cameras {
  key: 0
  value {
    rolling_shutter_readout_time_nanoseconds: 7151584
    rolling_shutter_direction: POS_Y_READOUT
    width: 640
    height: 480
    focal_length {
      x: 502.41262360449008
      y: 500.00645872894358
    }
    principal_point {
      x: 323.21376135003572
      y: 242.00079399940111
    }
    distortion_poly3 {
      k0: 0.07168312583383224
      k1: -0.11052740019941951
      k2: 0.069948542753887913
    }
    exposure_timestamp_meaning: BEGINNING_OF_EXPOSURE
    frame_rate: FRAME_RATE_30_FPS
  }
}
cameras {
  key: 1
  value {
    rolling_shutter_readout_time_nanoseconds: 7151584
    rolling_shutter_direction: POS_Y_READOUT
    width: 1920
    height: 1080
    focal_length {
      x: 1507.23787081347
      y: 1500.0193761868311
    }
    principal_point {
      x: 970.64128405010729
      y: 547.00238199820319
    }
    distortion_poly3 {
      k0: 0.07168312583383224
      k1: -0.11052740019941951
      k2: 0.069948542753887913
    }
    exposure_timestamp_meaning: BEGINNING_OF_EXPOSURE
    frame_rate: FRAME_RATE_30_FPS
  }
}
imus {
  key: 100
  value {
    gyro_scale {
      x: 1.001146536794657
      y: 0.99938352862499491
      z: 0.99904247415052438
    }
    gyro_misalignment {
      x: -0.0013176959823386169
      y: -0.0039255958014442621
      z: -0.0076313885399825008
    }
    accel_scale {
      x: 1.003457999721866
      y: 1.007396041133598
      z: 1.0062015476502859
    }
    accel_misalignment {
      x: -0.0004842128398817286
      y: -0.0017661912116036279
      z: 0.0001183620652556732
    }
    gyro_q_accel {
      w: 0.99999696644231639
      x: 0.002377073711531921
      y: 0.00061836445321203218
      z: -0.00018507333027648781
    }
    gyro_noise_sigma: 0.00053088444
    gyro_bias_sigma: 0.00014125375
    accel_noise_sigma: 0.004883649
    accel_bias_sigma: 0.012589254
    default_gyro_bias {
      x: 0.0005743891303056723
      y: 4.4634946264626558e-05
      z: -0.00087527683369637184
    }
    default_accel_bias {
      x: -0.068842646711472236
      y: -0.083149728206468446
      z: 0.067702303241193723
    }
    gyro_timestamp_alignment_nanoseconds: 0
    accel_timestamp_alignment_nanoseconds: 0
    gyro_type: GYROSCOPE_UNCALIBRATED
  }
}
extrinsic_calibrations {
  frame_a_id: IMU_0
  frame_b_id: CAMERA_ID_COLOR_PRIMARY
  a_t_b {
    p {
      x: 0.02271268266495088
      y: -0.0062409527218639594
      z: -0.0098890933314850459
    }
    q {
      w: 0.00060304085582829972
      x: 0.70860540161058616
      y: -0.70560444285303026
      z: -0.00062560058427147259
    }
  }
}
extrinsic_calibrations {
  frame_a_id: IMU_0
  frame_b_id: CAMERA_ID_MOTION_TRACKING_PRIMARY
  a_t_b {
    p {
      x: 0.02271268266495088
      y: -0.0062409527218639594
      z: -0.0098890933314850459
    }
    q {
      w: 0.00060304085582829972
      x: 0.70860540161058616
      y: -0.70560444285303026
      z: -0.00062560058427147259
    }
  }
}
extrinsic_calibrations {
  frame_a_id: IMU_0
  frame_b_id: ANDROID_FRAME
  a_t_b {
    p {
      x: 0
      y: 0
      z: 0
    }
    q {
      w: 1
      x: -0
      y: -0
      z: -0
    }
  }
}
extrinsic_calibrations {
  frame_a_id: ANDROID_FRAME
  frame_b_id: OPENGL
  a_t_b {
    p {
      x: 0
      y: 0
      z: 0
    }
    q {
      w: 0.70710678118654757
      x: 0
      y: 0
      z: 0.70710678118654746
    }
  }
}