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calibration/cam-lidar-imu.yaml

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+cam0:
+  C_q_CI: [-0.003150684959962717, 0.7095105504964175, -0.7046875827967661, 0.0005124164367280889]
+  C_q_CL: [0.5023769275907106, 0.49990425097844265, -0.49648618825384844, 0.5012131556048427]
+  C_r_CI: [-0.005000230026155717, -0.0031440163748744266, -0.07336562959794378]
+  C_r_CL: [0.003242860366163889, -0.07368532755947366, -0.05485800045216396]
+  T_cam_lidar: [[0.007194409453692541, 0.9999715416500337, 0.002270762573978069, 0.003242860366163889],
+    [0.004589905134308125, 0.0022377749953642057, -0.9999869624819755, -0.07368532755947366],
+    [-0.999963585958744, 0.007204738241246789, -0.004573675043599734, -0.05485800045216396],
+    [0.0, 0.0, 0.0, 1.0]]
+  rostopic: /alphasense_driver_ros/cam0
+cam1:
+  C_q_CL: [-0.002146608381201245, -0.706035772724336, 0.7081636530342621, -0.0036221854144666624]
+  C_r_CL: [0.002445973115576358, -0.07369303566179404, -0.057386869899386704]
+  T_cam_lidar: [[-0.999964543690561, 0.00816136472446813, 0.0020744848903766324, 0.002445973115576358],
+    [-0.0020990354958363975, -0.003000734812745681, -0.9999932947978047, -0.07369303566179404],
+    [-0.008155085021838376, -0.9999621931435289, 0.003017759412014723, -0.057386869899386704],
+    [0.0, 0.0, 0.0, 1.0]]
+  rostopic: /alphasense_driver_ros/cam1
+cam2:
+  C_q_CL: [0.7066311099992131, -0.0012270682629631486, 0.00012163090437164773, 0.7075810581768573]
+  C_r_CL: [-0.002246894712629628, -0.07344206996606042, -0.05028255821151065]
+  T_cam_lidar: [[0.9999969590188027, -0.0019062966654495807, -0.00156460415799267,
+      -0.002246894712629628], [-0.0015620417693603859, 0.0013449191744065846, -0.9999978756067066,
+      -0.07344206996606042], [0.001908396881858144, 0.9999972786090163, 0.0013419373695164598,
+      -0.05028255821151065], [0.0, 0.0, 0.0, 1.0]]
+  rostopic: /alphasense_driver_ros/cam2

calibration/cam0.yaml

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+# Created by Kalibr and DiffCal using kalibr-intrinsics-extrinsics.yaml
+camera_matrix:
+  cols: 3
+  data: [698.3946772032825, 0.0, 718.431814292891, 0.0, 698.4629665854908, 559.7771701003702,
+    0.0, 0.0, 1.0]
+  rows: 3
+camera_name: cam0_sensor_frame
+distortion_coefficients:
+  cols: 4
+  data: [-0.04707469981321094, 0.011515146787673071, -0.008908394423298474, 0.0018561099343051583]
+  rows: 1
+distortion_model: equidistant
+image_height: 1080
+image_width: 1440
+projection_matrix:
+  cols: 4
+  data: [698.3946772032825, 0.0, 718.431814292891, 0.0, 0.0, 698.4629665854908, 559.7771701003702,
+    0.0, 0.0, 0.0, 1.0, 0.0]
+  rows: 3
+rectification_matrix:
+  cols: 3
+  data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
+  rows: 3

calibration/cam1.yaml

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+# Created by Kalibr and DiffCal using kalibr-intrinsics-extrinsics.yaml
+camera_matrix:
+  cols: 3
+  data: [698.7077057399946, 0.0, 720.4468046683089, 0.0, 699.7213977428826, 539.6639557186915,
+    0.0, 0.0, 1.0]
+  rows: 3
+camera_name: cam1_sensor_frame
+distortion_coefficients:
+  cols: 4
+  data: [-0.04010020519601471, -0.00044301230334375594, -7.327926294282181e-05, -0.00017811009939676002]
+  rows: 1
+distortion_model: equidistant
+image_height: 1080
+image_width: 1440
+projection_matrix:
+  cols: 4
+  data: [698.7077057399946, 0.0, 720.4468046683089, 0.0, 0.0, 699.7213977428826, 539.6639557186915,
+    0.0, 0.0, 0.0, 1.0, 0.0]
+  rows: 3
+rectification_matrix:
+  cols: 3
+  data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
+  rows: 3

calibration/cam2.yaml

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+# Created by Kalibr and DiffCal using kalibr-intrinsics-extrinsics.yaml
+camera_matrix:
+  cols: 3
+  data: [698.6954304056306, 0.0, 714.6369903593052, 0.0, 697.3997961335664, 532.530974606606,
+    0.0, 0.0, 1.0]
+  rows: 3
+camera_name: cam2_sensor_frame
+distortion_coefficients:
+  cols: 4
+  data: [-0.036603475396788196, -0.007341373813717986, 0.005371575306265293, -0.0018297510848552124]
+  rows: 1
+distortion_model: equidistant
+image_height: 1080
+image_width: 1440
+projection_matrix:
+  cols: 4
+  data: [698.6954304056306, 0.0, 714.6369903593052, 0.0, 0.0, 697.3997961335664, 532.530974606606,
+    0.0, 0.0, 0.0, 1.0, 0.0]
+  rows: 3
+rectification_matrix:
+  cols: 3
+  data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
+  rows: 3

calibration/imu.yaml

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+#Accelerometer
+accelerometer_noise_density: 0.0009432782069138238 
+accelerometer_random_walk: 4.981034600256154e-05 
+
+#Gyroscope
+gyroscope_noise_density: 0.00023031229571253504 
+gyroscope_random_walk: 4.46264879417123e-06 
+
+rostopic: '/alphasense_driver_ros/imu' #Make sure this is correct
+update_rate: 400.0 #Make sure this is correct
+