# General sensor definitions.
sensor_type: visual-inertial
comment: The nonlinear least-squares batch solution over the Leica position and IMU measurements including time offset estimation. The orientation is only observed by the IMU.

# Sensor extrinsics wrt. the body-frame. This is the transformation of the
# tracking prima to the body frame.
T_BS:
  cols: 4
  rows: 4
  data: [1.0, 0.0, 0.0, 0.0,
         0.0, 1.0, 0.0, 0.0,
         0.0, 0.0, 1.0, 0.0,
         0.0, 0.0, 0.0, 1.0]