imu_calib.json

{
  "ImuCalibration": {
    "SensorType": "",
    "DeviceFromImu": [
      1.0,
      0.0,
      0.0,
      -0.000295,
      0.0,
      1.0,
      0.0,
      -0.0190975,
      0.0,
      0.0,
      1.0,
      -0.068692,
      0.0,
      0.0,
      0.0,
      1.0
    ],
    "Gyroscope": {
      "Model": "Linear",
      "RectificationMatrix": [
        0.01065667902773417,
        -0.9982981900159106,
        0.0038852631682552027,
        -1.0026179041024252,
        -0.009010216494798209,
        -0.009643008802104166,
        0.010636632689614602,
        -0.005143047251492611,
        -0.9983178622894986
      ],
      "Offset": {
        "Model": "Constant",
        "ConstantOffset": [
          0.02194697316716386,
          0.021840718756668993,
          0.033081533622219605
        ]
      }
    },
    "Accelerometer": {
      "Model": "Linear",
      "RectificationMatrix": [
        0.009546984106320922,
        -0.9983931616963839,
        0.002421244163037197,
        -1.0006639572944063,
        -0.009709865986185664,
        -0.009486972412614305,
        0.01005155635867425,
        -0.003923837680441914,
        -0.9951838782135848
      ],
      "Offset": {
        "Model": "LinearTemperatureDependence",
        "OffsetAtZeroDegC": [
          -0.038362064144339895,
          0.016859285901235484,
          0.0467553428226999
        ],
        "OffsetTemperatureCoefficient": [
          0.0,
          0.0,
          0.0
        ]
      }
    }
  }
}