# 传感器标定算法输出参数模板。
# 算法同事应把本文件复制到本次会话目录的 sensor/estimated_params.yaml，
# 并按 selected_task / task_subtype 填写对应的 estimated_params 分支。

schema_version: 1
session_id: session_xxx
vehicle_id: replace_with_real_vehicle_id
sensor_id: replace_with_sensor_id
selected_task: camera_intrinsic
task_subtype: front_camera_intrinsic
parameter_version: sensor_replace_with_sensor_id_session_xxx_v1
algorithm:
  name: replace_with_algorithm_name
  version: replace_with_algorithm_version

frames:
  base_frame_id: base_link
  sensor_frame_id: replace_with_sensor_frame
  target_frame_id: replace_with_target_frame

estimated_params:
  camera_intrinsics:
    image_width: 1920
    image_height: 1080
    camera_model: pinhole
    distortion_model: plumb_bob
    fx: 0.0
    fy: 0.0
    cx: 0.0
    cy: 0.0
    distortion_coefficients:
      - 0.0
      - 0.0
      - 0.0
      - 0.0
      - 0.0

  imu_intrinsics:
    gyro_bias_xyz_rads:
      - 0.0
      - 0.0
      - 0.0
    accel_bias_xyz_ms2:
      - 0.0
      - 0.0
      - 0.0
    gyro_noise_density_rads_sqrt_hz: 0.0
    accel_noise_density_ms2_sqrt_hz: 0.0
    gyro_random_walk_rads_s_sqrt_hz: 0.0
    accel_random_walk_ms3_sqrt_hz: 0.0
    scale_matrix:
      - [1.0, 0.0, 0.0]
      - [0.0, 1.0, 0.0]
      - [0.0, 0.0, 1.0]

  sensor_extrinsics:
    parent_frame_id: base_link
    child_frame_id: replace_with_sensor_frame
    translation_xyz_m:
      - 0.0
      - 0.0
      - 0.0
    rotation_xyzw:
      - 0.0
      - 0.0
      - 0.0
      - 1.0

  hand_eye:
    base_frame_id: base_link
    tool_frame_id: replace_with_tool_frame
    camera_frame_id: replace_with_camera_frame
    translation_xyz_m:
      - 0.0
      - 0.0
      - 0.0
    rotation_xyzw:
      - 0.0
      - 0.0
      - 0.0
      - 1.0

quality:
  data_quality_passed: false
  suitable_for_commit: false
  validation_summary:
    reprojection_error_px: 0.0
    translation_residual_m: 0.0
    rotation_residual_rad: 0.0
    plane_residual_m: 0.0
    repeatability_error_m: 0.0
    sample_count: 0
    auto_acceptance_passed: false
  warnings: []

artifacts:
  - file: sensor/diagnostics.json
    description: 传感器标定诊断信息
