%YAML:1.0 # need to specify the file type at the top!

cam0:
  T_cam_imu:
    - [-0.03179778293757218, -0.9994933985910031, -0.001359107523862424, 0.021115239798621798]
    - [0.012827844120885779, 0.0009515801497960164, -0.9999172670328424, -0.0008992998316121829]
    - [0.9994120008362244, -0.03181258663210035, 0.012791087377928778, -0.009491094814035777]
    - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: [1]
  camera_model: pinhole
  distortion_coeffs: [-0.005719912631104124, 0.004742449009601135, 0.0012060658036136048,
                      -0.001580292679344826]
  distortion_model: equidistant
  intrinsics: [277.4786896484645, 277.42548548840034, 320.1052053576385, 242.10083077857894]
  resolution: [640, 480]
  rostopic: /snappy_cam/stereo_l
  timeshift_cam_imu: -0.007999243205055177
cam1:
  T_cam_imu:
    - [-0.011450159873389598, -0.9998746482793399, -0.010935335712288774, -0.05828448770624624]
    - [0.009171247533644289, 0.010830579777447058, -0.9998992883087583, -0.0002362068202437068]
    - [0.999892385238307, -0.01154929737910465, 0.009046086032012068, -0.00947464531803495]
    - [0.0, 0.0, 0.0, 1.0]
  T_cn_cnm1:
    - [0.9997470623689986, 0.009836089265916417, 0.020225296846065624, -0.07919358086270675]
    - [-0.00975774768296796, 0.9999445171722606, -0.0039684930755682956, 0.000831414953842084]
    - [-0.020263209141547188, 0.0037701359508940783, 0.9997875716521978, 0.00044568632114983057]
    - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: [0]
  camera_model: pinhole
  distortion_coeffs: [-0.009025009906076716, 0.009967427035376123, -0.0029538969814842117,
                      -0.0003503551771748748]
  distortion_model: equidistant
  intrinsics: [276.78679780974477, 276.79332134030807, 314.2862327340746, 236.51313088043128]
  resolution: [640, 480]
  rostopic: /snappy_cam/stereo_r
  timeshift_cam_imu: -0.007983859928063504