{
    "value0": {
        "T_imu_cam": [
            {
                "px": -0.030220000073313714,
                "py": 0.007400000002235174,
                "pz": 0.016019999980926515,
                "qx": 0.0,
                "qy": 0.0,
                "qz": 0.0,
                "qw": 1.0
            },
            {
                "px": 0.06471150368452072,
                "py": 0.007400000002235174,
                "pz": 0.016019999980926515,
                "qx": 0.0,
                "qy": 0.0,
                "qz": 0.0,
                "qw": 1.0
            }
        ],
        "intrinsics": [
            {
                "camera_type": "pinhole",
                "intrinsics": {
                    "fx": 323.3847961425781,
                    "fy": 323.3847961425781,
                    "cx": 319.67333984375,
                    "cy": 180.1387939453125
                }
            },
            {
                "camera_type": "pinhole",
                "intrinsics": {
                    "fx": 323.3847961425781,
                    "fy": 323.3847961425781,
                    "cx": 319.67333984375,
                    "cy": 180.1387939453125
                }
            }
        ],
        "resolution": [
            [
                640,
                360
            ],
            [
                640,
                360
            ]
        ],
        "// calib_accel_bias": "only upper half of the matrix and biases are used see basalt-headers#8",
        "calib_accel_bias": [
            0.10898448526859284,
            0.7374877333641052,
            0.24475505948066712,
            0.023085594177246095,
            0.0083669014275074,
            -0.03306877985596657,
            0.027165532112121583,
            -0.016091132536530496,
            0.014829397201538086
        ],
        "//calib_gyro_bias": ["data[0][3] (Bias X)", "data[1][3] (Bias Y)", "data[2][3] (Bias Z)", "data[0][0] (Scale X - 1.0)", "data[1][0]", "data[2][0]", "data[0][1]", "data[1][1] (Scale Y - 1.0)", "data[2][1]", "data[0][2]", "data[1][2]", "data[2][2] (Scale Z - 1.0)"],
        "calib_gyro_bias": [
            -0.00002512480568839237,
            0.00003993872815044597,
            0.00002252501144539565,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
        ],
        "imu_update_rate": 250.0,
        "accel_noise_std": [
            0.008182447828798795,
            0.008182447828798795,
            0.008182447828798795
        ],
        "gyro_noise_std": [
            0.002268927090244338,
            0.002268927090244338,
            0.002268927090244338
        ],
        "accel_bias_std": [
            0.009999999873689375,
            0.009999999873689375,
            0.009999999873689375
        ],
        "gyro_bias_std": [
            0.0007071067802939111,
            0.0007071067802939111,
            0.0007071067802939111
        ],
        "cam_time_offset_ns": 0,
        "vignette": []
    }
}