{
    "value0": {
        "comment": "Current error: 120022 num_points 1069709 mean_error 0.1122 reprojection_error 254449 mean reprojection 0.237868 opt_time 668ms.",
        "T_imu_cam": [
            {
                "px": 0.06891723980288252,
                "py": 0.1194375162243693,
                "pz": 0.010620914860482426,
                "qx": -0.02758166378733051,
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                "qz": -0.7010059967137265,
                "qw": 0.7121303582706263
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                "pz": 0.010952250701108236,
                "qx": 0.020761923661208216,
                "qy": 0.03355827497125895,
                "qz": -0.6985457695964845,
                "qw": 0.7144764464177212
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        "intrinsics": [
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                "camera_type": "pinhole-radtan8",
                "intrinsics": {
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                    "fy": 420.98111734621696,
                    "cx": 469.280769336615,
                    "cy": 479.1008669368344,
                    "k1": 20.391491525855697,
                    "k2": 13.296376109798059,
                    "p1": 0.0000033499524495992369,
                    "p2": -0.00016905320907310926,
                    "k3": 1.2827871067810053,
                    "k4": 20.58288546853957,
                    "k5": 15.718842380446703,
                    "k6": 4.57076872023613,
                    "rpmax": -1
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            },
            {
                "camera_type": "pinhole-radtan8",
                "intrinsics": {
                    "fx": 421.13049451321919,
                    "fy": 421.1811382629241,
                    "cx": 467.3993617404934,
                    "cy": 484.2058878943831,
                    "k1": 12.083665279916433,
                    "k2": 8.328063289692406,
                    "p1": 0.00013706577524923318,
                    "p2": 0.00047216337967221625,
                    "k3": 0.7803475118448734,
                    "k4": 12.236473503288277,
                    "k5": 9.749696702702666,
                    "k6": 2.7934480578433704,
                    "rpmax": -1
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        "resolution": [
            [
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            ],
            [
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                960
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        "calib_accel_bias": [
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        "calib_gyro_bias": [
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        "imu_update_rate": 1000.0,
        "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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            0.0001
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        "cam_time_offset_ns": 0,
        "vignette": []
    }
}