%YAML:1.0

# extrinsic parameters for Dataset UrbanNav-HK-Data20190428. Be noted that the body is fixed at the IMU frame

################## Extrinsic parameter between IMU and Camera##################
body_T_cam: !!opencv-matrix
   rows: 4
   cols: 4
   dt: d
   data: [ 9.9934608718980233e-01, -1.5715484428488590e-02,-3.2564114721728155e-02, -1.7434527332030676e-02,
           3.2359037356803094e-02, -1.3131917124154624e-02,9.9939003669937865e-01, 1.7171139776467173e-01,
           -1.6133527815482926e-02, -9.9979026615676858e-01,-1.2614792047622947e-02, -4.5251036141047592e-02, 
           0., 0., 0., 1. ]

################## Extrinsic parameter between IMU and LiDAR##################
body_T_LiDAR: !!opencv-matrix
   rows: 4
   cols: 4
   dt: d
   data: [ 2.67949e-08, -1,  0, 0,
           1,  2.67949e-08,  0, 0,
           0,  0,  1, -0.28, 
           0., 0., 0., 1 ]

################## Extrinsic parameter between IMU and Grount Truth (SPAN-CPT)##################
body_T_SPAN: !!opencv-matrix
   rows: 4
   cols: 4
   dt: d
   data: [ 1, 0, 0, 0,
           0, 1, 0, 0,
           0, 0, 1, 0, 
           0, 0, 0, 1]