IMU Params

IMU Intrinsics

Name	Field	Unit	Bytes	Note
Scale matrix	acc_scale[3][3]	-	72	double
^	gyro_scale[3][3]	-	72	double
Zero-drift	acc_drift[3]	-	24	double
^	gyro_drift[3]	-	24	double
Noise density	acc_noise[3]	-	24	double
^	gyro_noise[3]	-	24	double
Random walk	acc_bias[3]	-	24	double
^	gyro_bias[3]	-	24	double

Transformation matrix from left image to IMU.

Name	Field	Unit	Bytes	Note
Rotation matrix	rotation[3][3]	-	72	double
Translation vector	translation[3]	-	24	double