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calibration/README.txt
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camx.yaml: Cameras intrinsic
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imu.yaml: IMU intrinsic
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Cam-lidar-imu.yaml:
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T_cam_lidar: Camera-LiDAR extrinsic (homogeneous transformation matrix)
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C_r_CL: Camera-LiDAR extrinsic (translation: x, y, z)
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C_q_CL: Camera-LiDAR extrinsic (rotation quaternion: x, y, z, w)
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C_r_CI: Camera-IMU extrinsic (translation: x, y, z)
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C_q_CI: Camera-IMU extrinsic (rotation quaternion: x, y, z, w)
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Intra-camera calibration and IMU-LiDAR can be inferred from the transformations above.
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