Yaml formats

#YAML formats

##Camera system configuration (aka chain.yaml)

##Calibration target configuration

##IMU configuration Each IMU in the calibration is configured using a YAML file. Please refer to the example below for details:

**

imu0.yaml

#Accelerometers
accelerometer_noise_density: 	0.006 	#Noise density (continous) <font color='red'>UNIT</font>
accelerometer_random_walk: 		0.0002   #Bias random walk <font color='red'>UNIT</font>

#Gyroscopes
gyroscope_noise_density: 		0.0004 	#Noise density (continous) <font color='red'>UNIT</font>
gyroscope_random_walk: 		4.0e-06  #Bias random walk <font color='red'>UNIT</font>

update_rate: 			200.0 	#Hz (used for discretization of the above values)

##Calibration target configuration Please refer to the Calibration targets page.