ rad / s / sqrt(Hz) ]
  gyroscope_random_walk: 0.0001       # [ rad / s^2 / sqrt(Hz) ]
  accelerometer_noise_density: 0.1    # [ m / s^2 / sqrt(Hz) ]
  accelerometer_random_walk: 0.001    # [ m / s^3 / sqrt(Hz) ]
  accelerometer_bias: [0.0, 0.0, 0.0] # acc bias prior
  gyroscope_bias: [0.0, 0.0, 0.0]     # gyro bias prior
  extrinsic:
    q_bi: [ 0.0, 0.0, 0.0, 1.0 ] # x y z w
    p_bi: [ 0.0, 0.0, 0.0 ] # x y z [m]
  noise:
    cov_g: [
      2.8791302399999997e-08, 0.0, 0.0,
      0.0, 2.8791302399999997e-08, 0.0,
      0.0, 0.0, 2.8791302399999997e-08]
    cov_a: [
      4.0e-6, 0.0, 0.0,
      0.0, 4.0e-6, 0.0,
      0.0, 0.0, 4.0e-6]
    cov_bg: [
      3.7608844899999997e-10, 0.0, 0.0,
      0.0, 3.7608844899999997e-10, 0.0,
      0.0, 0.0, 3.7608844899999997e-10]
    cov_ba: [
      9.0e-6, 0.0, 0.0,
      0.0, 9.0e-6, 0.0,
      0.0, 0.0, 9.0e-6]

cam0:
  # camera0 wrt. 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]
  resolution: [752, 480]        # resolution of camera
  camera_model: pinhole         # camera model
  distortion_model: radtan      # distortion model
  intrinsics: [458.654, 457.296, 367.215, 248.375] # fu, fv, cu, cv
  camera_distortion_flag: 1     # use distortion model or not
  distortion: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05] # k1, k2, p1, p2, xi
  camera_readout_time: 0.0      # camera readout time
  time_offset: 0.0              # camera time delay wrt. IMU
  extrinsic:
    q_bc: [ -7.7071797555374275e-03, 1.0499323370587278e-02, 7.0175280029197162e-01, 7.1230146066895372e-01 ] # x y z w
    p_bc: [ -0.0216401454975, -0.064676986768, 0.00981073058949 ] # x y z [m]
  noise: [
    0.5, 0.0,
    0.0, 0.5] # [pixel^2]
