{
    "value0": {
        "comments": "Current error: 271608 num_points 773334 mean_error 0.351216 reprojection_error 132846 mean reprojection 0.171783 opt_time 361ms.",
        "T_imu_cam": [
            {
                "px": -0.05250638055608702,
                "py": 0.01311586834471913,
                "pz": 0.006154449833848688,
                "qx": 0.15457411335678299,
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                "qz": -0.6926214456174067,
                "qw": -0.7036451066549989
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            {
                "px": 0.055875714057378598,
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                "pz": 0.005916191899741046,
                "qx": -0.032833254168189687,
                "qy": 0.15613905873357124,
                "qz": 0.711889710135462,
                "qw": 0.6839266132866665
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        "intrinsics": [
            {
                "camera_type": "kb4",
                "intrinsics": {
                    "fx": 269.31049724174906,
                    "fy": 269.53878847509295,
                    "cx": 322.27252809263259,
                    "cy": 228.82464255208729,
                    "k1": 0.08313931783396313,
                    "k2": -0.042990721290723638,
                    "k3": 0.23041383658725765,
                    "k4": -0.13019210595872059
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            },
            {
                "camera_type": "kb4",
                "intrinsics": {
                    "fx": 268.25256083987167,
                    "fy": 268.2170524272017,
                    "cx": 323.7315414515198,
                    "cy": 237.0767112731877,
                    "k1": 0.07833004426157092,
                    "k2": -0.036931364579208498,
                    "k3": 0.22283001612781837,
                    "k4": -0.12622653674412449
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        ],
        "resolution": [
            [
                640,
                480
            ],
            [
                640,
                480
            ]
        ],
        "calib_accel_bias": [
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        "calib_gyro_bias": [
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        "imu_update_rate": 999.4912589491938,
        "accel_noise_std": [
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        "gyro_noise_std": [
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        "accel_bias_std": [
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            0.001
        ],
        "gyro_bias_std": [
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            0.0001
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        "cam_time_offset_ns": 0,
        "vignette": []
    }
}