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

cam0:
  T_cam_imu:
    - [-0.027256691772188965, -0.9996260641688061, 0.0021919370477445077, 0.02422852666805565]
    - [-0.7139206120417471, 0.017931469899155242, -0.6999970157716363, 0.008974432843748055]
    - [0.6996959571525168, -0.020644471939022302, -0.714142404092339, -0.000638971731537894]
    - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: [1]
  camera_model: pinhole
  distortion_coeffs: [-6.545154718304953e-06, -0.010379525898159981, 0.014935312423953146,
                      -0.005639061406567785]
  distortion_model: equidistant
  intrinsics: [275.46015578667294, 274.9948095922592, 315.958384100568, 242.7123497822731]
  resolution: [640, 480]
  rostopic: /snappy_cam/stereo_l
  timeshift_cam_imu: -0.01484888826656275
cam1:
  T_cam_imu:
    - [-0.01749277298389329, -0.9997914625864506, -0.010537278233961556, -0.05569997768397372]
    - [-0.7090991957246053, 0.019835234209851005, -0.7048296915614142, 0.00884826894411553]
    - [0.7048917175822481, -0.004857450265962848, -0.7092982952614942, -0.0019997713120269607]
    - [0.0, 0.0, 0.0, 1.0]
  T_cn_cnm1:
    - [0.9998713028057842, 0.0019367839962957476, 0.015925661468614183, -0.07993259169905036]
    - [-0.0020450612045710957, 0.9999748874354272, 0.0067854420026733295, -7.205400304978925e-05]
    - [-0.01591211959893364, -0.006817137687752675, 0.9998501543149417, -0.0009141881692325364]
    - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: [0]
  camera_model: pinhole
  distortion_coeffs: [-0.012138050918285051, 0.02244029339184358, -0.013753165428754275,
                      0.002725090438517269]
  distortion_model: equidistant
  intrinsics: [274.4628309070672, 273.9261674470783, 315.93654481793794, 235.779167375461]
  resolution: [640, 480]
  rostopic: /snappy_cam/stereo_r
  timeshift_cam_imu: -0.014950736007814259