%YAML:1.0
# set this parameter to true if you want use kalibr to calibrate stereo camera
# if true the image publish rate will be set to approximate 4 hz
LOW_Camera_Frequency: false

# set this parameter to true is you want to use imu_tk to calibrate the imu
# if true the driver will record the acc and gyro data to txt file
STORE_Imu_data: false

# image encoding: mono or rgb
IMU_ENCODING: mono8
# 
Image.width: 640
# 
Image.height: 480

# flag wheather to calibrate the acc data in the driver
# if yes, the calibration param:acc_calibration_matrix and acc_bias is used
# and you should first calibrate the acc
# the openimu toolbox is really easy to use, you only need to just place the device horrizontally by six planes
# it will detect the orientation, after you push down the start button, it will sample 100 data, 
# and after six plane is placed, it will calibrate
# if no, just set this to false
Calibrate_ACC_Measurement: true

# IMU acc mechanical matrix
# IMU is calibrate used the Six surface method, you can found the software in git.oschina.net/JaneLee/openimu
acc_calibration_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [1.00086, -0.00534363, 0.0123291,
          0.0102698, 0.998535, -0.0106732,
          0.00395691, 0.00550842, 1.00895]

# acc bias
# unit is 
acc_bias: !!opencv-matrix
   rows: 3
   cols: 1
   dt: d
   data: [0.253045, -0.203596, -1.09239]