calibration.txt

#A2B: Convert from coordinate system B to coordinate system A
rsimu2wheel:
  rows: 4
  cols: 4
  dt: d
  data: [0.352551，-0.935764，-0.00734672，0.0497956，
            0.0145238，0.0133214，-0.999806 ，1.06332，
            0.93568，0.352375， 0.0182873，-0.037465，
           0，0，0，1]

imu2wheel:
  rows: 4
  cols: 4
  dt: d
  data:  [0.9357，0.3524，0.0183，0.1225，
             0.3526，-0.9358，-0.0073，0.0498，
             0.0145，0.0133，-0.9998，1.0633，
             0，0，0，1]

lidar2wheel:
  rows: 4
  cols: 4
  dt: d
  data:  [0.9357，0.3524，0.0183，-0.0075，
            -0.3526，0.9358，0.0073，-0.0498，
            -0.0145，-0.0133，0.9998，-2.0933，
             0，0，0，1]

rsimu2camera:
  rows: 4
  cols: 4
  dt: d
  data:  [1 ，0，0，0.0，
          0，1，0 ，0.0，
          0 ，0，1，0.0，
          0 ，0 ，0，1.0，]          

lidar2imu:
  rows: 4
  cols: 4
  dt: d
  data: [1, 0, 0, -0.13,
         0, -1, 0, 0,
         0, 0, -1, -1.03,
         0, 0, 0, 1]

camera2imu:
  rows: 4
  cols: 4
  dt: d
  data: [0, 1, 0, 0,
         0, 0, 1, 0,
         1, 0, 0, -0.16,
         0, 0, 0, 1]

lidar2camera:
  rows: 4
  cols: 4
  dt: d
  data: [0, 0, 1, 0.03,
         -1, 0, 0, 0.0,
         0, -1, 0, -1.03,
         0, 0, 0, 1]


#imu parameters     
acc_n: 1.2374091609523514e-02       
gyr_n: 3.0032654435730201e-03     
acc_w: 1.9218003442176448e-04       
gyr_w: 5.4692100664858005e-05    
g_norm: 9.805

# rsimu Settings
rsimuAccNoise: 0.04
rsimuGyrNoise: 0.004
rsimuAccBiasN: 0.002
rsimuGyrBiasN: 4.0e-5
rsimuGravity: 9.80511

#lidar Settings
N_SCAN: 16                                
Horizon_SCAN: 1800

# camera config 
model_type: PINHOLE
camera_name: camera
image_width: 640
image_height: 480
distortion_parameters:
   k1: 0.0
   k2: 0.0
   p1: 0.0
   p2: 0.0
projection_parameters:
   fx: 603.95556640625
   fy: 603.1257934570312
   cx: 324.0858154296875
   cy: 232.72303771972656