intrinsics_and_extrinsics.yaml

# Camera intrinsics 
image_width: 752
image_height: 480
type: pinhole
intrinsics:
  cols: 1
  rows: 4
  data: [510.12091726559544, 509.55338413343736, 357.48596105253193, 240.00309579253124]
distortion:
  type: radial-tangential  
  parameters:
    cols: 1
    rows: 4
    data: [-0.36472323465957157, 0.11530151924890532, 0.0006024586154990503, 0.0020184970860498133]

# Camera to IMU extrinsic
# Transform of camera (C) in IMU (I) frame.
T_I_C:
  cols: 4
  rows: 4
  data: [0.0134381210697455122,   -0.999901594987671172, -0.00402706384669154413,  -0.0229793554058591656,
        0.999907681540912807,   0.0134460859659659704, -0.00195733688253543802,   0.0110786309679912626,
        0.00201129251744842832, -0.00400038914436078377,     0.99998997574430859,    0.025008868367930974,
                            0,                       0,                       0,                       1]

# GNSS to IMU extrinsic (lever-arm)
# Translation of GNSS antenna (R) in IMU (I) frame.
t_I_R:
  cols: 3
  rows: 1
  data: [-0.029,
        0.354,
        -0.042]

# Body to IMU extrinsic. The body frame is defined as right-forward-up. 
# Rotation of Body (B) in IMU (I) frame. (coarse)
R_I_B:
  cols: 3
  rows: 3
  data: [0, 0, 1,
        1, 0, 0,
        0, 1, 0]

# LiDAR to IMU extrinsic
# Transform of LiDAR (L) in IMU (I) frame. 
T_I_L:
  cols: 4
  rows: 4
  data: [-0.003487329089, -0.06104843331, 0.9981287128, -0.0255208369,
        0.0001522600762, -0.9981348031, -0.06104827383, 0.1505764402,
        0.9999939077, -6.092026723e-05, 0.003490119772, -0.0183429036,
        0.0000000000, 0.0000000000,  0.0000000000,  1.0000000000]

# Ground Truth to Body extrinsic. The ground truth frame is defined as left-forward-down. 
# Transform of Ground Truth (GT) in Body (B) frame.
T_B_GT:
  cols: 4
  rows: 4
  data: [-0.999871192442087553,   -0.0128272212687904081,  0.009646808744800929036, -0.001631526123218773189,
        -0.01281568650175066333,    0.9999170861579332881,  0.001256578257457377414,   -0.3204949121983169391,
        -0.009662127298174172374,  0.001132785924064993229,   -0.9999526789264197024,   0.06657108425640941018,
                              0,                        0,                        0,                        1]

# Fiber IMU to Ground Truth extrinsic. 
# Rotation of Fiber IMU (FI) frame in Ground Truth (GT) frame.
R_GT_FI:
  cols: 3
  rows: 3
  data: [0, 0, 1,
        0, 1, 0,
        -1, 0, 0]