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camx.yaml: Cameras intrinsic imu.yaml: IMU intrinsic Cam-lidar-imu.yaml: T_cam_lidar: Camera-LiDAR extrinsic (homogeneous transformation matrix) C_r_CL: Camera-LiDAR extrinsic (translation: x, y, z) C_q_CL: Camera-LiDAR extrinsic (rotation quaternion: x, y, z, w) C_r_CI: Camera-IMU extrinsic (translation: x, y, z) C_q_CI: Camera-IMU extrinsic (rotation quaternion: x, y, z, w) Intra-camera calibration and IMU-LiDAR can be inferred from the transformations above. |