{
    "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,
                "py": -0.002331785076783077,
                "pz": 0.005312605812652759,
                "qx": -0.18313476948899075,
                "qy": 0.19969417282933678,
                "qz": -0.040602301918976787,
                "qw": 0.9617355908050307
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        ],
        "intrinsics": [
            {
                "camera_type": "pinhole-radtan8",
                "intrinsics": {
                    "fx": 269.3157388466649,
                    "fy": 269.2500852335917,
                    "cx": 323.6367354444056,
                    "cy": 245.37262901935368,
                    "k1": 0.4896735773708656,
                    "k2": 0.15364417808237319,
                    "p1": -0.00023052089722471787,
                    "p2": 0.0003100581060316594,
                    "k3": 0.00907202623907521,
                    "k4": 0.760924032106806,
                    "k5": 0.1699934621377647,
                    "k6": 0.040322943929294,
                    "rpmax": 0.0
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            },
            {
                "camera_type": "pinhole-radtan8",
                "intrinsics": {
                    "fx": 270.65928970849139,
                    "fy": 270.6889084240239,
                    "cx": 323.6443046844411,
                    "cy": 250.56110650729708,
                    "k1": 0.5124456275983791,
                    "k2": 0.1183716939017548,
                    "p1": 0.00006664706390223596,
                    "p2": 0.0008408430780571384,
                    "k3": 0.011001285241218405,
                    "k4": 0.7946602801800285,
                    "k5": 0.1281440933685308,
                    "k6": 0.039739477209162068,
                    "rpmax": 0.0
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        ],
        "resolution": [
            [
                640,
                480
            ],
            [
                640,
                480
            ]
        ],
        "calib_accel_bias": [
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            -0.001445813824293115,
            -0.008073978106760359,
            0.0008960825200144782,
            -0.015026241369947518
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        "calib_gyro_bias": [
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            0.006815292669218515,
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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": []
    }
}