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{
"value0": {
"comment": "Current error: 159825 num_points 191607 mean_error 0.83413 reprojection_error 31762.2 mean reprojection 0.165768 opt_time 341ms.",
"T_imu_cam": [
{
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"qw": -0.9624044441545078
},
{
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"qx": -0.18399799450755126,
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}
],
"intrinsics": [
{
"camera_type": "kb4",
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"fy": 268.6254278509791,
"cx": 322.99894365261829,
"cy": 245.85420172532995,
"k1": 0.07967334603430464,
"k2": -0.028193800038563194,
"k3": 0.20273128935703775,
"k4": -0.11691215909852215
}
},
{
"camera_type": "kb4",
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"fy": 270.8952605677133,
"cx": 322.59133920842347,
"cy": 250.7654767124812,
"k1": 0.05921598747583376,
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}
}
],
"resolution": [
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],
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]
],
"calib_accel_bias": [
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"calib_gyro_bias": [
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],
"imu_update_rate": 1000.0,
"accel_noise_std": [
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],
"gyro_noise_std": [
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],
"accel_bias_std": [
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],
"gyro_bias_std": [
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],
"cam_time_offset_ns": 0,
"vignette": []
}
}
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