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

cam0:
  T_cam_imu:
    - [-0.028228787368606456, -0.999601488301944, 1.2175294828553618e-05, 0.02172388268966517]
    - [0.014401251861751119, -0.00041887083271471837, -0.9998962088597202, -6.605455433829172e-05]
    - [0.999497743623523, -0.028225682131089447, 0.014407337010089172, -0.00048817563004522853]
    - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: [1]
  camera_model: pinhole
  distortion_coeffs: [-0.013721808247486035, 0.020727425669427896, -0.012786476702685545,
                      0.0025242267320687625]
  distortion_model: equidistant
  intrinsics: [278.66723066149086, 278.48991409740296, 319.75221200593535, 241.96858910358173]
  resolution: [640, 480]
  rostopic: /snappy_cam/stereo_l
  timeshift_cam_imu: -0.016684572091862235
cam1:
  T_cam_imu:
    - [-0.011823057800830705, -0.9998701444077991, -0.010950325390841398, -0.057904961033265645]
    - [0.011552991631909482, 0.01081376681432078, -0.9998747875767439, 0.00043766687615362694]
    - [0.9998633625093938, -0.011948086424720228, 0.011423639621249038, -0.00039944945687402214]
    - [0.0, 0.0, 0.0, 1.0]
  T_cn_cnm1:
    - [0.9998053017199788, 0.011197738450911484, 0.01624713224548414, -0.07961594300469246]
    - [-0.011147758116324, 0.9999328574031386, -0.0031635699090552883, 0.0007443452072558462]
    - [-0.016281466199246444, 0.00298183486707869, 0.9998630018753686, 0.0004425529195268342]
    - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: [0]
  camera_model: pinhole
  distortion_coeffs: [-0.008456929295619607, 0.011407590938612062, -0.006951788325762078,
                      0.0015368127092821786]
  distortion_model: equidistant
  intrinsics: [277.61640629770613, 277.63749695723294, 314.8944703346039, 236.04310050462587]
  resolution: [640, 480]
  rostopic: /snappy_cam/stereo_r
  timeshift_cam_imu: -0.016591431247074982