camchain_imucam_template.yaml

cam0:
  T_cam_imu:
  - [0.016780989935838597, 0.9998589983707433, -0.0006178623044615819, 0.06848107975474323]
  - [-0.9998590644919312, 0.016781293365178473, 0.0004892303263829887, -0.014733170102483798]
  - [0.000499529872700342, 0.000609565456540446, 0.999999689449882, -0.0037771679658644953]
  - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: [1, 3]
  camera_model: pinhole
  distortion_coeffs: [-0.0016509958435871643, 0.02437222940989351, -0.03582816956989852,
    0.019860839087717054]
  distortion_model: equidistant
  intrinsics: [461.487246372674, 460.1113992557959, 356.39105303227853, 231.15719697054647]
  resolution: [752, 480]
  rostopic: /cam0/image_raw
  timeshift_cam_imu: 4.515198305108469e-05
  update_rate: 20
  line_delay_nanoseconds: 25000
  image_noise_std_dev: 1.0
cam1:
  T_cam_imu:
  - [0.015591517126784804, 0.9998771004276674, -0.0016397054752662248, -0.04170026016607309]
  - [-0.9998776909009319, 0.015593498350814972, 0.0012025172778408642, -0.01513889375728283]
  - [0.0012279382336060811, 0.0016207558556340976, 0.9999979326569385, -0.003575820910845323]
  - [0.0, 0.0, 0.0, 1.0]
  T_cn_cnm1:
  - [0.9999987703316412, 0.00118910902935917, -0.0010224259962834177, -0.11016759824092018]
  - [-0.0011883808160330714, 0.9999990400088908, 0.0007125533866886034, -0.0003216647632433766]
  - [0.0010232723184295653, -0.0007113374790444546, 0.9999992234560732, 0.00012078907255410462]
  - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: [0, 3]
  camera_model: pinhole
  distortion_coeffs: [-0.0009362378060020789, 0.018833308358932984, -0.030558453797100132,
    0.01955083559432553]
  distortion_model: equidistant
  intrinsics: [462.4318044040118, 461.1780497604126, 377.0119530476368, 226.49966248854923]
  resolution: [752, 480]
  rostopic: /cam1/image_raw
  timeshift_cam_imu: 4.882716532495169e-05
  update_rate: 20
  line_delay_nanoseconds: 25000
  image_noise_std_dev: 1.0