| 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. | |