error in the configuration parameters for the IMU?

[catproof]

I noticed in this file: https://github.com/xuhao1/airsim_ros_pkgs/blob/master/vins_airsim/airsim_unsync.yaml there are noise parameters for the IMU specified, along with imu-to-camera transformation matrices.

I noticed there are some reflections/rotations in the imu-to-camera matrices. How were these values derived? It seems a bit odd you are doing rotations and reflections. I would imagine you only need to specify translations. You can see here I am trying to get the correct parameters for Orb Slam: https://github.com/microsoft/AirSim/issues/4119 which requires a camera-to-imu transformation. Can you explain how you derived the parameters for the imu-to-camera matrices, so that I can properly set up my camera-to-imu transformation matrices?

Also, how did you get the noise parameters of the IMU as well? According to the discussion here: https://github.com/microsoft/AirSim/discussions/3523#discussioncomment-525240 the values you specified are incorrect.

Thanks in advance.