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

cam0:
  T_cam_imu:
    - [-0.024041523213909927, -0.9996640790624955, 0.009681642096550924, 0.02023430742078562]
    - [-0.7184527320882621, 0.010542697330412382, -0.6954958830129113, 0.008311861463499775]
    - [0.6951601807615744, -0.023676582632001453, -0.7184648512755534, -0.026628438421085154]
    - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: [1]
  camera_model: pinhole
  distortion_coeffs: [-0.017811595366268803, 0.04897078939103475, -0.041363300782847834,
                      0.011440891936886532]
  distortion_model: equidistant
  intrinsics: [275.3385453506587, 275.0852058534152, 315.7697752181792, 233.72625444124952]
  resolution: [640, 480]
  rostopic: /snappy_cam/stereo_l
  timeshift_cam_imu: -0.008637511810764048
cam1:
  T_cam_imu:
    - [-0.004527750456351745, -0.9999560749011355, -0.008206567133703047, -0.05986676424716047]
    - [-0.7208238256076104, 0.008951751262681593, -0.6930605158178762, 0.008989928313050033]
    - [0.6931035362139012, 0.0027774840496477826, -0.7208326946456712, -0.026595921269512067]
    - [0.0, 0.0, 0.0, 1.0]
  T_cn_cnm1:
    - [0.9996495696908625, -0.0015816259006504233, 0.026424160845286468, -0.07937720055807065]
    - [0.0016709946890799124, 0.9999929578963755, -0.0033603473630593734, 0.0005548331594719445]
    - [-0.026418659951183095, 0.0034033244279300045, 0.9996451729434878, 0.0005293439870858398]
    - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: [0]
  camera_model: pinhole
  distortion_coeffs: [0.027860492621377443, -0.027723581962855317, 0.0375199775145906,
                      -0.018152613898714216]
  distortion_model: equidistant
  intrinsics: [273.2895238376505, 273.35830490745764, 314.60557378520133, 251.0359907029701]
  resolution: [640, 480]
  rostopic: /snappy_cam/stereo_r
  timeshift_cam_imu: -0.008613446015312496