%YAML:1.0

cam0:
  T_imu_cam: #rotation from camera to IMU R_CtoI, position of camera in IMU p_CinI
    - [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975]
    - [0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768]
    - [-0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949]
    - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: [1]
  camera_model: pinhole
  distortion_coeffs: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05]
  distortion_model: radtan
  intrinsics: [458.654, 457.296, 367.215, 248.375] #fu, fv, cu, cv
  resolution: [752, 480]
  rostopic: /cam0/image_raw
cam1:
  T_imu_cam: #rotation from camera to IMU R_CtoI, position of camera in IMU p_CinI
    - [0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556]
    - [0.999598781151, 0.0130119051815, 0.0251588363115, 0.0453689425024]
    - [-0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038]
    - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: [0]
  camera_model: pinhole
  distortion_coeffs: [-0.28368365,0.07451284,-0.00010473,-3.55590700e-05]
  distortion_model: radtan
  intrinsics: [457.587, 456.134, 379.999, 255.238] #fu, fv, cu, cv
  resolution: [752, 480]
  rostopic: /cam1/image_raw