Calibration Results

The calibration is output in a txt file specified in the launch file.

It contains all the calibration results for each sensor.

For base IMU sensor:

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IMUb:
Topic: /gx3_25/data
Mode: full IMU
Model: 0 - kalibr
Dw:
1.00147432, 0.00000000, 0.00000000,
-0.00026774, 1.00118708, 0.00000000,
-0.00002346, 0.00377429, 1.00154869
Tw:
0.99852785, 0.00000000, 0.00000000,
0.00026703, 0.99881433, -0.00000000,
0.00002239, -0.00376399, 0.99845370
Da:
1.00063313, 0.00000000, 0.00000000,
0.00165613, 1.00249752, 0.00000000,
0.00127088, -0.00314683, 1.00191417
Ta:
0.99936727, -0.00000000, 0.00000000,
-0.00165096, 0.99750871, 0.00000000,
-0.00127283, 0.00313300, 0.99808948
Tg:
0.00007738, -0.00002488, 0.00002589,
0.00004028, -0.00001124, 0.00002642,
0.00000955, -0.00005851, -0.00003427
R_wtoIb:
0.99999869, -0.00144008, -0.00073526,
0.00144119, 0.99999782, 0.00151357,
0.00073308, -0.00151463, 0.99999858
R_Ibtow:
0.99999869, 0.00144119, 0.00073308,
-0.00144008, 0.99999782, -0.00151463,
-0.00073526, 0.00151357, 0.99999858
R_atoIb:
1.00000000, 0.00000000, 0.00000000,
0.00000000, 1.00000000, 0.00000000,
0.00000000, 0.00000000, 1.00000000
R_Ibtoa:
1.00000000, 0.00000000, 0.00000000,
0.00000000, 1.00000000, 0.00000000,
0.00000000, 0.00000000, 1.00000000

For camera:

=================================================
Cam0:
Topic: /t265/fisheye1/image_raw
Image size: 848 x 800
Distortion model: equi-dist
Camera0-imu timeoffset = -0.004847
(t_Ib = t_C + td)
Rolling shutter: No
Rolling mode: 1 - rolling from middle row of image
Camera0 readout time for the whole image = 0.000000
camera0 cam_k (fx, fy, cx, cy) :
287.84648160, 287.73016854, 415.47650819, 405.35420576
camera0 cam_d (d1, d2, d3, d4) :
-0.00924627, 0.04386239, -0.04261433, 0.00831263
T_C0toI :
-0.00859304, 0.02207260, -0.99971944, -0.06202145,
-0.99974949, 0.02047300, 0.00904532, 0.19054108,
0.02066691, 0.99954673, 0.02189114, 0.02511127,
0.00000000, 0.00000000, 0.00000000, 1.00000000
T_ItoC0 :
-0.00859304, -0.99974949, 0.02066691, 0.18944142,
0.02207260, 0.02047300, 0.99954673, -0.02763186,
-0.99971944, 0.00904532, 0.02189114, -0.06427727,
0.00000000, 0.00000000, 0.00000000, 1.00000000

For auxiliary IMU:

=================================================
IMUs0:
Topic: /gx3_35/imu/data
Mode: 1 - Gyro only
Model: 0 - kalibr
IMUs0-IMUb timeoffset = -0.001382
(t_Ib = t_Is + td)
Dw:
1.00051439, 0.00000000, 0.00000000,
-0.00072733, 0.99987054, 0.00000000,
0.00025814, 0.00000412, 0.99960217
Tw:
0.99948587, 0.00000000, 0.00000000,
0.00072705, 1.00012948, -0.00000000,
-0.00025812, -0.00000412, 1.00039798
Da:
1.00000000, 0.00000000, 0.00000000,
0.00000000, 1.00000000, 0.00000000,
0.00000000, 0.00000000, 1.00000000
Ta:
1.00000000, 0.00000000, 0.00000000,
0.00000000, 1.00000000, 0.00000000,
0.00000000, 0.00000000, 1.00000000
Tg:
0.00000000, 0.00000000, 0.00000000,
0.00000000, 0.00000000, 0.00000000,
0.00000000, 0.00000000, 0.00000000
R_wtoIb:
1.00000000, 0.00000000, 0.00000000,
0.00000000, 1.00000000, 0.00000000,
0.00000000, 0.00000000, 1.00000000
R_Ibtow:
1.00000000, 0.00000000, 0.00000000,
0.00000000, 1.00000000, 0.00000000,
0.00000000, 0.00000000, 1.00000000
R_atoIb:
1.00000000, 0.00000000, 0.00000000,
0.00000000, 1.00000000, 0.00000000,
0.00000000, 0.00000000, 1.00000000
R_Ibtoa:
1.00000000, 0.00000000, 0.00000000,
0.00000000, 1.00000000, 0.00000000,
0.00000000, 0.00000000, 1.00000000
T_Is0toI :
0.99982825, 0.01818071, 0.00359692, 0.00000000,
-0.01819062, 0.99983078, 0.00274129, 0.06000000,
-0.00354647, -0.00280625, 0.99998977, -0.01000000,
0.00000000, 0.00000000, 0.00000000, 1.00000000
T_ItoIs0 :
0.99982825, -0.01819062, -0.00354647, 0.00105597,
0.01818071, 0.99983078, -0.00280625, -0.06001791,
0.00359692, 0.00274129, 0.99998977, 0.00983542,
0.00000000, 0.00000000, 0.00000000, 1.00000000