camchain-imucam-euroc-noextrinsics.yaml

# The modifications of the output file from Kalibr:
# 1. For each matrix (e.g. cam0/T_cam_imu), remove the brackets and minus sign for each line. Use one pair of brackets for each matrix.
# 2. Add the T_imu_body at the end of the calibration file (usually set to identity).
cam0:
  T_cam_imu:
    [0.0, 1.0, 0.0, 0.05,
    -1.0, 0.0, 0.0, 0.0,
     0.0, 0.0, 1.0, 0.0,
     0.0, 0.0, 0.0, 1.0]
  camera_model: pinhole
  distortion_coeffs: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05]
  distortion_model: radtan
  intrinsics: [458.654, 457.296, 367.215, 248.375]
  resolution: [752, 480]
  timeshift_cam_imu: 0.0
cam1:
  T_cam_imu:
    [0.012555267089103,   0.999598781151433,  -0.025389800891747,  -0.044901980682509,
    -0.999755099723116,   0.013011905181504,   0.017900583825251,  -0.020569771258915,
     0.018223771455443,   0.025158836311552,   0.999517347077547,  -0.008638135126028,
                     0,                   0,                   0,   1.000000000000000]
  T_cn_cnm1:
    [0.999997256477881,   0.002312067192424,   0.000376008102415,  -0.110073808127187,
    -0.002317135723281,   0.999898048506644,   0.014089835846648,   0.000399121547014,
    -0.000343393120525,  -0.014090668452714,   0.999900662637729,  -0.000853702503357,
                     0,                   0,                   0,   1.000000000000000]
  camera_model: pinhole
  distortion_coeffs: [-0.28368365,  0.07451284, -0.00010473, -3.55590700e-05]
  distortion_model: radtan
  intrinsics: [457.587, 456.134, 379.999, 255.238]
  resolution: [752, 480]
  timeshift_cam_imu: 0.0
T_imu_body:
  [1.0000, 0.0000, 0.0000, 0.0000,
  0.0000, 1.0000, 0.0000, 0.0000,
  0.0000, 0.0000, 1.0000, 0.0000,
  0.0000, 0.0000, 0.0000, 1.0000]