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monado-slam-datasets
File size: 3,839 Bytes 
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{
    "value0": {
        "comment": "Current error: 155913 num_points 191607 mean_error 0.81371 reprojection_error 23579.9 mean reprojection 0.123064 opt_time 487ms.",
        "T_imu_cam": [
            {
                "px": -0.08323388702651225,
                "py": -0.002218366214987864,
                "pz": 0.005626638959664241,
                "qx": -0.17892326272748997,
                "qy": -0.1991388775815655,
                "qz": 0.033464261917650759,
                "qw": 0.9629176063738844
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                "px": 0.022239747333591469,
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                "qw": 0.9617355908050307
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        "intrinsics": [
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                "intrinsics": {
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                    "k6": 0.040322943929294,
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        "resolution": [
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        "calib_gyro_bias": [
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        "imu_update_rate": 1004.7615650568032,
        "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": -1038921,
        "vignette": []
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}