%YAML:1.0

cam0:
  T_cam_imu:
    - [0.9999654353651436, -0.003276816365860255, -0.007641370917747825, 0.033466747208136034]
    - [0.0031542646118756716, 0.9998670932369006, -0.01599520167890238, -0.0028120981845372183]
    - [0.007692768666510171, 0.015970545904724832, 0.9998428691418206, -0.02082640869068287]
    - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: []
  camera_model: pinhole
  distortion_coeffs: [-0.023100231740173494, 0.02395258982721614, 0.0013843845552583014, 0.003435103893626031]
  distortion_model: radtan
  intrinsics: [430.9254338279662, 431.15609472000256, 433.65666934237106, 243.3607308325497]
  resolution: [640, 480]
  rostopic: /d457/color/image_raw
  timeshift_cam_imu: 0.0007176378920927905