%YAML:1.0
#--------------------------------------------------------------------------------------------
#--------------------------------------------------------------------------------------------
# Sensors
#--------------------------------------------------------------------------------------------
# GPS IMU camera liDAR  
 
#--------------------------------------------------------------------------------------------
#--------------------------------------------------------------------------------------------
# Camera Parameters
# camera00 : front camera 
# camera01 : left  camera 
# camera02 : back  camera 
# camera03 : right camera
#--------------------------------------------------------------------------------------------

# camera 分辨率
Camera.width: 1280
Camera.height: 1024

# Camera calibration and distortion parameters (OpenCV) 
# Camera calibration and distortion parameters (OpenCV) 
Camera00.K: !!opencv-matrix
   rows: 3
   cols: 3
   dt: f
   data: [ 7.629474345710339e+02,   0.0,  6.622046584247926e+02, 
            0.0,  7.629413539925846e+02,  4.988324070599382e+02,  
            0.0,  0.0,  1.0  ]

Camera00.discoeff: !!opencv-matrix
   rows: 1
   cols: 5
   dt: f
   data: [ -0.346093810343719, 0.146745469067202, -1.478695660869472e-04, 4.156363219633491e-05, -0.032045048557824]

# Camera frames per second 
Camera00.fps: 10

# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera00.RGB: 1

#--------------------------------------------------------------------------------------------
# Camera00 Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
Camera01.type: "PinHole"
Camera01.id: 1

# Camera calibration and distortion parameters (OpenCV) 
Camera01.K: !!opencv-matrix
   rows: 3
   cols: 3
   dt: f
   data: [ 7.621358205082779e+02,   0.0,  6.295933579576887e+02, 
            0.0,  7.621276952615221e+02,  5.071957737123911e+02,  
            0.0,  0.0,  1.0  ]
            
Camera01.discoeff: !!opencv-matrix
   rows: 1
   cols: 5
   dt: f
   data: [ -0.339453243028424, 0.136139487984613, 9.100889428679060e-06, 1.711640358958449e-04, -0.027474813706647 ]

# Camera frames per second 
Camera01.fps: 10

# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera01.RGB: 1

#--------------------------------------------------------------------------------------------
# Camera02 Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
Camera02.type: "PinHole"
Camera02.id: 2

# Camera calibration and distortion parameters (OpenCV) 
Camera02.K: !!opencv-matrix
   rows: 3
   cols: 3
   dt: f
   data: [ 7.627523252390404e+02,   0.0,  6.539394710891539e+02, 
            0.0,  7.629419712223141e+02,  4.921415125816117e+02,  
            0.0,  0.0,  1.0  ]
            
Camera02.discoeff: !!opencv-matrix
   rows: 1
   cols: 5
   dt: f
   data: [ -0.342094393062367, 0.140473936341133, -2.253400207415913e-04, -1.361515746464892e-04, 0.029450530499133 ]

# Camera frames per second 
Camera02.fps: 10

# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera02.RGB: 1

#--------------------------------------------------------------------------------------------
# Camera03 Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
Camera03.type: "PinHole"
Camera03.id: 3

# Camera calibration and distortion parameters (OpenCV) 
Camera03.K: !!opencv-matrix
   rows: 3
   cols: 3
   dt: f
   data: [ 7.607609732616694e+02,   0.0,  6.395349118365913e+02, 
            0.0,  7.606311627354445e+02,  4.978164742290600e+02,  
            0.0,  0.0,  1.0  ]
            
Camera03.discoeff: !!opencv-matrix
   rows: 1
   cols: 5
   dt: f
   data: [ -0.344568408394329,  0.144763355939986, 9.816354764714918e-05, 5.352713400661360e-05, -0.031396063599413 ]
# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1


# cam -> cam
#transpose1: "1->0"
R01: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 2.5553073556767742e-02, 1.0747534976669172e-02,
       9.9961569161539621e-01, 3.7048950945096672e-02,
       9.9924506725567364e-01, -1.1690628685920881e-02,
       -9.9898669443875476e-01, 3.7333444217343997e-02,
       2.5135597808690128e-02 ]
t01: !!opencv-matrix
   rows: 3
   cols: 1
   dt: d
   data: [ 1.4329979203462540e-01, 4.7588310034847973e-03,
       -1.3778735387440724e-01 ]
#transpose2: "2->1"
R12: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ -1.2172629152441635e-02, -8.3506712927524755e-03,
       9.9989104075818058e-01, -4.1656822931059045e-03,
       9.9995687339681061e-01, 8.3005082680320877e-03,
       -9.9991723367014229e-01, -4.0641893945980272e-03,
       -1.2206890431834075e-02 ]
t12: !!opencv-matrix
   rows: 3
   cols: 1
   dt: d
   data: [ 1.3944355520401991e-01, -3.7764868200295537e-04,
       -1.4073709204141130e-01 ]
#transpose3: "3->2"
R23: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ -2.6780260663117426e-03, 1.6426682421548801e-02,
       9.9986148654751683e-01, 3.7324107886084479e-03,
       9.9985827159636587e-01, -1.6416632725166993e-02,
       -9.9998944858738059e-01, 3.6879296291451591e-03,
       -2.7389576406435939e-03 ]
t23: !!opencv-matrix
   rows: 3
   cols: 1
   dt: d
   data: [ 1.4163172808480370e-01, -9.6830526861833507e-04,
       -1.3927702457753524e-01 ]
#transpose4: "0->3"
R30: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ -1.0735277457495973e-02, -4.1771877660373033e-02,
       9.9906949911136689e-01, -9.9051580341788202e-03,
       9.9908249576196462e-01, 4.1665987404137017e-02,
       -9.9989331514028434e-01, -9.4486453405019759e-03,
       -1.1139184844542719e-02 ]
t30: !!opencv-matrix
   rows: 3
   cols: 1
   dt: d
   data: [ 1.4202128913807949e-01, -2.7310063795912137e-04,
       -1.3885455582203954e-01 ]

# Transformation from camera00 to imu-frame (i300)
Rcb: !!opencv-matrix
   rows: 3
   cols: 3
   dt: f
   data: [  0.99962999, -0.00569746, -0.0265973, 
            0.02682823,  0.04525487,  0.99861516, 
           -0.00448591, -0.99895923,  0.04539098]

tcb: !!opencv-matrix
   rows: 3
   cols: 1
   dt: f
   data: [0.00100325, 0.18314556, -0.1999717]

#--------------------------------------------------------------------------------------------
# liDAR Parameters
#--------------------------------------------------------------------------------------------
# Transformation from camera00 to liDAR-frame (VLP-16)
Rcl: !!opencv-matrix
   rows: 3
   cols: 3
   dt: f
   data: [ 0.99994018,  0.00850531, -0.00687697,
           0.00762004, -0.09066523,  0.99585227,
           0.00784653, -0.99584511, -0.09072461]

tcl: !!opencv-matrix
   rows: 3
   cols: 1
   dt: f
   data: [ -0.22565136,
           0.31679162,
           0.02164779]


#--------------------------------------------------------------------------------------------
# IMU Parameters
#--------------------------------------------------------------------------------------------

# IMU noise
IMU.NoiseGyro: 0.0000014523393128996  # rad/s
IMU.NoiseAcc: 0.0012727922061357858   # m / s^2
IMU.GyroWalk: 0.000650445807572307    # rad
IMU.AccWalk: 0.00024682682989768704   # m / s
IMU.Frequency: 200

# Transformation from GPS to imu (i300)
tgb: !!opencv-matrix
   rows: 3
   cols: 1
   dt: f
   data: [ -0.22565136,
           0.31679162,
           0.02164779]